Table of Contents
List of references ........................................................................... 5
1 Introduction .............................................................................. 6
2 Getting Started ......................................................................... 7
2.1 Starter set ................................................................................................. 7
2.2 Hardware .................................................................................................. 7
2.2.1 Xsens DOT ........................................................................................... 7
2.2.2 LED status ........................................................................................... 8
2.2.3 Charger ............................................................................................... 8
2.2.4 Body straps and accessories ................................................................... 9
2.3 Software ................................................................................................... 9
2.3.1 Supported platforms ............................................................................. 9
2.3.2 Choose your software ............................................................................ 9
2.4 Tips for best practice ................................................................................. 10
2.4.1 Magnetic distortion............................................................................... 10
2.4.2 Cleaning method.................................................................................. 11
2.4.3 Storage .............................................................................................. 11
3 Xsens DOT Overview ............................................................... 12
3.1 Strapdown integration ................................................................................ 12
3.2 Sensor fusion algorithm ............................................................................. 12
3.3 Xsens DOT sensor state transition ............................................................... 13
3.3.1 Power on ............................................................................................ 13
3.3.2 Advertisement ..................................................................................... 13
3.3.3 Connection .......................................................................................... 13
3.3.4 Measurement ...................................................................................... 14
3.3.5 Power saving ....................................................................................... 14
3.3.6 Power off ............................................................................................ 14
3.4 Magnetic Field Mapper ............................................................................... 14
3.5 Firmware Update ....................................................................................... 15
3.5.1 Firmware upgrade ................................................................................ 15
3.5.2 Firmware downgrade ............................................................................ 15
4 Output Specifications .............................................................. 16
4.1 Coordinate systems ................................................................................... 16
4.1.1 Sensor coordinate system ..................................................................... 16
4.1.2 Orientation coordinate system ............................................................... 16
4.1.3 Heading reset ...................................................................................... 17
4.2 Sensors data outputs ................................................................................. 18