Xsens MTi-3 AHRS
The Xsens MTi-3 AHRS is a miniature attitude and heading reference module from the MTi 1-series produced by Xsens — the brand of the Dutch inertial-sensor manufacturer Movella. The sensor comes in an SMD-mountable LGA 12.1 × 12.1 × 2.55 mm package that can be soldered directly to a PCB. It combines a 9-axis MEMS IMU (accelerometer, gyroscope, magnetometer) with the built-in XKF3i fusion filter, which delivers stabilized orientation in real time as Euler angles, quaternions, or DCM matrices.
The MTi-3 is the smallest AHRS in the Xsens portfolio — at only 0.6 g and a typical 60 mW power draw, it is ideal for mobile applications: drones (UAV, FPV), wearable robots, lightweight AMR/AGV, medical and sports equipment. Interfaces include UART, I²C, and SPI (host-selectable), with 2.16–3.6 V supply (MTi-3) or 3.3 V. Built-in functions: In-Run Compass Calibration, Active Heading Stabilization, configurable outputs up to 100 Hz. Full ROS support via MT Software Suite and xsens_mti_driver / xsens_mti_ros2_driver. The MTi-3 is also available in IMU-only (MTi-2) and VRU (MTi-3 VRU) variants — this document describes the AHRS variant with a magnetometer and a full orientation filter.
Classification
IMU · serves as: Sensing, Localization, Balance and Posture Control, Perception. · compatible with: Mobile Robot, Research Robot, Educational Robot.
Which group Xsens MTi-3 AHRS belongs to and how it is built
An IMU (Inertial Measurement Unit) is an integrated sensing module used to determine the motion and orientation of an object in space. A typical IMU combines an accelerometer and a gyroscope, and sometimes a magnetometer as well. In robotics, IMUs are used for motion stabilization, orientation estimation, balance control, navigation, and analysis of robot or component dynamics.
Technical specification
Relations
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