MTi
The MTi contains gyroscopes, accelerometers and magnetometers in 3D. The internal low-power digital signal processor runs a real-time proprietary sensorfusion algorithm providing drift-free 3D orientation data. Additionally, 3D dynamic data is output from the gyroscopes, accelerometers and magnetometers.
Leaflet
Download the MTi leaflet: 
The MTi is a miniature, gyro-enhanced Attitude and Heading Reference System (AHRS). Its internal low-power signal processor provides drift-free 3D orientation as well as calibrated 3D acceleration, 3D rate of turn and 3D earth-magnetic field data.
The MTi is an excellent measurement unit (IMU) for stabilization and control of cameras, robots, vehicles and other (un)manned equipment.
The standard MTi version contains accelerometers with a full scale of 5g and gyroscopes with a full scale of 300°/s. Optional are accelerometers with a full scale of 18g, and gyroscopes with a full scale of 150°/s and 1200°/s (for more information view "specs" section).
A number of pre-set user scenarios are available optimizing the Extended Kalman Filter routine for different applications. These pre-set user scenarios replace the manual filter settings used in previous versions of the Xsens sensor fusion algorithm . Based on the chosen scenario the sensor fusion algorithm will apply optimised filter settings recommended for the application.
MT Development Kit
First-time users should acquire the MTi Development Kit. This kit includes an MTi measurement unit, a calibration certificate, a user manual, a RS232 (USB Cable) and our user friendly MT Software Development Kit (SDK). The Development Kit allows users to fully explore the possibilities of the MTi, and the integration possibilities of the MT with your own system. With the Development Kit you have will have your measurement unit up and running in just a few minutes to start your first R&D.
>> Go to the MT Development Kit (available from stock)Highlights
- Real-time computed attitude/heading and inertial dynamic data
- 360º orientation referenced by gravity and Earth Magnetic Field
- Integrated 3D gyroscopes, accelerometers and magnetometers
- On board DSP, running sensor fusion algorithm
- Gyroscopes enable high-frequency orientation tracking
- High update rate (120 Hz), inertial data processing at max 512 Hz
- Individually calibrated for temperature, 3D misalignment and sensor cross-sensitivity
- Accepts and generates synchronization pulses
Compact Design
- Compact and robust design
- Easy integration in any system (OEM) application
- Low weight, ultra-low power consumption
High Performance
The MTi uses inertial sensors in order to estimate the orientation. The gyroscopes are used to calculate orientation. Integration drift is inevitable whilst using gyroscopes. To compensate for drift completely, the MTi corrects its orientation every sample using the gravity and the earth magnetic field as reference vectors.The sophisticated Xsens sensor fusion algorithm can cope with short-term magnetic disturbances and lateral accelerations, resulting in a reliable orientation estimate. Additionally, the MTi incorporates a magnetic field mapping routine to correct for hard and soft iron effects.
User scenarios
The MTi is a sensor which can be used in a wide range of applications. To accommodate application specific requirements, the fusion algorithm supports different filter settings and constraints, implemented in scenarios.
Output
- 3D Orientation (360°)
- 3D acceleration
- 3D rate of turn
- 3D magnetic field
All sensor data are available in raw and calibrated format.
Leaflet
Download the leaflet: Movies
One minute MTi movie 
(13 MB)MTi movie (3 MB)White Papers
Nessie II Autonomous Underwater Vehicle
HERIOT WATT UNIVERSITY, 2007
Hassan Assalih, Joel Cartwright, Vincent Chalencon, Ben Davis, Andrew Durrant, Emeric Faraud, Flora Figiel, Dan Harber, Mara Jiminéz, Nick Johnson, Andrew Lees, Peter Long, Javier Mayor Pérez, Zhizhuang Qiang, Jamil Sawas, Chris C. Sotzing and Yvan Petillot SAUC-E IUB Team: Robotics research on Autonomous Systems
INTERNATIONAL UNIVERSITY BREMEN, 2006
D. Albu, A. Birk, W. Chonnaparamutt, P. Dobrev, A. Giurgiu, S-C. Mihut, B. Minzu, R. Pascanu,S. Schwertfeger, A. Stan, S. Videv
MTi-G
The MTi-G is the preferred choice if your application is facing long-lasting accelerations, a typical error source for any AHRS, including the MTi, using the gravity as its reference estimating roll and pitch. The MTi-G provides accurate orientation data even under these circumstances. The MTi-G includes a GPS receiver and a static pressure sensor and provides drift-free 3D orientation, as well as calibrated 3D acceleration, 3D rate of turn, 3D earth-magnetic field, 3D position and 3D velocity data.
The MTi-G is an excellent measurement unit for stabilization and control of air and ground objects, especially when (long lasting) accelerations are involved.
Consider using the MTi-G in the following circumstances:
Applications facing lateral accelerations (high velocities or accelerating/decelerating), applications where heading is required during strong magnetic interference.MTi-OEM
The MTi OEM is a board-only version of the MTi, available for seamless and tight integration in your application. There is no difference in accuracy specifications. Calibration values and full functionality is maintained with respect to the MTi.
Consider using the MTi-OEM, when size and weight are an issue or when a specific housing is required.
MTx
The sensor board inside the MTx is identical to the board from the MTi-OEM and the MTi. Only the housing and connector are different. The MTx is lighter and smaller, but it may be more difficult to mount, since it has no aluminum base plate.
Consider using the MTx, when the MTi is too big but there is a requirement to have turn-key solutions on cabling and (limited) environmental protection.
Typical usage applications
Subsurface marine
Control and stabilization of AUV/ROV/UUV- Orientation correction for USBL-systems
The MTi will fit even in the smallest AUV/ROV/UUV, because of its small footprint. Still it offers a remarkable accuracy in terms of orientation,dynamic data and immunity to magnetic disturbances , it has proven to be an excellent choice for small to medium sized submersibles. The on-board digital processor outputs orientation for instantaneous attitude control. The MTi can be used as a stable compass as well, using various hard- and software features. Another good example of the application of the MTi is the orientation correction for USBL systems. The direct low-level communication allows full and easy control.
Surface Marine
State estimation of all kinds of ships and platforms- Orientation correction for echo sounders and sonar
- Sensor input for Dynamic Positioning (DP) systems
- Correction of sensor systems on buoys
The MTi is used for state estimation on ships, ranging from small survey vessels to large container ships. The information can be stored or displayed real-time. The MTi easily fits in small systems, such as echo sounders, sonar heads and harbour protection systems. Because of small data-packages the MTi is extremely suitable for installation in buoys to monitor orientation for long-term measurements, where storage capacity may be an issue. The MTi is also used in research concerning sea and weather dynamics.
Unmanned ground vehicles and robotics
Autonomous attitude control of driving and walking robots- Control and stabilization of Unmanned Ground Vehicles (UGV)
Using the MTi in robotics is a logical choice when accurate attitude and a direct communication is mandatory. The MTi is praised for its low size and weight and is easily configured in accordance with the user’s requirements. In walking, humanoid and biped robots, the low response time of the MTi proves to be essential to provide reliable balance control. For unmanned ground vehicles, the MTi is just as useful, providing orientation and dynamic information at a very low cost. The MTi has been used by teams in all DARPA Challenges.
Other
- Vehicle dynamics
- Bore technology
- Camera/antenna stabilization
The MTi’s internal sensors provide full 3D dynamics data (acceleration and rate of turn) of any vehicle. The small size allows the MTi to be used in small-diameter pipes (under 40 mm). Together with odometry, the MTi can serve as an input to provide a full map of underground piping. The MTi can be used in many other miscellaneous applications, such as camera stabilization and antenna aiming.