Comments (10)
Hello @diennv,
We have created a list of possible causes for this on our knowledge base: https://xsenstechnologies.force.com/knowledgebase/s/article/Reasons-why-the-heading-yaw-is-not-stable-or-incorrect-1605869709245?language=en_US
Could you have a look at this, especially the last section (GNSS/INS specific)? Which filter profile are you currently using?
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Hello @diennv,
Concerning heading output during GNSS outages, there are two scenarios:
- With General(NoBaro) filter profile, the heading will be unreferenced (initialized at 0 deg) when the MTi powers up. As soon as GNSS data is received and if the MTi is moving, the heading will automatically become globally referenced (with respect to East). If a GNSS outage happens after that, the MTi will keep estimating its heading with respect to the global frame.
- With GeneralMag filter profile, the heading will always be globally referenced (with respect to East).
Yes, you can connect a different external GNSS receiver to your MTi-670. It supports the UBX (u-blox) or NMEA protocol. More information can be found in the below documentation chapters:
https://mtidocs.xsens.com/signal-processing-and-algorithms$gnss-input
https://mtidocs.xsens.com/interfaces-2$gnss-receiver-interface
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Hello @diennv,
The hardware-wise connections can be found here:
https://mtidocs.xsens.com/interfaces-2$gnss-receiver-interface
And the software configuration can be found here:
https://mtidocs.xsens.com/signal-processing-and-algorithms$gnss-input
Does your GNSS receiver output GGA, GST, RMC and GSA (all are required) with the same Talker ID (GN, GP or GL)? You will also need to configure your device to receive NMEA messages using the SetGnssReceiverSettings message.
Finally, please note that the MTi-670 is designed for use with non-RTK GNSS receiver. Connecting RTK GNSS receivers is possible, and the MTi-670 can use the data for its GNSS/INS fusion, but the sensor-fused position output may not be centimeter-accurate.
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Hi @diennv,
What is the SetGnssReceiverSettings message you have sent to the MTi? And which Talker ID does your GPS receiver use?
An RS232 interface is perfect. The PPS signal is not a hard requirement; it is only used for clock synchronization purposes.
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Hi @diennv,
Sorry, but I can't seem to access the attachments you sent... Could you perhaps send your e-mail to [email protected]? I will make sure that I or a local product specialist will support you further with this.
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