QILAW-AWireless base station

MTw User Manual MTw Hardware, MT Manager, Awinda Protocol Xsens HQ (Enschede, NL) Xsens US office (Los Angeles, USA) Phone +31 88 97367 00 +1 310-481-1800 Fax +31 88 97367 01 +1 310-416-9044 Email [email protected] internet www.xsens.com © Xsens Technologies B.V. i Revisions Revision Date By Changes A 14 January 2011 CMO First version. B 15 April 2011 CMO Updated for 3.7 Beta Updated Wireless configuration menu Updated Wireless States Additional Functionality: Stand-by Synchronisation with 3 rd party devices + examples C 15 August 2011 CMO Added Rotation Matrix export description Added note about not using maximum update rate to ensure retransmissions are possible during recordings. D 4 November 2011 CMO Updated for 3.8 Settling time advice added Added Awinda USB dongle-related information Added stand-by mode details Additional 3 rd party sync options implemented Update rate default value E 14 February 2012 CMO Updated for 3.8.1 Added Table 1 maximum and typical update rates and buffering times. Added information related to magnetic field disturbances (3.3.1) F 9 January 2013 MHA Added Awinda Station and Awinda Dongle to Declaration of Conformity CE and FCC © 2010-2013, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and KiC are registered trademarks or trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The Netherlands, the USA and/or other countries. All other trademarks are the property of their respective owners. © Xsens Technologies B.V. ii Table of Contents 1 Introduction 1 2 Content Overview 2 2.1 Carrying Case with Contents 2 2.2 Motion Tracker (MTw) 2 2.3 Awinda Station 2 2.4 Awinda USB Dongle 3 2.5 Click-in Body Straps 3 2.6 Software 3 3 Getting Started 4 3.1 Hardware Setup 4 3.2 Software Installation 4 3.3 Tips for Best Practice 4 4 Hardware 8 4.1 Motion Trackers (MTw) 8 4.2 Awinda Station 11 4.3 Awinda USB Dongle 12 4.4 Click-in Body Straps 14 5 Recommended workflow 17 6 MT Manager 19 6.1 Software Installation 19 6.2 Connecting to MT Manager 20 6.3 Connectivity Toolbar 21 6.4 Device List 22 6.5 Wireless Configuration 24 6.6 Preferences 30 6.7 Synchronisation 31 6.8 Orientation Reset 36 6.9 Recording Data 37 6.10 Saved and Exported Data 37 © Xsens Technologies B.V. iii 6.11 Application Software Development for the MTw 40 7 Xsens Peripheral Software 41 7.1 Magnetic Field Mapper (MFM) 41 7.2 Firmware Updater 41 8 Troubleshooting and Support 43 8.1 Customer Support 45 9 Warranty Liability 46 10 Regulatory Notices 47 10.1 Radio Frequency Exposure and Emission 47 10.2 FCC Statement 48 10.3 CE Declaration of Conformity 49 10.4 FCC Declaration of Conformity 50 11 Appendices 51 11.1 MTw Technical Specifications 51 11.2 Awinda Station Technical Specifications 53 11.3 Awinda USB Dongle Technical Specifications 54 11.4 Xsens Kalman Filter 58 11.5 Strap Down Integration 59 11.6 Coordinate Systems 61 11.7 Orientation Output Modes 65 11.8 Synchronisation Examples 68 © Xsens Technologies B.V. iv Abbreviations and Terms Abbreviation Description BAN Body Area Network BNC BNC (Bayonet Neill-Concelman) connector. Common type of RF connector used for the coaxial cable. Used to connect Awinda Station to third party devices for synchronisation purposes. DOF Degrees Of Freedom MT Motion Tracker MTB MT Binary Communication Protocol MTM MT Manager PAN Personal Area Network SDI Strap down integration SDK Software Development Kit TTL Transistor–transistor logic. Used in the synchronisation ports of the Awinda Station. XFF Xsens Firmware File format XKF-3 Xsens Kalman Filter 3 DOF XKF-3w Xsens Kalman Filter 3 DOF for MTw Term Description Quaternion An orientation representation of complex numbers. A unit length quaternion is a convenient parameterization of rotations. Euler Angles Representation of the spatial orientation of any frame of the space as a sequence of rotations from a reference frame. Awinda Protocol Patented wireless communication protocol specifically suited for real-time transmission of mathematically integrated data, such as constructed by a Strap Down Integration (SDI) algorithm. Strap Down Integration A method to compute an orientation/ position change given an angular velocity/acceleration of a rigid body. For example computing angle change using MEMS vibrating gyroscopes. Delta Angle Output of strap down integration of the angular velocity data. Delta Velocity Output of strap down integration of the acceleration data. Personal Area Network A personal area network (PAN) is that associated with the MTw development kit. A set of wireless clients communicates with a host wireless receiver that is remove from the subject wearing the wireless clients. The wireless receiver is connected directly to the host PC. Body Area Network Differing slightly from a PAN, with the Body Area Network (BAN), a local wireless receiver is also body-worn, this collects wireless data from all body-worn devices and transmits wireless data to a remote wireless receiver, which is connected directly to a host PC. © Xsens Technologies B.V. v Default Folders Description Files Location Main program MT Manager MT SDK C:\Program Files ... \Xsens\MT Manager Documentation MTw User Manual MTw SDK User Manual C:\Program Files ... \Xsens\Documentation Tutorials / Help files C:\Program Files ... \Xsens\MT Manager © Xsens Technologies B.V. 1 1 Introduction The MTw™ is a miniature wireless inertial measurement unit incorporating 3D accelerometers, gyroscopes, magnetometers (3D compass), and a barometer (pressure sensor). The embedded processor handles sampling, buffering, calibration and strap down integration of the inertial data as well as the wireless network protocol for data transmission. Combined with the MT SDK with Xsens Kalman Filter on the host device the MTw provides real-time 3D orientation for up to 32 wireless motion trackers in a network, while at the same time a…

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FCC, Request for non-disclosure Date: 16-Jul-10 RF_501, Issue 6 Page 1 of 1 Company Name: Xsens Technologies B.V. Address : Pantheon 6a City: Enschede Country: The Netherlands To: Telefication B.V., Dept. FCC TCB Edisonstraat 12A 6902 PK ZEVENAAR The Netherlands Subject: Request for confidentiality FCC ID: QILAW-A Reference number: ###### Dear FCC TCB, 1. Long-Term Confidentiality Pursuant to 47 CFR Section 0.459(a) & (b), we hereby requests non-disclosure and confidential treatment of the following materials submitted in support of FCC certification application: Bill(s) of Material Block Diagrams Operational Description Schematic Diagrams Tune-up Procedure Above materials contain secrets, proprietary and technical information, which would customarily be guarded from competitors under 47 CFR, section 0.457(d)(2). Disclosure or publication or any portion of this company confidential material to other parties could cause substantial competitive harm and provide unjustified benefits for competitors. 2. Short-Term Confidentiality (STC) Pursuant to Public Notice DA 04-1705 of the Commission’s policy, in order to comply with the marketing regulations in 47 CFR §2.803 and the importation rules in 47 CFR §2.1204, a pplicant hereby requests Short-Term Confidential treatment of the following materials (note 1): Internal Photos User’s Manual Test Set-up Photos External Photos Justification: Planned Release Date STC: (notes 2, 3, 4, 5) Date: 11-7-2012 Name and signature of applicant: Kiman Velt Notes: 1) A document or type of document can only have ONE type of confidentiality! 2) Short-Term confidentiality is in principle for 45 days from date of grant; it can be extended max 3 times (total time 180 days max.)! 3) FCC must be informed when marketing begins earlier. 4) Release takes place automatically thus extension must be requested in time. Telefication does not remind you of this! 5) Request for extension or for release must be received by Telefication at least 7 days before date of actual marketing or before expiration of the STC period

Photographs module 20114433303 External PHOTOGRAPH 1: - AW-A WIRELESS BASE STATION, FRONT VIEW ..................................................................................... 2 PHOTOGRAPH 2: - AW-A WIRELESS BASE STATION, REAR VIEW ....................................................................................... 3 PHOTOGRAPH 3: - AW-A WIRELESS BASE STATION, BOTTOM VIEW .................................................................................. 4 PHOTOGRAPH 4: - AW-A WIRELESS BASE STATION, ANTENNA ......................................................................................... 5 PHOTOGRAPH 5: - AC MAINS ADAPTOR, OVERVIEW ........................................................................................................ 6 PHOTOGRAPH 6: - AC MAINS ADAPTOR, BOTTOM VIEW ................................................................................................... 7 Page: 2 of 7 Report number: 20114433303 Photograph 1: - AW-A Wireless base station, front view Page: 3 of 7 Report number: 20114433303 Photograph 2: - AW-A Wireless base station, rear view Page: 4 of 7 Report number: 20114433303 Photograph 3: - AW-A Wireless base station, bottom view Page: 5 of 7 Report number: 20114433303 Photograph 4: - AW-A Wireless base station, antenna Page: 6 of 7 Report number: 20114433303 Photograph 5: - AC mains adaptor, overview Page: 7 of 7 Report number: 20114433303 Photograph 6: - AC mains adaptor, bottom view

Photographs module 20114433303 Internal PHOTOGRAPH 1: - AW-A WIRELESS BASE STATION, INTERNAL VIEW ................................................................................ 2 PHOTOGRAPH 2: - AW-A WIRELESS BASE STATION, BATTERY VIEW .................................................................................. 3 PHOTOGRAPH 3: - AW-A WIRELESS BASE STATION, TOP VIEW OF PCB............................................................................ 4 PHOTOGRAPH 4: - AW-A WIRELESS BASE STATION, BOTTOM VIEW OF PCB ..................................................................... 5 Page: 2 of 5 Report number: 20114433303 Photograph 1: - AW-A Wireless base station, internal view Page: 3 of 5 Report number: 20114433303 Photograph 2: - AW-A Wireless base station, battery view Page: 4 of 5 Report number: 20114433303 Photograph 3: - AW-A Wireless base station, top view of PCB Page: 5 of 5 Report number: 20114433303 Photograph 4: - AW-A Wireless base station, bottom view of PCB

Radio test report 20114433303 rev 1.0 based on: FCC part 15; subpart C; section 15.247 (ed. 10-1-11); FCC part 15, subpart B, section 15.109 (ed. 10-1-11); FCC part 15; subpart B, section 15.107 (ed. 10-1-11) Wireless base station MTw AW-A Report number: 20114433303 rev 1.0 Contents MAIN MODULE .............................................................................................................................................. 3 1 ...... INTRODUCTION ...................................................................................................................................... 3 2 ...... PRODUCT ............................................................................................................................................... 4 3 ...... TEST SCHEDULE ..................................................................................................................................... 4 4 ...... PRODUCT DOCUMENTATION ................................................................................................................... 5 5 ...... OBSERVATIONS AND COMMENTS ........................................................................................................... 5 6 ...... MODIFICATIONS TO THE SAMPLE ............................................................................................................ 5 7 ...... SUMMARY.............................................................................................................................................. 5 8 ...... CONCLUSIONS ........................................................................................................................................ 6 TEST RESULTS MODULE ............................................................................................................................ 7 1 ...... GENERAL INFORMATION ........................................................................................................................ 7 1.1 Equipment information ..................................................................................................................... 7 1.2 Tested channels ................................................................................................................................. 7 2 ...... EMISSION TESTS ..................................................................................................................................... 8 2.1 Maximum conducted output power................................................................................................... 8 2.2 Minimum 6 dB bandwidth ................................................................................................................ 9 2.3 TX unwanted emissions attenuation (conducted, 0.03 – 26 GHz) .................................................. 10 2.4 TX unwanted emissions in the restricted bands (radiated, 0.03-1 GHz) ......................................... 11 2.5 TX unwanted emissions in the restricted bands (radiated, > 1GHz) ............................................... 13 2.6 Maximum power spectral density conducted to the antenna ........................................................... 17 2.7 RX unwanted emissions (radiated, 0.03 – 1 GHz) .......................................................................... 18 2.8 RX unwanted emissions (radiated, > 1 GHz) .................................................................................. 20 2.9 Conducted disturbance measurements ............................................................................................ 22 USED TEST EQUIPMENT MODULE ........................................................................................................ 24 REVISION HISTORY ................................................................................................................................... 26 This report comprises of three modules. The total number of pages is: 26 Page: 3 of 26 Main module Report number: 20114433303 rev 1.0 Main module 1 Introduction This report contains the result of tests performed by: Telefication B.V. Edisonstraat 12a 6902 PK Zevenaar The Netherlands Telefication complies with the accreditation criteria for test laboratories as laid down in ISO/IEC 17025:2005. The accreditation covers the quality system of the laboratory as well as the specific activities as described in the authorized annex bearing the accreditation number L021 and is granted on 30 November 1990 by the Dutch Council For Accreditation (RvA: Raad voor Accreditatie). The contents of this test report, if reproduced, shall be copied in full, unless special consent in writing for reproduction in part is granted by Telefication. Copyright of this test report is reserved to Telefication. Ordering party: Company name : Xsens Technologies B.V. Address : Pantheon 6a Zipcode : 7521 PR City/town : Enschede Country : The Netherlands Date of order : 12 June 2012 Page: 4 of 26 Main module Report number: 20114433303 rev 1.0 2 Product A sample of the following product was submitted for testing: Product description : Wireless base station Manufacturer : Xsens Technologies B.V. Trade mark : MTw Type designation : AW-A FCC ID : QILAW-A Hardware version : AW101010 Serial number : 00200128 Firmware release : 1.0.10 3 Test schedule Tests are carried out in accordance with the specification detailed in chapter 7 “Summary” of this report. Tests are carried out at the following location: Telefication, Zevenaar The sample of the product is received on: 20 September 2012 Tests are carried out between: 25 September and 11 October 2012 Page: 5 of 26 Main module Report number: 20114433303 rev 1.0 4 Product documentation For production of this report the following product documentation has been used: Identification Date MTw_UserManual.docx 2012-05-24 MTw_SDK_UserManual.docx 2012-05-24 The above-mentioned documentation will be filed at Telefication for a period of 10 years following the issue of this test report. …

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Photographs module 20114433303 Test set up PHOTOGRAPH 1: - AW-A WIRELESS BASE STATION, TEST SETUP RADIATED EMISSIONS (30 - 1000 MHZ) .......................... 2 PHOTOGRAPH 2: - AW-A WIRELESS BASE STATION, TEST SETUP RADIATED EMISSIONS (1 - 18 GHZ) ................................. 3 PHOTOGRAPH 3: - AW-A WIRELESS BASE STATION, TEST SETUP RADIATED EMISSIONS (18 - 26 GHZ) ............................... 4 PHOTOGRAPH 4: - AW-A WIRELESS BASE STATION, TEST SETUP CONDUCTED EMISSIONS ON AC MAINS ............................ 5 Page: 2 of 5 Report number: 20114433303 Photograph 1: - AW-A Wireless base station, test setup radiated emissions (30 - 1000 MHz) Page: 3 of 5 Report number: 20114433303 Photograph 2: - AW-A Wireless base station, test setup radiated emissions (1 - 18 GHz) Page: 4 of 5 Report number: 20114433303 Photograph 3: - AW-A Wireless base station, test setup radiated emissions (18 - 26 GHz) Page: 5 of 5 Report number: 20114433303 Photograph 4: - AW-A Wireless base station, test setup conducted emissions on AC mains