This section presents the performance and the sensor component specifications for the calibrated MTi 1-s module. Each module goes through the Xsens calibration process individually. The calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with respect to the module PCB and each other and gain (scale factor). All calibration values are temperature dependent and temperature calibrated. The calibration values are stored in non-volatile memory of the module.
|
Parameter |
|
MTi-1 IMU |
MTi-2 VRU/AHT |
MTi-3 AHRS |
MTi-7 GNSS/INS |
MTi-8 RTK GNSS/INS |
|---|---|---|---|---|---|---|
|
Roll/Pitch |
Static [RMS] |
N/A |
0.5º |
0.5º |
0.5º |
0.5º |
|
Dynamic (car, 25m/s) [RMS] |
N/A |
0.8º |
0.8º |
0.5º |
0.5º | |
|
Yaw |
[RMS] |
N/A |
Unreferenced |
2º |
1.5º |
1.0º |
|
Parameter |
Specification |
|
|---|---|---|
|
Position |
Horizontal (CEP) |
1.0 m |
|
|
Vertical (CEP) |
2.0 m |
|
Velocity |
(1σ RMS) |
0.05 m/s |
|
Parameter |
Specification |
|
|---|---|---|
|
Position |
Horizontal (CEP) |
0.01 m + 1 ppm* |
|
|
Vertical (CEP) |
0.1 m + 1 ppm* |
|
Velocity |
(1σ RMS) |
0.05 m/s |
*1 ppm = 1 part per million, e.g. an additional 1 mm of error for every kilometer distance from the RTK base station.
Position accuracies are assuming proper GNSS reception/circumstances.
All the above specifications are based on typical application scenarios, and with MTi-x-DK reference designs.
|
Gyroscope specification |
Unit |
MTi 1-series |
MTi 1-series v3.x/v5.x |
|---|---|---|---|
|
Standard full range |
[°/s] |
±2000 |
±2000 |
|
In-run bias stability |
[°/h] |
10 |
6 |
|
Bandwidth (-3dB) |
[Hz] |
255 |
230 |
|
Noise density |
[°/s/√Hz] |
0.007 |
0.003 |
|
Non-linearity |
[%FS] |
0.1 |
0.1 |
|
Sensitivity variation |
[%] |
0.05 |
0.05 |
|
Accelerometer |
|
Unit |
MTi 1-series |
MTi 1-series v3.x/v5.x |
|
|---|---|---|---|---|---|
|
Standard full range |
[g] |
±16 |
±16 |
||
|
In-run bias stability |
[mg] |
0.03 |
0.04 |
||
|
Bandwidth (-3dB) |
[Hz] |
324 (Z: 262) |
230 |
||
|
Noise density |
[µg/√Hz] |
120 |
70 |
||
|
Non-linearity |
[%FS] |
0.5 |
0.5 |
||
|
Magnetometer |
Unit |
MTi 1-series v2.x/v3.x/v5.x |
|
|---|---|---|---|
|
Standard full range |
[G] |
8 |
|
|
Non-linearity |
[%] |
0.2 |
|
|
Total RMS noise |
[mG] |
0.5 |
|
|
Resolution |
[mG] |
0.25 |
|
Alignment specifications#1
|
Parameter |
Unit |
MTi 1-series |
|
|---|---|---|---|
|
Non-orthogonality (accelerometer) |
[°] |
0.05 |
|
|
Non-orthogonality (gyroscope) |
[°] |
0.05 |
|
|
Non-orthogonality (magnetometer) |
[°] |
0.05 |
|
|
Alignment (gyr to acc) |
[°] |
0.05 |
|
|
Alignment (mag to acc) |
[°] |
0.1 |
|
|
Alignment of acc to the module board |
[°] |
0.2 |
|
[1] As Xsens continues to update the sensors on the module, these specifications may change in the future.