Introduction to the IMU module

• This product is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. It contains three-axis gyroscope, three-axis accelerometer, three-axis electronic compass motion sensor and barometer. By integrating various high-performance sensors and using the self-developed attitude dynamics core algorithm engine, combined with the high dynamic Kalman filter fusion algorithm, we can provide customers with high-precision, high-dynamic, real-time compensated three-axis attitude angles. Flexible configuration options to meet different application scenarios.
• The leading sensor fusion algorithm based on the Kalman filtering principle and with independent intellectual property rights can provide data with an update rate of up to 200Hz in real time, so as to meet various high-precision application requirements and achieve accurate motion capture and attitude estimation. The product integrates the self-developed high-precision calibration and calibration algorithm to improve the measurement accuracy of the product.
• At the same time, it provides the PC host computer software, operating instructions, development manual and development code required by users, so that the research and development time for various needs is minimized.

1. The front of the module

①The core module of the IMU module: All calculated poses are completed through this core module.

②External pin: can be connected to GPS module or I2C device.

③Serial port pin: output TTL signal, can communicate with STM32 and other microcontrollers.

④CP2102 chip: USB to serial port function.

⑤D2 indicator: module status indicator, the module is always on under normal conditions.

⑥D1 indicator: CP2102 status indicator, the USB is on during communication, and off when idle.

⑦Type-C interface: Connect to the serial port of the module and use it as a communication interface.

⑧Fixed copper column: used to install metal shell or install GPS module.

Pin function description

2. The back of the module

3. Version difference

The IMU module has a bare metal version and a metal shell version. The metal shell version has a shell installed at the factory. The bare metal version can be connected to a microcontroller such as STM32 through a serial port, or it can be connected to a Raspberry Pi through a USB data cable. After the metal case is installed, only USB communication can be used.

4. Product Features

• The module integrates high-precision gyroscopes, accelerometers, geomagnetic field sensors and barometers, and adopts high-performance microprocessors and advanced dynamic calculation and Kalman dynamic filtering algorithms, which can quickly solve the current real-time motion attitude of the module.
• Using advanced digital filtering technology can effectively reduce measurement noise and improve measurement accuracy.
• The module integrates an attitude solver and cooperates with the dynamic Kalman filter algorithm to accurately output the current attitude of the module in a dynamic environment. The attitude measurement accuracy is static 0.05 degrees, dynamic 0.1 degrees, extremely stable, and its performance is even better than some Professional inclinometer.
• The Z-axis heading angle is added to the filter fusion of the geomagnetic sensor, which solves the cumulative error caused by the drift of the gyroscope integral in the 6-axis algorithm, and can output the heading angle data stably for a long time. Note: Due to the magnetic field detection, it needs to be calibrated before use, and it needs to be at least 20cm away from magnetic interference areas, electronic equipment, magnets, speakers and other hard magnetic objects.
• The module has its own voltage stabilization circuit, the working voltage is 3.3~5V, and the pin level is compatible with 3.3V/5V embedded systems, which is easy to connect.
• Support serial port and IIC two kinds of digital interface. It is convenient for users to choose the best connection method. The serial port rate is adjustable from 4800 bps to 921600 bps, and the IIC interface supports full-speed 400K rate.
• Up to 200Hz data output rate. The output content can be freely selected, and the output rate can be adjusted from 0.2 to 200 Hz.
• 4 expansion ports are reserved, which can be configured as analog input, digital input, digital output and other functions respectively.
• With GPS connectivity. Accepts serial GPS data conforming to NMEA-0183 standard to form GPS-IMU integrated navigation unit.

5. Sensor parameter indicators

1. Accelerometer parameters

2. Gyroscope parameters

3. Magnetometer parameters

4. Barometer parameters

5. Pitch angle, roll angle parameters

6. Heading angle parameters

Note:

[1]Before use, please perform magnetic field calibration in the test environment to ensure that the sensor is familiar with the magnetic field in this environment. When calibrating, please stay away from magnetic interference

[2] In some vibration environments, there will be cumulative errors, and the specific errors cannot be estimated. The actual test shall prevail.

6. Module parameters

1. Basic parameters

2. Electrical parameters