Xsens MTi-680G RTK GNSS INS motion tracker u-blox ZED-F9 RTCM CAN NMEA
The MTi-680G is a GNSS/Inertial Navigation System (INS) module that features an integrated GNSS receiver, as well as provides synchronized 3D orientation and heading outputs.
The MTi-680G is an RTK enabled GNSS/INS with a ruggedized housing featuring IP68 protection against environmental influences. Building on the proven Xsens MTi 600-series technology it enables a robust and easy to use cm-level positioning and orientation tracking for outdoor applications. It features a incredibly powerful onboard u-blox ZED-F9 RTK GNSS receiver to provide superior positioning performance. It is designed for easy integration and seamless interfacing with other equipment. The MTi-680G is supported by the MT Software Suite which includes MT Manager (GUI for Windows/Linux), SDK, example codes and drivers for many platforms including ROS.
Sensor fusion performance:
- roll, pitch: 0.2 deg RMS
- yaw/heading: 0.5 deg RMS
- position:1 cm + 1 ppm CEP
- velocity: 0.05 m/s RMS

Sensing components:
- gyroscope full range: 2000 deg/s
- accelerometer full range: 10 g
- magnetometer
- barometer
- GNSS receiver: u-blox ZED F9
- RTK correction input: RTCM 3.2/3.3
- RTCM input port: RS232

System specifications:
- IP-rating: IP68
- dimensions: 56.5×40.9×36.75mm
- weight: 98g
- input voltage: 4.5 to 24V
- power consumption: <1 W
- interfaces: CAN, RS232
- protocols: Xbus, ASCII (NMEA) or CAN
- output frequency: up to 2 kHz