Movella Xsens MTi-670G GNSS/INS 惯性导航模块
Vendor: Movella Technologies B.V. (Netherlands, formerly Xsens)
Product: MTi-670G GNSS/INS 惯性导航模块
Movella（原 Xsens，荷兰）MTi-670G 是工业级 GNSS/INS 组合导航模块：内置 u-blox ZED-F9 GNSS 接收机与 IMU 深度融合，横滚/俯仰 0.2° RMS、航向 0.8° RMS、定位 1 m CEP；陀螺量程 ±2000°/s、零偏稳定性 8°/h、噪声密度 0.007°/s/√Hz，板载磁力计与气压计；IP68 等效防护，56.5×40.9×36.75 mm、98 g，4.5-24 V 宽压输入、功耗 <1 W，CAN/RS232 双接口、输出最高 2 kHz。为巡检机器人、AGV/AMR 与无人平台在城市峡谷、桥下隧道等卫星信号遮挡场景提供连续可靠的定位与姿态。
| weight | 98 g |
| barometer | onboard |
| ip_rating | IP68 (equivalent) |
| dimensions | 56.5 x 40.9 x 36.75 mm |
| interfaces | CAN, RS232 (Xbus / ASCII NMEA / CAN) |
| output_rate | up to 2 kHz (400 Hz SDI) |
| magnetometer | onboard |
| gnss_receiver | u-blox ZED-F9 (onboard) |
| input_voltage | 4.5-24 V |
| gyro_full_range | 2000 deg/s |
| position_accuracy | 1 m CEP |
| power_consumption | <1 W typ. |
| velocity_accuracy | 0.05 m/s RMS |
| gyro_noise_density | 0.007 deg/s/sqrt(Hz) |
| roll_pitch_accuracy | 0.2 deg RMS |
| yaw_heading_accuracy | 0.8 deg RMS |
| gyro_inrun_bias_stability | 8 deg/h |