MTi-G

The MTi-G is a small size and low weight 6 DOF measurement unit, excellent for control, navigation and analysis of (un)manned systems and other objects. The MTi-G is a GPS aided MEMS-based Attitude and Heading Reference System (AHRS) and static pressure sensor. It delivers unprecedented performance for its size, weight, cost and low complexity of use.

 

MTi-G


The MTi-G is a small size and low weight measurement unit, excellent for control and navigation of (un)manned systems and other objects.

The MTi-G is a GPS aided MEMS based Inertial Measurement Unit (IMU) and static pressure sensor. It delivers unprecedented performance for its size, weight, cost and low complexity in use. The MTi-G overcomes typical IMU and AHRS challenges faced in e.g. aerospace and automotive applications.

The design of the MTi-G is flexible, providing a wide range of output modes and advanced settings for specific usage scenarios, optimizing the sensor fusion algorithm routine for different applications.

The MTi-G has an onboard Attitude and Heading Reference System (AHRS) and Navigation processor. This low-power Digital Signal Processor runs a real-time Xsens sensor fusion algorithm, providing drift-free, GPS-enhanced, 3D orientation data.

Additionally the MTi-G provides inertial and barometric enhanced 3D position and velocity data at a higher update rate than possible with a typical GPS receiver.

MT Development Kit

First-time users should acquire the MTi-G Development Kit. This kit includes an MTi-G measurement unit, a calibration certificate, a user manual, a RS232 (USB Cable), a GPS antenna for MTi-G and our user friendly MT Software Development Kit (SDK).  The Development Kit allows users to fully explore the possibilities of the MTi-G, 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.

Highlights

  • Real-time computed GPS-enhanced attitude/heading and inertial enhanced position/velocity data
  • GPS integration overcomes typical IMU challenges
  • Integrated AHRS, GPS and static pressure sensor
  • On board DSP, running sensor fusion algorithm
  • High update rate (120 Hz)
  • Individually calibrated for temperature, 3D misalignment and sensor cross-sensitivity
  • UTC referenced output

Compact design

  • Compact and robust design
  • Easy integration in any system (OEM) application
  • Low weight, ultra-low power consumption

High performance

The MTi-G is a combination of a MEMS IMU, GPS and barometer. Yet, the MTi-G is more than just a sensor assembly. The IMU, GPS and barometric information is blended together in Xsens’ sensor fusion algorithm to estimate the most accurate orientation and position possible. Because of this fusion, the output is more accurate than the output from the IMU or GPS receiver only. For example, the MTi-G copes with transient accelerations; a typical error source for any AHRS using the gravity as its reference estimating roll and pitch. The loose coupling works both sides: double-integrating the accelerometers for short periods, the MTi-G is able to calculate position and velocity even during short GPS outages. There are several more corrections realized to aid the IMU functionality and to enhance the GPS measurements.

User friendliness

The MTi-G is a sensor which can be used in a wide range of applications. Because of the specific requirements for all these applications, the MTi-G uses different filter settings and constraints, implemented in scenarios. Among others, there are scenarios for use in automotive and aerospace applications. The accompanied MT manager software enables.

Output

  • 3D Orientation (360°)
  • 3D Position and Velocity (aided and unaided by inertial sensors)
  • 3D acceleration, 3D rate of turn, 3D magnetic field

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Leaflet
Download the MTi-G leaflet

Download the User Manual
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Customer Cases
Scientific articles and papers


EM Solutions

Xsens MTi-G

Technical specification

Attitude and Heading

Interfacing
Static accuracy (roll/pitch) <0.5 deg
Digital interface RS-232 (max. 921 k6 bps)
Static accuracy (heading)1 <1 deg

and USB (ext. converter)
Dynamic accuracy2 1 deg RMS
Operating voltage 5 - 30V
Angular resolution3 0.05 deg
Power consumption 610 mW (typical) -
Dynamic range:


910 mW (max)
- Pitch ± 90 deg
Interface options i/o SyncOut, AnalogIn (2x)
- Roll/Yaw (heading) ± 180 deg
GPS Antenna SMA connector, active
Maximum update rate:



- Onboard processing 120 Hz

Maximum Operational limits
- External processing 512 Hz
Altitude 18 km



Velocity 515 m/s

Position

Ambient temperature -40.... +85 oC
Accuracy position:

operating range4
- SPS 2.5 m CEP
Specified performance  0.... +55 oC 
Maximum update rate:

operating range4 
- Onboard processing 120 Hz


- External processing 512 Hz







1 depends on usage scenario. In case the earth magnetic field is used, it must be homogeneous
2 under condition of a stabilized Xsens sensor fusion algorithm and good GPS availibility
3 1σ standard deviation of zero-mean angular random walk
4 non-condensing environment

Individual Sensor specification

Sensor performance




rate of turn acceleration magnetic field static pressure
Dimensions 3 axes 3 axes 3 axes -
Full Scale (standard) ± 300 deg/s ± 50 m/s² ± 750 mGauss 30-120 kPa
Linearity 0.1% of FS 0.2% of FS 0.2% of FS 0.5% of FS
Bias stability5 (1σ) 1 deg/s 0.02 m/s² 0.1 mGauss 100 PA/yr
Scale Factor stability5 (1σ) - 0.03% 0.5% -
Noise 0.05 deg/s/√Hz 0.002 m/s²/√Hz 0.5 mGauss (1σ) 4 Pa/√Hz (0.3 m/√Hz
Alignment error 0.1 deg 0.1 deg 0.1 deg -
Bandwidth 40 Hz 30 Hz 10 Hz -
Max update rate 512 Hz 512 Hz 512 Hz 9 Hz





GPS 








Receiver type 50 channels
L1 freqency, C/A code


GPS update rate 4 Hz


Start-up time cold start 29 s


Tracking sensitivity - 160 dBm


Timing Accuracy 50 ns RMS







5 deviation over operating temperature range (1σ)

Hardware Specifications

Housing

      
Dimensions (WxLxH)   58x58x33 mm  
Weight   68 g  
       

Options

      
Full scale acceleration: A## Full scale rate of turn: G##
5g (50 m/s²) A53 150 deg/s G15
18g (180 m/s²) A83 300 deg/s G35
    1200 deg/s G25
       
Product code:   MTi-G-28 A## G##  
Standard version:   MTi-G-28 A53 G35  

 

White papers

Automotive

Orientation performance of the MTi-G was tested in a car on a test track. Two tests were performed; a high-speed test on an oval banked track and a high-dynamic maneuvering test on a track with many corners.

Leaflet
Download the MTi-G leaflet


Download the User Manual

Related Xsens Products


MTi, MTx and MTi-OEM

Xsens’ 3DOF orientation sensors (MTi, MTx and MTi-OEM) do not contain a GPS board and a barometer. They provide 3D orientation based on 3D accelerometers, 3D gyroscopes and 3D magnetometers. These units are excellent sensors for (quasi-) static applications or when GPS is not available, such as indoors or under water. When long accelerations occur or when used in high-velocities applications, the MTi-G is the better choice.

Xsens’ 3DOF orientation sensors are available with two different casings (MTi and MTx) or without casing (MTi-OEM).


MTi: The base plate and connector of the MTi and the MTi-G are the same, as well as basic communication, so switching between the MTi and MTi-G in any application is easy.
> Read more about the MTi

MTi-OEM: The MTi-OEM is a board-only version of the MTi, which enables seamless and tight integration in any application. The accuracy specifications of the MTi and OEM version are the same. Calibration and full functionality are maintained with respect to the MTi.
> Read more about the MTi-OEM

MTx: The MTx has no aluminum base plate and therefore the MTx is smaller and weighs less than the MTi. It offers only limited environmental protection and mounting possibilities, but the MTx does provide a turnkey solution for applications where limited space is available.
> Read more about the MTx
Leaflet
Download the MTi-G leaflet
Download the MTi leaflet
Download the MTx leaflet


Xsens MTi

Xsens MTi-OEM


Xsens MTx
http://xsens2.ibuildings.com/index.php?option=com_content&catid=11&id=199〈=en&view=article&Itemid=346

Typical usage applications


Automotive

  • Vehicle dynamics analysis
  • Racing cars and motorbikes
  • Performance testing
Full access to valuable data is available for engineers working in any level of sports caror motorbike competitions. The MTi-G outputs are suitable to test and analyze the dynamic behavior of e.g. automobiles. Non-holonomic constraints can be used to further enhance accuracy. The roll and pitch remains accurate even during long term accelerations typical for this application.


Marine

  • In-competition optimization of racing yachts
  • State estimation of leisure yachts
  • Backup system for high-grade GPS systems
For racing yachts, the MTi-G provides orientations of several parts of the ship, such as the roll angle of the hull or the movement of the mast. This allows a sailing team to refine the ship’s performance during a race, or include the data in  the autopilot. Another major application is commercial shipping. Measuring roll and pitch as well as heading is important for container ships, cargo ships and surveying vessels. Installing the MTi-G together with high grade GPS systems is a logical choice to enhance accuracy and to reduce costs, especially in situations with limited GPS reception.


Unmanned ground vehicles and robotics

  • Autonomous control for driving and walking robots
  • Military and civil ground vehicles
  • Camera/LIDAR stabilization and correction
The MTi-G is an excellent sensor for driving and walking robots. The main functionality of the MTi-G in robotics applications is attitude control, even under dynamic conditions. Accurate position and orientation makes autonomous navigation possible for Unmanned Ground Vehicles (UGV’s), even on rough terrain or during short GPS outages. The MTi-G has been used in DARPA Grand Challenges for these purposes. These applications are typically out of reach for conventional MEMS IMU’s.


Aerospace

  • Autonomous attitude and navigation control
  • Dynamics of (aerobatics) planes
  • Camera/LIDAR stabilization and correction
  • Head-up display
The MTi-G is the ideal choice for control and stabilization for any type of small to medium sized fixed-wing and rotary-wing aircraft. Because of the low latency, autonomous control can be designed in a simple and robust manner.

The MTi-G provides a wide variety of dynamic data, suitable for dynamics analysis of (un)manned airplanes. An easy software/hardware interface makes data processing possible post-flight or even real-time. The MTi-G is easy to install and computes all the data required for e.g. an accurate artificial horizon or a digital map.

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Leaflet
Download the MTi-G leaflet


Xsens MTi-G





Xsens MTi-G

MTi-G Development Kit


First-time users are advised to start with the MT Development Kit. The Development Kit contains an MTi-G with antenna, USB cabling, a suitcase and the software development kit. 

Xsens MTi-G Development Kit

More information on the MT Software Development Kit can be found below:

MT Software Development Kit


The MT Software Development Kit gives easy access to Xsens’ products, allowing users to confgure and easily integrate the MTx, MTi and MTi-G Motion Trackers in their own applications. The kit contains a specially developed and easy-to-use graphical user interface, as well as drivers for various operating systems and many other useful tools, example source code and documentation.

The MT Software Development Kit contains:

  • MT Manager
  • Development Tools
    • MT API for Windows
    • C++ classes and direct low level (binary) communication for any OS
    • Example source codes
  • Magnetic Field Mapper plug-in
  • Documentation

MT Manager

The MT Manager is Windows application for easy access to the full capabilities of Xsens’ Motion Trackers. It is the tool for getting acquainted with, confguring and analyzing the Motion Trackers. The MT Manager is also capable of recording and playback MT data.

  • Real time visualization of all MT data
  • Logging, exporting and reprocessing data
  • Changing and storing settings in the firmware

MT Development Tools


The Xsens Communication MT (CMT) API will help save time in interfacing in a reliable way with Xsens Motion Trackers in a Windows environment. Direct interfacing gives full control and maximum fexibility. The example code (C/C++, Excel (VBA) and Matlab) can be easily extended to a user-specifc program.

The C++ class and direct low level (binary) communication allows for reliable interfacing with Xsens Motion Trackers in any (RT)OS environment. The C++ class and direct low level (binary) communication is open source and can be used when hard real-time performance is required. The example code for Linux and Windows can be easily extended to a user-specifc program.

> Request more information
> Request a quote
Leaflet
Download the MT Software Development Kit leaflet