Magnetic Calibration Manual
Xsens MTi User Manual Repository
Magnetic Calibration Manual
Copyright © 2021 Xsens Page 2
Introduction
An MTi/MTw motion tracker (MT) can be used to easily and accurately determine 3D
orientation. For AHRS and GNSS/INS devices, such as the MTi-300 or MTi-G-710, this may
include a North-referenced Yaw (Heading) output. For example, an MTi-300 under default
East-North-Up (ENU) local reference frame configurations will output a Yaw of 0 degrees
when its x-axis is pointing to the East. In order to do so, the MT acts as a compass by using
its magnetometers to measure the Earth's magnetic field. However, when an MT is mounted
onto an object that contains ferromagnetic materials, the measured (Earth) magnetic field is
distorted (warped) and an error in estimated orientation may arise. Whether or not the MTi
uses the magnetometers to estimate orientation depends on the device's functionality and
selected filter profile. Please refer to the product User Manual for more details.
A disturbance of the magnetic field caused by mounting the MT onto a ferromagnetic object
can be corrected for using specialized calibration tools that are described in this document.
These calibration tools can be executed in a few minutes and yield a new set of digital
calibration parameters (extended Motion Tracker Specification, or eMTS data) that can be
written to the MT's non-volatile memory. Once written to memory, the orientation data
estimated by the MT based on its magnetometers will be accurate despite being mounted
onto a ferromagnetic object.
The calibration tools are suitable for both 3D applications, where the object is rotating
through a substantial range of orientations (e.g. a handheld device), and 2D applications,
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