Xsens MTi-630 AHRS

The Xsens MTi-630 AHRS is an industrial Attitude and Heading Reference System module from the MTi 600-series produced by Xsens — the brand of the Dutch inertial-sensor manufacturer Movella. The MTi-630 combines a 9-axis MEMS IMU (accelerometer, gyroscope, and magnetometer) with the built-in calibrated XKF3i fusion filter. The filter runs in real time inside the module and delivers stabilized orientation as Euler angles, quaternions, or DCM matrices without external computation.

The sensor is factory-calibrated over the full -40 °C … +85 °C temperature range, features UART, RS232, and RS422 interfaces (in the MTi-630R variant), and operates from 4.5–24 V. Built-in functions include In-Run Compass Calibration (real-time magnetic disturbance rejection), Active Heading Stabilization (AHS), and configurable data outputs up to 400 Hz. The MTi-630 is widely used in mobile robotics, industrial drones, AGVs, UGVs, research-grade autonomous vehicles, surveying and hydrographic equipment, and stabilization platforms. Together with the Xsens MT Software Suite it provides full ROS 1/ROS 2 integration.