Magnetic Calibration Manual
Xsens MTi User Manual Repository
Magnetic Calibration Manual
Copyright © 2021 Xsens Page 3
where the object moves more or less in one plane (e.g. a car or boat).
An accurate calibration of the magnetometers is performed by recording the output of the MT
while rotating the object, with the MT mounted on it, in a space with a homogenous magnetic
field and without other ferromagnetic materials nearby. Once the object is rotated over a
sufficiently large amount of orientations, the calibration tools can then calculate new
calibration parameters that can immediately be used by the MT.
If the object to which the MT is attached remains unchanged, then the calibration only needs
to be performed once as long as the MT is mounted in the same location on the object. If
properly carried out, the resulting accuracy will be comparable to the accuracy experienced
with the MT without any ferromagnetic materials nearby.
The Earth's magnetic field intensity and declination vary across the Earth and over
The Earth's magnetic field intensity and declination vary across the Earth and over
time. Because of this, the MTi is equipped with an up-to-date
time. Because of this, the MTi is equipped with an up-to-date
World Magnetic Model
World Magnetic Model
(WMM)
(WMM)
, stored in its on-board memory. The location of the MTi can also be stored
, stored in its on-board memory. The location of the MTi can also be stored
manually in its on-board memory, allowing the MTi to accurately reference its Yaw
manually in its on-board memory, allowing the MTi to accurately reference its Yaw
output with respect to the
output with respect to the
local
local
magnetic field. Depending on the location on Earth,
magnetic field. Depending on the location on Earth,
this may result in an offset correction of several degrees. The location of the MTi (in
this may result in an offset correction of several degrees. The location of the MTi (in
latitude/longitude/altitude format) and the current UTC time can be set in the Device
latitude/longitude/altitude format) and the current UTC time can be set in the Device
Settings window of MT Manager, via the Xsens Device API or by using low-level
Settings window of MT Manager, via the Xsens Device API or by using low-level
communication. The default location in memory is the test and calibration
communication. The default location in memory is the test and calibration
environment in Enschede, the Netherlands. GNSS-enabled MTi devices will
environment in Enschede, the Netherlands. GNSS-enabled MTi devices will
automatically retrieve the location and UTC time from the GNSS receiver.
automatically retrieve the location and UTC time from the GNSS receiver.
Xsens' magnetic calibration tools require Motion Trackers to provide 3D orientation
Xsens' magnetic calibration tools require Motion Trackers to provide 3D orientation
estimates. Magnetic calibration is therefore
estimates. Magnetic calibration is therefore
not
not
supported by Motion Trackers
supported by Motion Trackers
without sensor fusion algorithms. This includes the MTi-1 IMU, MTi-10 IMU, MTi-100
without sensor fusion algorithms. This includes the MTi-1 IMU, MTi-10 IMU, MTi-100
IMU and MTi-610 IMU.
IMU and MTi-610 IMU.
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