In this chapter, the various output modes of the industrial motion tracker are described. The industrial motion trackers have several output options. It is possible to select a different output frequency and/or output format (e.g. float or double) per output or group of outputs. A full overview of the output options can be found in the MT Low Level Communication Protocol Documentation.
Performance specifications on orientation, position and sensor data can be found in the specific datasheets of each industrial motion tracker series.
The industrial motion tracker supports different data protocols: the binary (hexadecimal) XBus protocol, NMEA (ASCII) messages and CAN 2.0. Refer to MT Low Level Communication Protocol Documentation and MT CAN Protocol Documentation to learn more about the structure of the protocols and how to switch between them.
NOTE: The MTi 1-series only supports the binary Xbus protocol.
The MTi-7, MTi-8, MTi-670 and MTi-680 require data from an externally connected GNSS receiver to provide a full GNSS/INS solution. Depending on the MTi and its firmware version, this can be achieved by using the u-blox (UBX), NMEA, Septentrio (SBF) or Trimble (GSOF) protocol. For more information on how to setup your device to communicate with its external GNSS receiver, please refer to your product's (MTi 1-series, MTi 600-series or Xsens Avior series) datasheet.
The Xsens Avior GNSS/INS and Xsens Avior RTK GNSS/INS also require an externally connected GNSS receiver, and currently support the u-blox (UBX) protocol only. NMEA support is planned via a firmware update in H2 2026. The officially supported receiver series are the ZED-X20P (default for RTK devices) and the MAX-F10S (default for non-RTK devices). Refer to the Xsens Avior series Datasheet.
The Xsens Sirius GNSS/INS and Xsens Sirius RTK GNSS/INS have an integrated GNSS receiver and do not require an external one.
RTCM messages contain position correction data which is required to achieve cm-level positioning. RTCM input is supported by the MTi-8, MTi-680(G), and the Xsens Sirius/Avior RTK GNSS/INS. The supported protocol is RTCMv3, with a standard 1 Hz frequency.
On the Xsens Sirius RTK GNSS/INS, the dedicated correction input port additionally accepts the SPARTN protocol, and outputs a GGA message at a 1 Hz interval, which is often required by NTRIP providers. Refer to the Xsens Sirius series Datasheet.
All industrial motion tracker feature a built-in self-test (BIT). The self-test actuates the mechanical structures in the MEMS accelerometer and gyroscope by inducing an electric signal. This allows checking the proper functioning of the mechanical structures in the MEMS inertial sensors as well as the signal processing circuitry. For the magnetometer, the self-test checks the integrity of the sensor component.
A passed self-test will result in a valid self-test flag in the status byte. Because the self-test influences the sensor data, the self-test is only available in Config mode. For more information, look for RunSelftest in MT Low Level Communication Protocol Documentation.
Each data message can be accompanied by a packet counter and/or timestamp. Refer to MT Low Level Communication Protocol Documentation detailed information on the various time outputs.
The status word includes information about the status of the industrial motion tracker, its sensors, the filter and user inputs.
Information contained within the status word is, for example:
Refer to MT Low Level Communication Protocol Documentation for detailed information on the Status Word output.