General Information

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This document provides information on the usage and technical details of the MTi-320. The MTi-320 is a fully functional, self-contained module that is easy to design-in. The MTi-320 module (IP51) can be connected to a host through an RS232 interface, or through USB using the RS232 to USB converter dongle (part of the MTi-320 Starter Kit).

The MTi-320 is a Active Heading Tracker (AHT) product designed for high volume applications requiring accurate heading tracking in magnetically distorted environments. Its physical design is based on the MTi 600-series modules, while the internal sensing elements and electronics design have many similarities to the MTi 1-series. On top of the functionality of an Inertial Measurement Unit (IMU), its VRU algorithm computes 3D orientation data with respect to a gravity referenced frame: drift-free roll, pitch and unreferenced yaw. Although the yaw is unreferenced, it is superior to only gyroscope integration as a result of advanced on-board sensor fusion. The 3D acceleration is also available as so-called free acceleration, which has the local-gravity subtracted. The drift in unreferenced heading can be limited by using the Active Heading Stabilization (AHS) functionality. The raw sensor signals are combined and processed at a high frequency to produce a real-time data stream with the device’s 3D orientation (roll, pitch and yaw) up to 100 Hz.

The Family Reference Manual supplements this document. It reports generic information on the MTi 1-series, MTi 600-series and MTi-320, such as output definitions, algorithm details and installation tips. This document describes the differences with respect to the MTi 1-series and MTi 600-series, such as hardware interfaces, and highlights any important specifics when working with the MTi-320.

Additionally, the MTi-320 Starter Kit User Manual describes the contents of the Starter Kit and how to get started using the MT Software Suite.

The MT Low Level Communication Protocol document provides a complete reference for the protocols used to communicate with Xsens Motion Trackers on a low-level basis. The MT Low Level Communication Protocol document also describes the synchronization messages and settings in detail.

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