MTi-300 Magnetic Calibration Manual
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 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 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 asthe MT is mounted on 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.
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User's Guide |
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Please see the document for details |
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English Chinese Chinese and English Japanese |
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21 Nov 2018 |
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Revision M |
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MT0202P.M |
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3.6 MB |
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