Sensor Specifications

MTi 600-series performance specifications
MTi 600-series sensor specifications

This section presents the performance and the sensor component specifications for the calibrated MTi-6x0 series products. Each product has passed the Xsens calibration process individually. The Xsens calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with respect to the PCB and to each other, and gain (scale factor). All calibration values are temperature dependent and temperature calibrated. The calibration values are stored in the non-volatile memory of the module.

In addition, some calibration parameters are continuously improved and/or re-estimated through the on-board sensor fusion algorithms during normal operation of the product.

MTi 600-series performance specifications

Orientation performance specifications
Parameter	Condition	MTi-610 IMU	MTi-620 VRU/AHT	MTi-630(R) AHRS	MTi-670(G) GNSS/INS	MTi-680(G) RTK GNSS/INS
Roll/Pitch	Static [RMS]	N/A	0.2º	0.2º	0.2º	0.2º
Roll/Pitch	Dynamic (car, 25m/s) [RMS]	N/A	0.25º	0.25º	0.25º	0.25º
Yaw	Dynamic (car, 25m/s) [RMS]	N/A	Unreferenced	1º	0.8º	0.5º

Position and velocity performance specifications for MTi-670-DK and MTi-670G-SK
Parameter	Direction	Specification	Dynamic (car, 25m/s)
Position	Horizontal [CEP]	<1.0 m	<1.0 m
Position	Vertical [CEP]	2.0 m	2.0 m
Velocity	3D [RMS]	0.05 m/s	0.05 m/s

Position and velocity performance specifications for MTi-680-DK and MTi-680G with RTK correction signals provided
Parameter	Direction	Specification	Dynamic (car, 25m/s)
Position	Horizontal [CEP]	0.01 m + 1 ppm*	<0.05 m + 1 ppm*
Position	Vertical [CEP]	0.01 m + 1 ppm*	0.5 m + 1 ppm*
Velocity	3D [RMS]	0.05 m/s	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.

The specifications mentioned in the tables above are for Development/Starter Kit reference designs.

MTi 600-series sensor specifications

MTi 600-series gyroscope specifications
Gyroscope specification[1]	Unit	Value
Standard full range	[°/s]	±2000
In-run bias stability	[°/h]	8
Bandwidth (-3dB)	[Hz]	520
Noise density	[°/s/√Hz]	0.007
g-sensitivity (calibrated)	[°/s/g]	0.1
Non-linearity	[%FS]	0.1
Scale Factor variation	[%]	0.5 (typical) 1.5 (over life)

MTi 600-series accelerometer specifications
Accelerometer[1]	Unit
Standard full range	[g]	±10
In-run bias stability (x, y)	[µg]	10
In-run bias stability (z)	[µg]	15
Bandwidth (-3dB)	[Hz]	500
Noise density	[µg/√Hz]	60
Non-linearity	[%FS]	0.1

MTi 600-series magnetometer specifications
Magnetometer[1]	Unit
Standard full range	[G]	±8
Non-linearity	[%]	0.2
Total RMS noise	[mG]	1
Resolution	[mG]	0.25

MTi 600-series barometer specifications

Barometer[1]	Unit
Full range	[hPa]	300-1250
Total RMS Noise	[Pa]	1.2
Relative accuracy	[Pa]	±8 [2]

MTi 600-series orthogonality specifications

Parameter[1]	Unit	Value
Non-orthogonality (accelerometer)	[°]	0.05
Non-orthogonality (gyroscope)	[°]	0.05
Non-orthogonality (magnetometer)	[°]	0.05

MTi-670G and MTi-680G internal GNSS receiver specifications

GNSS[1]		Unit	Value	Note
Acquisition	Cold start	[s]	24 [3]
	Hot start	[s]	2
Convergence time	RTK	[s]	< 10 [4]	MTi-680G only
Horizontal pos. accuracy	PVT	[m]	1.5
	RTK[5]	[m]	0.01	MTi-680G only
Vertical pos. accuracy	RTK[5]	[m]	0.01	MTi-680G only
Supported GNSS signals:
GPS	L1C/A	[MHz]	1575.42
	L2C	[MHz]	1227.60
GLONASS	L1OF	[MHz]	1598.0 - 1605.4
	L2OF	[MHz]	1242.9 – 1248.6
Galileo	E1-B/C	[MHz]	1575.42
	E5b	[MHz]	1207.14
BeiDou	B1l	[MHz]	1561.098
	B2l	[MHz]	1207.14

[1] As Xsens continues to update the sensors on the module, these specifications are subject to change.

[2] Equivalent to 0.5 m.

[3] Using GPS + GLONASS + Galileo + BeiDou.

[4] < 30 s for GPS only.

[5] Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center offset errors.

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