This section presents the performance and the sensor component specifications for the calibrated MTi-320 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-320 AHT |
|---|---|---|
|
Roll/Pitch |
Static [RMS] |
0.5º |
|
Dynamic (car, 25m/s) [RMS] |
0.8º |
|
|
Yaw |
[RMS] |
Unreferenced, low drift with Active Heading Stabilization |
All the above specifications are based on typical application scenarios.
|
Gyroscope specification |
Unit |
MTi-320 v1.x |
MTi-320 v2.x/v3.x |
|---|---|---|---|
|
Standard full range |
[°/s] |
±2000 |
±2000 |
|
Bandwidth (-3dB) |
[Hz] |
255 |
230 |
|
Maximum output frequency |
[Hz] |
800 (High-Rate), 100 (SDI) |
1000 (High-Rate), 100 (SDI) |
|
Accelerometer |
|
Unit |
MTi-320 |
MTi-320 |
|
|---|---|---|---|---|---|
|
Standard full range |
[g] |
±16 |
±16 |
||
|
Bandwidth (-3dB) |
[Hz] |
324 (Z: 262) |
230 |
||
|
Maximum output frequency |
[Hz] |
800 (High-Rate), 100 (SDI) |
1000 (High-Rate), 100 (SDI) |
||
|
Magnetometer |
Unit |
MTi-320 v1.x/v2.x/v3.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-320 |
|
|---|---|---|---|
|
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.