Overview MT Manager

This page describes the options available to the user in the MT Manager.

• Purpose
• MT Manager features
• Supported devices
• Input Options
• Output Files
• Menu bar
• Data views, toolbars and buttons
  •  The Device List
  • Device Settings
    • Output configuration
  • Data Views
    •  3D Box view
    •  Inertial data view
    •  Orientation data view
    •  Free Acceleration view
    •  MT Status
    •  Temperature view
    •  Heave view
    •  Velocity view
    •  Altitude view
    •  Position view
    •  Space Vehicle Information window
    •  UTC Time view
    •  Device/XDA Data View terminals
    • Message window
  • Connectivity
  • File control
  • Playback & recording
  • Orientation resets
  • In-run Compass Calibration & Representative Motion
  • Manual Gyro Bias Estimation

Purpose

The purpose of the MT Manager is to provide easy access to the capabilities of any of the currently supported devices.

The MT Manager can be used to interface with the MT and to visualize and log data. It offers export options for ASCII text files. The ASCII export format can be customised to your needs.

MT Manager features

The MT Manager software is an easy-to-use software with a familiar Windows user interface, which allows you to:

• view 3D orientation in real-time
• view inertial and magnetic sensor data in real-time
• view latitude, longitude, altitude plots in real time (depends on Motion Tracker used)
• view and compose messages to and from the device via a real-time message terminal
• reprocess binary data log files
• export log files to ASCII
• change and view various device settings and properties
• run a self test to check the mechanical functions of the inertial sensors and magnetometer

The MT Manager is therefore an easy way to get to know and to demonstrate the capabilities of your Xsens Motion Tracker.

Supported devices

Currently, the following devices are being supported by the MT Manager:

• MTi 1-series
• MTi 10-series 5^th generation
• MTi 100-series, including MTi-G-710 GNSS/INS, 5^th generation
• MTi 600-series
• Xsens Avior series
• Xsens Sirius series
• MTw Awinda

For detailed information about these MTs, please refer to the corresponding User Manuals and Datasheets.

Future Xsens Motion Trackers will be supported as of their release.

Input Options

The MT Manager can handle real-time input and input from recorded binary files.

• Real-time: Serial data using USB or COM port (via USB virtual COM-port or RS232).
• Files: .MTB (MT Binary Communication Protocol) log files. Contain recorded output log files from a Motion Tracker.

In both cases, the input (file) format is the same.

The .MTB log files generated by the MT Manager will contain the following MT messages:

• Configuration data
• Extended MT Specification data (eMTS)
• Filter state message, message ID 0x98 (in case of data with preset “XDA processing”)
• MTData2 at output frequency (as configured)

The MT Manager software handles the request of these additional data packets from the MT (not only requesting MT Data) to enable full analysis of log-files in the MT Manager software later.

NOTE: An MTB file can contain any number of MTData2 packets that are requested from the MT. Only if an MTB file contains Sensor Component Readout or sensor data (∆q/∆v or inertial data) and/or GNSS data messages, the data can be re-processed using different filter profiles. In all other cases, the .MTB file is considered a log-file, which can be played back again for viewing.

In the case that only sensor data and/or GNSS data is requested from the MTi, the MT Manager will run the sensor fusion filter in XsensDeviceApi64.DLL of the host PC (and not on the DSP of the MT) to estimate orientation, position, velocity.

Output Files

The MT Manager can export data logged in .MTB files to different formats.

ASCII text data

• Calibrated sensor data (3D acceleration, rate of turn, magnetic field, ∆q/∆v, free acceleration, etc.)
• Orientation data
• Position
• Velocity

The output orientation can be represented in different conventions:

• Unit normalised Quaternions (also known as Euler parameters)
• Euler angles: roll, pitch, yaw (XYZ Earth fixed type, also known as Cardan)
• Rotation Matrix (Direction Cosine Matrix)

Data and (UTC) time can also be included in the exported files. See Operating Guidelines for more information on the columns of the exported ASCII file.

KMZ geographic data

• Timestamp
• Position
• Velocity
• Orientation
• GNSS Mode
• UTC time

KMZ files (available from GNSS/INS data sets only) are excellent to study trajectories in e.g. Google Earth.

Menu bar

In the MT Manager menu bar you will find the following entries:

The menu bar in MT Manager

In the table below, each (sub-) entry is explained.

The MT Manager menu structure

Data views, toolbars and buttons

In this section, the sub-windows, toolbars and button functionalities of the MT Manager are explained:

 The Device List

By default, the Device List is displayed in a sub-window, showing useful information about your MT. Note that the Device List is read only.

The Device List

The data shown in the Device List

The MT System State shown in the Device List

With the Device List, it is possible to disconnect specific devices. Right-click on any parameter associated with the industrial motion tracker that needs to be disconnected, right click and choose Disconnect. The device will be removed from the Device List.

Right-click on the Device allows disconnecting a single MT

The Device List may show a warning sign at the top level and next to the Firmware Revision. Check the tooltip for more information.

Causes for this warning are:

• A new firmware version is available for the device (Use Firmware Updater to check)
• The device is in bootloader mode. (Refer to this article for more information if this happens)

Device Settings

In the Device Settings window, several (low-level) settings can be changed, including the output configuration. Take caution in changing settings in Device Settings as these settings can have large effects on the device. In this window it is possible to save and load a set of device-specific settings, including the output configuration that can be copied to other devices (with the same product code). You can always revert a device to its Factory Settings using the Revert button.

For details on the Device Settings, please refer to Operating Guidelines.

Output configuration

In the Output Configuration tab, all output options of the industrial motion tracker can be set, including frequencies and formats.

The Output Configuration tab for an MTi-G-710 GNSS/INS. Depending on the device attached, the Output Configuration window may show fewer options.

Data Views

The MT Manager offers a wide range of information displayed in its sub-windows, which can be opened and closed via the (Main Views and GNSS) toolbar buttons or the menu bar:

The Data Views and GNSS toolbars

The individual buttons and their functionality will be explained in the next sub-sections; availability of some of the buttons and related sub-windows depends on the type of the connected device (e.g. position and velocity information will not be accessible with e.g. MTi-20 VRU/AHT or MTi-300 AHRS).

The icons corresponding with the button that activates a specific sub-window are displayed on the top left of each subsection.

 3D Box view

The 3D Box View is a real-time graphical (OpenGL) representation of the MT orientation measurements, i.e. roll, pitch and yaw.

The 3D Box view is an easy way of visualizing the orientation of any industrial motion tracker.

 Inertial data view

Per sensor type, the Inertial Data view graphically shows the 3D calibrated measurement data vs. time:

• acceleration (from the accelerometers) in m/s²;

• angular velocity (from the gyroscopes) in deg/s;
• magnetic field (from the magnetometers) in normalised arbitrary units (a.u.).

The Inertial data view for acceleration, angular velocity and magnetic field

The table below explains the line colours and the buttons in this view.

The line colours in the inertial data graph

Automatic scaling

It is possible to choose the scaling of the inertial data plot using the pull-down dialog.

Tools let you configure the graphs

The different scaling options in the graph windows.

Zooming

When the Zoom-icon   is selected, you have several options to zoom.

Option 1: Press and hold either mouse button, drag mouse to make a zoom rectangle (right button zooms out, left button zooms in):

A zoom rectangle in the Euler angles graph

• Release mouse button to zoom in/out to the zoom rectangle
• Press other mouse button to cancel the zoom
• Use scroll wheel to make minor adjustment to first point of the rectangle

Option 2: Double click and hold one of the mouse buttons to generate a default zoom rectangle centered around the mouse position with zoom factor 2.0 (right button zooms out, left button zooms in):

Then:

• Release mouse button to zoom in/out to the zoom rectangle
• Press other mouse button to cancel the zoom
• Move the mouse to move the zoom rectangle
• Use the scroll wheel to increase/decrease the zoom factor

Option 3: Use scroll wheel without buttons pressed to simulate a double click centered around the mouse position and immediately applying the zoom i.e. apply a default zoom rectangle centered around the mouse position (right button zooms out, left button zooms in).

Zooming in y-direction only

When zooming with the above option, it can happen that new data will not be shown in the zoom box, as the x-scale (time) ends before the place where new data is created. In order to zoom only in y-direction, enable the function “show all samples” with the show all samples button:

When “show all samples” is enabled, the x dimension of the zoom rectangle is always the complete width of the graph:

Zooming in y-direction only can be enabled with the button "show all samples"

Panning the graph

When the pan icon  is enabled, you can pan the graph with the following actions:

• Press and hold left/right mouse button
• Release the mouse to stop panning
• Move the mouse to pan the graph

Panning is available in all directions

Showing data values

With the Show Values button  enabled, hovering over the graph will display the values at that moment. 

The Show Values button activates the possibility to see the values in the graph

Showing less data channels

With the checkboxes, it is possible to omit data from the plot. This way, you can closely investigate one particular signal.

Turning off some of the channels allows for closer investigation of a particular signal

Freezing a graph

When you are using an industrial motion tracker in live view, you cannot pause the file to investigate data further. In that case, you can use the freeze button and zoom and pan on visible data:

Clearing and resetting graphs

There are two ways of clearing and resetting graphs. To clear the graph, use the clear button .

Another way to reset the zoom that is very convenient when you have used zoom and pan functions, is to close and open the graph.

 Orientation data view

The Orientation data view shows the 3D orientation (calculated from the angular velocities) in either Euler angles in degrees vs time or Quaternions vs time

The orientation graph shows the orientation of the industrial motion tracker over a period of 10 seconds

Starting with MT Manager version 2025.3, and firmware version 1.3.0 or later for Xsens Sirius or Xsens Avior, the orientation uncertainty of the Euler angles can be displayed as a 3σ (three-sigma) standard deviation. This feature can be enabled via Tools > Preferences > MT Manager > Graphs.

The orientation graph shows the orientation of the industrial motion tracker with 3σ uncertainty bands.

Below table explains the line colours in “degrees vs. time” view:

Colours in the Euler angles graph

The quaternion graph shows the 4 components in one graph

The table below explains the line colours in the “Quaternions vs. time” view:

Colours in the quaternion graph

 Free Acceleration view

The Free Acceleration view window visualizes the 3D Free Acceleration of the industrial motion tracker (VRU/AHT, AHRS and GNSS/INS devices only). By default, Free Acceleration is visualized in the East-North-Up (ENU) format. In order to switch between ENU, NWU and NED visualizations, go to Tools > Preferences > MT Manager > Miscellaneous.

The Free Acceleration view, visualizing 3D Free Acceleration in m/s²

 MT Status

The MT Status sub-window displays various status flags.

Be sure to enable the Status Data Output in MT Output Configuration dialog:

Tick boxes for status in the Output Configuration window

The status window of an MTi-30 AHRS. In this particular screen shot, several gyroscopes are clipping.

The status windows of GNSS/INS devices can have additional signals, such as GNSS Fix and Filter Mode.

Signals in the Status window

 Temperature view

The Temperature view window shows the internal temperature of the device. Temperature data is visualized in degrees Celsius by default. In order to change to degrees Fahrenheit, go to Tools > Preferences > MT Manager > Graphs.

The Temperature view window, showing that the device is warming up directly after powering it.

 Heave view

The Heave view window displays the heave data from the device (Avior/Sirius devices only). The data is visualized in two forms: heave position, shown in centimeters (cm), and heave period, representing the duration of the heave cycle.

The Heave view window, showing both position and period data.

 Velocity view

The Velocity view window visualizes the 3D velocity of the MTi (GNSS/INS devices only). By default, Velocity is visualized in the East-North-Up (ENU) format. In order to switch between ENU, NWU and NED visualizations, go to Tools > Preferences > MT Manager > Graphs.

The Velocity data view, displaying 3D velocity in m/s

 Altitude view

The Altitude view window visualizes the altitude of the MTi (GNSS/INS devices only). Altitude is displayed as height above the WGS-84 Ellipsoid in meters.

The Altitude data view, displaying height above the WGS-84 Ellipsoid in meters

 Position view

The Position view window visualizes the 2D position of the MTi (GNSS/INS devices only). Position is displayed in terms of longitudinal and latitudinal coordinates.

The Position view, displaying 2D position

 Space Vehicle Information window

The Space Vehicle Information (or SatInfo) Window shows the various satellites with their respective signal strength in dBHz.

The columns are labelled according to the constellation and the number of the space vehicle. The digit in front of the semicolon indicates the satellite system, the number after the semicolon is the satellite number. E.g. 0:5 indicates Space Vehicle #5 from the GPS constellation. The labels are described in the table below.

Colours used in the SV information window

The SV info window showing 5 GPS satellites and 6 GLONASS satellites being used for the navigation solution and 2 satellites that have been detected.

 UTC Time view

The UTC Time view window visualizes the UTC Time output of the industrial motion tracker. The GNSS receiver automatically retrieves UTC Time for the GNSS/INS devices. For all other devices, UTC Time can be set manually (see Operating Guidelines).

The UTC Time view.

 Device/XDA Data View terminals

The message terminal shows messages sent to and received from the device or the Xsens Device API (XDA) in real-time. The Device Data View terminal can also be used to compose low-level messages in order to quickly understand the communication protocol. See Operating Guidelines for more information about the message terminals. The XDA Data View is hidden by default. It can be enabled through Tools>Preferences.

The message terminals for the device (left) and XDA (right)

Message window

The message window shows warnings and other informational messages.

The message window may show warnings on e.g. missed data packets

Connectivity

With the Connectivity toolbar, you can control connecting your devices:

The Connectivity toolbar

Please refer to Quick Start for details on how to connect and disconnect your devices.

File control

The file control tool bar makes it possible to choose where files are stored and opened.

The File control toolbar

Meaning of buttons in the File Control toolbar

Playback & recording

To be able to record data and playback recorded data, the MT Manager offers the Playback & Recording toolbar.

The Playback and recording bar when an industrial motion tracker is attached (left) and when a file is loaded in MT Manager (right)

Meaning of the buttons in the Playback and Recording toolbar

Orientation resets

Please refer to BASE - Changing or Resetting the MTi Reference Coordinate Systems for detailed information about orientation resets and the effects these have. Available resets are summarized in the table below.

The available orientation resets

After choosing the reset type, press the Reset Orientation button .

You can also choose to apply the reset on the current device or on all connected devices.

After a reset, you can store the new values to the MT Settings by pressing the Store Orientation button .

The orientation resets toolbar can be used to apply a specific reference coordinate system to the device's orientation, velocity and sensor data output.

In-run Compass Calibration & Representative Motion

In-run Compass Calibration is a way to calibrate for magnetic distortions present in the sensor operation environment using an onboard algorithm, leaving out the need for a host processor like a PC. It estimates the hard- and soft-iron effects and provides new magnetometer calibration parameters. To expedite the calibration of the magnetometer sensor readings with respect to the new field, there is a feature called Representative Motion. Click the button Start/Stop Representative Motion and rotate the device together with the object that disturbs the magnetic field in all directions of the actual application.

Click the Representative Motion button to start the Representative Motion mode. Click it again to stop the Representative Motion mode.

If you want to store the new values in the non-volatile memory (remember that they are discarded when you power cycle the industrial motion tracker), press the store button:

This button stores the ICC parameters in the non-volatile memory

For more information on ICC and Representative Motion, refer to the following link on BASE: In-run Compass Calibration (ICC) and Representative Motion

Manual Gyro Bias Estimation

Manual Gyro Bias Estimation is a way to quickly estimate the gyroscope zero-rate offsets or biases. This feature can be particularly useful when trying to reduce Yaw drift with VRU/AHT devices or slowly moving GNSS/INS devices. Manual gyro bias estimation forces the filters of the industrial motion tracker to estimate the gyroscope biases by assuming that the device will be held motionless for a given period of time.

In order to perform a manual gyro bias estimation using MT Manager, click the corresponding icon, . A window will open, providing guidelines for the user. For more information on this feature, refer to BASE: Manual Gyro Bias Estimation

The Manual Gyro Bias Estimation window guides the user through the use of the feature.