Xsens Matlab/Simulink driver
Contents
1. 2010 MATLAB Version 7 13 R201 Ib 32bit Simulink Version 7 8 R2011b xPC Target Version 5 1 R201 1b Operational system Microsoft Windows XP 32bit Service Pack 3 Microsoft Visual C 2008 MATLAB Version 7 9 R2009b Simulink Version 7 4 R2009b xPC Target Version 4 2 R2009b Installation For the latest release of the drivers send an e mail to tadej dot petric at ijs dot si and you will receive IJS xsens Vxx rar Archive IJS xsens Vxx rar includes the following files 5 e NXsensIJSNinfo xml e XsensIJS hwicon gif XS8ensldS xsens IJS lib mdi e XXsensIJSNxsens simul tp mexw32 e NXsensIJSNxsens simul tp cpp e XsensIJS xsens_xpc_tp mexw32 e XsensIJS xsens_xpc_tp c e NXsensIJSNxpo src c e XsensIJS MTComm_tp h e NXsensIJSimain h e XsensIJS xsenscmtstatic h NOTINCLUDED Only required if you want to orome the simulink driver xsens_simul_tp mexw32 If needed one can copy it from MT Software Development packet CMTstatic directory e XsensIJS xsenscmtstatic 1lib NOT INCLUDED Only required if you want to recompile the simulink driver xsens simul tp mexw32 If needed one can copy it from MT Software Development packet CMTstatic directory e XsensIJS DemoSimulink DemoSimulink mdl e XsensIJS DemoUDP DemoUDP mdl e XsensIJS DemoXPC DemoXPC mdl e XsenslJS Xsense win32 UDP Beta_release Xsense UDP exe e XsenslJS Xsense_win32_UDP Beta_release Xsense_UDP config2. For using this library in Matlab Simulink one has to add those files into a Matlab pathMATLAB PATH The source code is under GPL licence This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation version 3 of the License This program is distributed in the hope that it will be useful but WITHOUT ANY WAR RANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details 2 5 Compiling source code Source code can be compiled with c c compiler tested with Microsoft Visual C 2010 see section Requirements Syntax for compiling the simulink driver in Matlab is e gt gt mex xsens simul tp cpp 1 xsenscmtstatic lib As stated above if one needs to recompile this driver he she should obtain the MT Software where the static libraries required for compiling this driver can be found Syntax for compiling the XPC target driver in Matlab is 9 mex sens Do Vp c SOC STU 3 Simulink and XPC target library Matlab Simulink library consists of three elements with different characteristics The difference is how they are used see Figure 3 The first block 1s a Xsens Simulink driver which can be included directly into simulink scheme In this case the Xsense MTi MTi G device must be connected to the computer which runs the Simulink scheme The second
3. Xsens Documentation for details The data can only be obtained if Xsens MTi G device is used Velocity size is 3x1 The unit is m s The data can only be obtained if Xsens MTi G device is used Staus size is 1x1 The value is 1 if a GPS fix is OK for MTi G device or if XKF is OK for MTi device Other wise the value 1s 0 Port usually COMI Baudrate usually 115200 It must be the same as it is set in MT Software i e to change boudrate change it first in MT Software Data sample frequency usually 100 Hz 11 Parameters and mask E Source Block Parameters Xsens XPC Z xsens xpc tp mask link Xsens MTi MTi G driver for XPC Target mailto tadej petric at ijs si Jozef Stefan Institute Dept of Automation Biocybernetics and Robotics Ljubljana Slovenia Last update 07 11 2011 Parameters Angles Angle type Acceleration m s 2 Angular velocity rad s Magnetic field normalized Position LLA ONLY FOR MTi G Velocity m s ONLY FOR MTi G Status GPS fix for MTi G or XKF for MTi rot Baudrate set same baudrate for sensor in MTsoftware Data sample frequency respect max allowed freq Apply 12 4 Examples Demo examples show how to obtain roll pitch yaw data using different architectures see Figure 3 4 1 Dem0o Simulink f al DemoSimulink lal DX E Scope lem 285 ie Ed Vis Simulation fomes To Hdp amp ES Amm Ca ee 8 b m 1
4. block is a Xsens UDP which receives UDP packets form a server Server is a stand alone WIN32 software The third block is an XPC target driver which can run in real time and talk to the Xsens MTi MTi G device directly using a low level communication protocol Figure 4 shows the Matlab Simulink Xsens IJS library nc A n a Xsens USB RS232 2 Converter RS tranceiver Simulink optional UDP Client N tranceiver optional XPC Target External power supply Slika 3 Architecture overview for Xsens MTi MTi G device a Simulink driver b UDP client c XPC Target driver 52011 Tadej Perie Drivers for Xsens MTi MTi G Xsens Xsens MPC Xsense UDP Slika 4 Matlab Simulink library for Xsens MTi MTi G devices 3 1 Xsens MTi MTi G Simulink The purpose Library Description Xsens Parameters and mask Driver for Xsens MTi MTi G device which can be used in Simulink XsensIJS Driver 1s used to establish connection between Simulink and the Xsens MTY MTi G device The driver has seven output signals in the following order 1 Angles Size depends on a selection of an angle type In case of Euler the size is 3x1 and the unit is degree In case of quarternion the size is 4x1 and in case of rota tional matrix the size 1s 3x3 2 Acceleration size is 3x1 The unit is m s Angular velocity size is 3x1 The unit is rad s 4 Magnetic field size is 3x1 The data is normalised se
5. sends five signals in the following order Angles size is 3x1 The unit is degree Acceleration size is 3x1 The unit is m s Angular velocity size is 3x1 The unit is rad s Position size 1s 3x1 The data is in LLA format see Xsens Documentation for details The data can only be obtained if Xsens MTi G device is used 5 Velocity size is 3x1 The unit is m s The data can only be obtained if Xsens MTi G device is used ee Data Show data High CPU usage Euler Quartemion Rol 0 Pitch 0 0 0 0 Yaw D Magnetic field Velocity MTi 3 D 0 0 Tadej Petri dozef Stefan Institute Ljubljana Slovenia 10 3 4 Xsens MTi MTi G XPC target The purpose Library Description Asens XFC Parameters and mask Driver for Xsens MTI MTi G device which can be used in XPC target XsensIJS Driver is used to establish connection between XPC target and the Xsens MTi MTi G device The driver has eight output signals in the following order l Uo Angles Size depends on a selection of an angle type In case of Euler the size is 3x1 and the unit is degree In case of quarternion the size is 4x1 and in case of rota tional matrix the size is 3x3 Acceleration size is 3x1 The unit is m s Angular velocity size is 3x1 The unit is rad s Magnetic field size is 3x1 The data is normalised see Xsens Documentation for details Position size 1s 3x1 The data is in LLA format see
6. use e robotics e aerospace e autonomous vehicles e marine industry e automotive applications Features e real time computation of inertial enhanced position velocity and GPS enhanced attitude heading on embedded DSP built in 50 channel Global Position System GPS receiver e 160 dBm tracking sensitivity high immunity to GPS interference jamming Time to first GPS fix Is hot start e GALILEO LI compatible when signals become available firmware update required accurate full 360 degrees 3D orientation output Attitude and Heading e 3D acceleration 3D rate of turn and 3D earth magnetic field data e static pressure sensor barometer high update rate 120 Hz on embedded DSP 512 Hz inertial data only 4 2 3 UTC referenced output compact design low weight ultra low power consumption various digital output modes all solid state miniature MEMS inertial sensors inside individually calibrated for temperature 3D misalignment and sensor cross sensitivity built in test BIT feature antenna fault detection external active antenna status detection circuit Slika 2 MTi G with sensor fixed coordinate system overlaid Requirements Xsens MTi MTi G driver for Simulink and XPC target require Matlab Simulink software and XPC toolbox when used on XPC target The driver was tested on the following systems 2 4 Operational system Microsoft Windows 7 64bit Service Pack 1 Microsoft Visual C
7. 00 Nor 9 858 Display1 Scope Ready 100 ode k 13 4 20 Demo UDP ud Xsense MTi MTi G cim di Status Data Status Reciving data Show data High CPU usage Communication Using COM 7 at 115200 baud Euler Quartemion Rotational Matrix Angular velocity Settings Rol 0 02 i 0 0 0 4 03 Sample frequency 100 Pitch 029 0 D 0 0 0 00 Yaw 11 47 0 0 0 0 0 10 W Orientation data and type Euler IV Acceleration data Acceleration Magnetic field Velocity MTi G Position MTi G W Angular velocity data 0 08 0 51 W Magnetic field data 4 5 4 12 0 9 92 40 38 0 0 Position data only for MTi G l settin About Velocity data only for MTi G ee Ip 127 5 0 0 1 cea e Tadej Petri Lever arm m only for Mit G eq uS x 000 S y00 2700 Z 5060 E i nh i T n Ljubljana Slovenia Status Connected to IP 127 0 0 1 on port 25060 ConnectMTi Stop Connect Disconnect Close li DemoUDP File Edit View Simulation Format Tools Help O um Wg sH SDPO ABBE Bs Xsense UDP Display4 T 8 400 FixedStepDiscrete 14 4 3 Demo XPC 3 p li DemoXPC E mn B Real Time xPC Target Spy cB Fille Edit View Simulation Format Tools Help System execution started sample time 84 001 855 System execution stopped at 10 BBR L1 Ca zi d wv cope 1 set to state Interrupted Scope 2 Set to state Interrupted mini
8. Institut Jozef Stefan Ljubljana Slovenija DP 10867 Xsens MTi MTi G driver for Matlab Simulink and XPC Target Tadej Petric MATLAB Y SIMULINK xsens Ljubljana November 201 1 Kazalo 1 Introduction 3 2 Product Description 3 SI DI esigere ethe 993 922 2444 ee cee tae ds 3 Ls MID 33 23 34 d d xh hREeeLeErxReERLESSS 20 WOQUICIION uu un 9o kho m mo komo EO ee DOR TALES OE ee ee es J 2 TATA 2o s ae eee eae BREESE ERE BEE ERR EA eH SG 5 20 OPUS source code 2 uu uw uem REOR CR OX HO Y Rom HE EH OO 6 3 Simulink and XPC target library 7 3 1 Xsens MTi MTi G Simulink 8 3 2 XsensMTIH MLlI GUDPClent 9 3 3 NXsensMTI MLTI GUDPS erver 10 3 4 Xsens MTi MTi G XPC target 11 4 Examples 13 4I Were SW s ssaa BHO OEE DRE S 13 5 Domo UDI z gGamgs4 9ExESENYex49x23359349 x43 14 43 Demo APU aaa wx xxx GE GXR E R3 9E ox X om ee ea es 15 1 Introduction This document describes the drivers for communication between Xsens MTi or MTi G device and Smulink or XPC target As stated in MTi and MTx User Manual and Technical Documentation the The MTi and MTX are both complete miniature inertial measurement units with integrated 3D magnetome ters 3D compass with an embedded processor capable of calculating roll pitch and yaw in real time as well as outputting calibrated 3D linear acceleration
9. e Xsens Documentation for details 5 Position size 1s 3x1 The data is in LLA format see Xsens Documentation for details The data can only be obtained if Xsens MTi G device is used 6 Velocity size is 3x1 The unit is m s The data can only be obtained if Xsens MTi G device is used 9 Lever arm for GPS the size is 3x1 The unit is m Sample time usually 0 01s H Source Block Parameters Xsens xsens xpc tp mask link Xsens MTi MTi G driver for Simulink Tadej Petric mailto tadej petric at ijs si Jozef Stefan Institute Dept of Automation Biocybernetics and Robotics Ljubljana Slovenia Last update 21 10 2010 Parameters W Angles Angle type Euler deg 4 Acceleration m s 2 W Angular velocity rad s W Magnetic field normalized W Position LLA ONLY FOR MTi G v Velocity m s ONLY FOR MTi G Lever arm m ONLY FOR MTi G 0 00 Sample time 0 1 0 008 0 01 3 2 Xsens MTi MTi G UDP Client The purpose UDP receive client for UDP Xsens MTi MTi G stand alone server Library XsensIJS Description Simulink block is used to establish connection between the server with a Xsens MTi MTi G device and client Simulink The driver has five output signals in the following order 1 Angles size is 3x1 3x8 bytes The unit is degree 2 Acceleration size is 3x1 3x8 bytes The unit is m s 3 Angular velocity size is 3x1 3x8 bytes The unit is Xsense UDP rad s 4 Po
10. mal TET 8 888882 at time B 148000 Maximal TET 060842 at time amp 774000 Target Scope Id 1 1 Math Function z 1 705979 Scope xPC Xsens XPC Target Scope Id 2 Math Function1 Scope xPC 1 F 10096 ode3 15
11. rate of turn gyro and earth magnetic field data The MTi further supports various advanced IO options such as RS422 and a synchronization output As stated in MTi G User Manual and Technical Documentation the MTi G is an integrated GPS and Inertial Measurement Unit IMU with a Navigation and Attitude and Heading Refer ence System AHRS processor The MTi G is based on MEMS inertial sensors and a miniature GPS receiver and also includes additional aiding sensors a 3D magnetometer and a static pres sure sensor The MTi G delivers unprecedented performance for its size weight cost and low complexity in use The MTi G is designed to be relatively robust and is very flexible providing a wide range of interface options as well as advanced settings for specific usage scenarios As stated in MT Low Level Communication Protocol Documentation MTi and MTi G Mo tion Trackers both use a common binary communication protocol called the MT Communica tion Protocol Knowledge of this protocol is important if you wish to directly communicate to an MT on low level basis using the RS 232 RS 485 or RS 422 interfaces The MT communi cation protocol based message enables the user to change the configuration of the MTi G and MTi and retrieve the output data NOTE The MTi G is the most advanced member of the MT family year 2011 and some messages are not supported by the MTi Also some specific messages or settings are not rele vant and or supported b
12. sition size is 3x1 3x8 bytes The data is in LLA format see Xsens Documentation for details The data can only be obtained if Xsens MTi G device is used 5 Velocity size is 3x1 3x8 bytes The unit is m s The data can only be obtained if Xsens MTi G device is used Parameters and mask Port usually 25060 Sample time usually 0 01s W Source Block Parameters Xsense UDP Subsystem mask link Xsens MTi MTi G UDP recive for Simulink and XPC Target Compatible with Xsense UDF exe Tadej Petric mailto tadej petric at ijs si Jozef Stefan Institute Dept of Automation Biocybernetics and Robotics Ljubljana Slovenia Last update 07 06 2011 Parameters Port 25060 Sample time 0 01 Cancel Apply 3 3 Xsens MTi MTi G UDP Server The purpose Library Description Parameters and mask ad Xsense MTi MTi G Status Status Offline Communication Mone Settings Sample frequency 100 Orientation data and type Euler Acceleration data Angular velocity data Magnetic field data Position data only for MTi 3 Velocity data only for MTi G Lever arm m only for Mit G x 60 y 040 z z 0 Z Connect M Ti Stand alone UDP server for UDP Xsens MTV MTi G clinet XsensIJSNXsense win32 UDP Xsense_ UDP exe Software is used to establish connection between the Xsens MTI MTI G device and send UDP data to the client Simulink ONLY FOR WINDOWS PLATFORM The server
13. y the MTi G Where a specific type of MT is not supported it 1s clearly indicated For more details see MT Low Level Communication Protocol Documentation 2 Product Description 2 1 MTi As stated in MTi and MTx User Manual and Technical Documentation the MTi is a miniature gyro enhanced Attitude and Heading Reference System AHRS Its internal low power signal processor provides drift free 3D orientation as well as calibrated 3D acceleration 3D rate of turn rate gyro and 3D earth magnetic field data The MTi is an excellent measurement unit for stabilisation control of cameras robots vehicles and other equipment Fields of use e robotics aerospace e autonomous vehicles e marine industry bore industry Slika 1 MTi with sensor fixed coordinate system overlaid 2 2 MTi G As stated in MTi G User Manual and Technical Documentation the MTi G is an integrated GPS and MEMS Inertial Measurement Unit with a Navigation and Attitude and Heading Refer ence System processor The internal low power signal processor runs a real time Xsens Kalman Filter XKF providing inertial enhanced 3D position and velocity estimates The MTi G also provides drift free GPS enhanced 3D orientation estimates as well as calibrated 3D accelera tion 3D rate of turn 3D earth magnetic field data and static pressure barometer The MTi G is an excellent measurement unit for navigation and control of vehicles and other objects Fields of
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