High performance
The MTi uses gyroscopes, accelerometers and magnetometers in order to determine the orientation. The sophisticated Xsens sensor fusion algorithm copes with temporary magnetic disturbances and short-term accelerations, resulting in a reliable real-time orientation estimate. Additionally, the MTi SDK incorporates a magnetic field mapping routine to correct for hard and soft iron effects.

Application-specific settings for optimal accuracy
As the MTi is used in a wide range of applications, the embedded sensor fusion filter algorithm should be adapted to the specific application to ensure the best achievable accuracy. Xsens has tested and tuned the sensor fusion filter settings for a range of common motion scenarios. The unique sets of parameters are provided in user-settable Scenarios. Using the correct scenario for your application ensures highest attainable accuracy for the application at hand, tested by Xsens, without the need for lengthy extensive tuning with uncertain results. Just set and go.

Maximum flexibility
The MTi can be software or hardware synchronized (both SyncIn and SyncOut).The extensive SDK ensures full control of the MTi and makes interfacing to the MTi easy. The SDK provides interfaces at multiple levels: intuitive Windows GUI software, API binary libraries (Windows, Linux) as well as supplying source code implementing the MTi binary communication protocol for easy integration on any platform. With the MTi, your preferred solution is easy and fast to realize.

The MTi will fit even in the smallest AUV/ROV/UUV, because of its small footprint. Still, it offers a remarkable accuracy in terms of orientation, dynamic data and immunity to magnetic disturbances, it has proven to be an excel lent choice for small to medium sized submersibles. The on-board digital processor outputs orientation for instantaneous attitude control. The MTi can be used as a stable compass as well, using various hard and software features. Another good example of the application of the MTi is the orientation correction for USBL systems. The direct low-level communication allows full and easy control.

The MTi is used for state estimation on ships, ranging from small survey vessels to large container ships. The information can be stored or displayed real-time. The MTi easily fits in small systems, such as echo sounders, sonar heads and harbour protection systems. Because of small data-packages the MTi is extremely suitable for installation in buoys to monitor orientation for long-term measurements, where storage capacity may be an issue. The MTi is also used in reseARCh concerning sea and weather dynamics.

Using the MTi in robotics is a logical choice when accurate attitude and a direct communication is mandatory. The MTi is valued for its low size and weight and can be easily configured in accordance with the user’s requirements. In walking, humanoid and biped robots, the low response time of the MTi proves to be essential to provide reliable balance control. For unmanned ground vehicles, the MTi is just as useful, providing orientation and dynamic information at a very low cost. The MTi has been used by teams in all DARPA Challenges.

The MTi’s internal sensors provide full 3D dynamics data (acceleration and rate of turn) of any vehicle. The small size allows the MTi to be used in small-diameter pipes (under 40 mm). Together with odometry, the MTi can serve as an input to provide a full map of underground piping. The MTi can be used in many other miscellaneous applications, such as camera stabilization and antenna aiming.

MT Software Development Kit
The MT Software Development Kit gives easy access to Xsens’ products, allowing users to confgure and easily integrate the MTx, MTi and MTi-G Motion Trackers in their own applications. The kit contains a specially developed and easy-to-use graphical user interface, as well as drivers for various operating systems and many other useful tools, example source code and documentation.

MT Manager
The MT Manager is Windows application for easy access to the full capabilities of Xsens’Motion Trackers. It is the tool for getting acquainted with, configuring and analyzing the Motion Trackers. The MT Manager is also capable of recording and playback MT data.

The Xsens Communication MT (CMT) API will help save time in interfacing in a reliable way with Xsens Motion Trackers in a Windows environment. Direct interfacing gives full control and maximum flexibility. The example code (C/C++, Excel (VBA) and Matlab) can be easily extended to a user-specific program.

The C++ class and direct low level (binary) communication allows for reliable interfacing with Xsens Motion Trackers in any (RT)OS environment. The C++ class and direct low level (binary) communication is open source and can be used when hard real-time performance is required. The example code for Linux and Windows can be easily extended to a user-specific program.