BW SENSING IMU100C Manual de usuario

IMU100C

High Cost-effective

IMU

Technical Manual

As a high cost-effective inertial measurement sensor, the IMU100C measures the attitude

parameters of the motion carrier (roll angle, pitch angle, angular velocity, acceleration).Attitude and

angular velocity deviations are estimated by a 6-state Kalman filter with appropriate gain, that is suitable for

inertial attitude measurement in motion or vibration.

IMU100C uses highly reliable MEMS accelerometers and gyroscopes，and ensure

measurement accuracy through algorithms, meanwhile, the seal design and strict process ensure that the

dynamic parameters of the carrier such as the angular velocity、acceleration and attitude can be accurately measured

under harsh conditions. Through various compensations such as nonlinear compensation, quadrature compensation,

drift compensation, the error source of IMU100C can be greatly eliminated, and the product accuracy level can be

improved. The IMU100C is equipped with digital interface that can be easily integrated into the user's system.

Introduction

Features

Applications

●Dynamic compensation and quadrature compensation

●Zero instability：30 °/h

●Special offset tracking algorithm eliminates drift

●Gyro drift compensation

●Standard RS232/RS485/TTL output interface

●Operating temperature:： -40℃+85℃

●High-performance Kalman filter algorithm

●Small size： L60 × W59× H29mm

IMU100C

High Cost-effective IMU

●Balance car

●Dumper

●Platform stability

●Individual combat equipment

●ROV underwater robot navigation

●Marine survey

●Robot

●Unmanned Aerial Vehicles

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Power supply

Operating current

Operating temperature

Store temperature

9V~35V DC

30mA （Max40mA ）

-40~+85℃

-55~+100℃

Specifications

Performance Specifications

Pitch angle

Roll angle

measuring range

Resolution

Range

Resolution 0.05°/sec

-180 °~+180°

0.01°

-90°~+90°

Resolution 0.01°

Gyro

Range

Zero instability

ARW

Noise density

Zero absolute error ±0.3 °/sec

0.007 °/s/√Hz

3.1 °/√h

30 °/h

±400°/sec

Range： X,Y,Z

Resolution 2 mg

±3.6 g

Accelerometer

Bias stability

500Hz

Maximum output frequency

±20 mg

50ms

Start delay

2000g

Anti-vibration performance

IMU100C

High Cost-effective IMU

Electrical Specifications

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Connector

Protection level

Shell material

Installation

Metal connector

IP67

Magnesium alloy sanding oxidation

Three M4 screws

Mechanical Characteristic

Package size

IMU100C

High Cost-effective IMU

Resolution: The measured minimum change value that the

sensor can detect and resolve within the measurement range.

Accuracy: The error between the actual angle and the Root mean

square(RMS) of the measured angle of the sensor (≥16 times).

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Size：L60*W59*H29（mm）

4 Through hole

Bare plate

product size

Size：L44*W35*H11（mm）

Note: ±1mm error for length and width dimensions, please refer to actual size.

holeΦ 2mm

The correct installation method can avoid measurement error. The following points should be made

when installing the sensor:

First of all, to ensure that the sensor mounting surface and the measured surface completely close,

the measured surface should be as horizontal as possible, can not have the angle shown in Figure A

and Figure C, the correct installation is shown in Figure B and Figure D.

the measured surface the measured surface

C D

the measured surface the measured surface

Secondly, the bottom cable of the sensor and the axis of the measured object shouldn't generate

the angle shown in E. When installing, the bottom cable of the sensor should be kept parallel or

orthogonal to the rotation axis of the measured object. This product can be installed horizontally or

vertically (vertical installation requires customization). The correct installation method is shown in

Figure F.

Finally, the installation surface of the sensor must be fixed with the measured surface tightly and

smoothly, to avoid measurement error that may be caused by the acceleration and vibration.

Installation direction

IMU100C

High Cost-effective IMU

uneven surface

generates the

angle

uneven surface

generates the

angle

Bewis Sensing Technology LLC

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IMU100C

High Cost-effective IMU

Electrical interfaces

Inertial

measureme

nt unit

GND

DC 5V

BLACK GND

YELLOW TXD

RED VCC

GREEN RXD

RS 232 wiring diagram

RED

VCC

DC 5V

BLUE

BLACK

GND

GREEN

RXD

（B、D-）

YELLOW

TXD

（A、D+）

Sensor

YELLOW: TXD

DC 10-35V

RED VCC DC 5V

YELLOW A 485+

485-

BLACK GND

RS 485 wiring diagram

GND

Signal

acquisition

terminal

Inertial

measureme

nt unit

GREEN B

Electrical connections

Cable color

function

Note: The RS232 interface needs to share the product ground wire with the

communication ground wire.

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 0617 7922

IMU100C

High Cost-effective IMU

Debugging software

Users can directly download serial assistant on official website (Supports-Download). You can also use more

convenient and intuitive PC software.

IMU100C supporting serial debugging software can be connected to the inclinometer on the computer for

angle display. The software debugging interface is as shown in the figure below. Using the debug software, it

can conveniently display the current X-direction tilt angle, and you can also modify and set other parameters by

yourself.

Software usage steps

①

②

③

Connect the serial port hardware of the inclinometer correctly and connect the power supply.

Select the computer serial port and baud rate and click to connect to the serial port.

Click Start and the tilt angle of the inclinometer in the X and Y directions will be displayed on the screen.

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Protocol

1Data Frame Format：

Data Format: Hexadecimal

Identifier: Fixed to 77

Frame Length: Length from Frame Length to Checksum（included）

Address Code: Address of acquiring module, default 0x00

Data: Content and length variable according to Command

Checksum: Sum of Frame Length, Address Code, Command and Data. (Please pay

attention that when the command or data changes, the checksum will change. )

（8 data bits，1 stop bit，No parity check，default baud rate 9600）

Identifier

（1byte）

0x77H

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（Xbyte）

Checksum

（1byte）

2 Command Format：

2.1 Read PITCH angle Command：77 04 00 01 05

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（0byte）

Checksum

（1byte）

0x01

Command response：

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（3byte）

Checksum

（1byte）

0x81 SXXX.YY

Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1

means negative), XXX is the three digit integer part, YY is the fractional part. For example, if the return value is 77 07

00 81 10 34 63 2F, the pitch angle data is “10 34 63”, which means “-34.63 degrees”.”

0x07

0x04 0x05

2.2 Read ROLL angle Command： 77 04 00 02 06

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（0byte）

Checksum

（1byte）

0x02

Command response：

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（3byte）

Checksum

（1byte）

0x82 SXXX.YY

0x04 0x06

Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1

means negative), XXX is the three digit integer part, YY is the fractional part.For example, if the return value is 77 07 00

82 01 23 57 04, the roll angle data is "01 23 57", which means "123.57 degrees"

IMU100C

High Cost-effective IMU

Bewis Sensing Technology LLC

www.bwsensing.com Tel: +86 189 0617 7922

SXXX.YY

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（0byte）

Checksum

（1byte）

Command response：

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（9byte）

Checksum

（1byte）

0x84

2.3 Read PITCH, ROLL axis angle Command：77 04 00 04 08

0x040x04

0x0D

PITCH axis： +2.01°，ROLL axis： -0.51°，YAW axis：0.00°

77 0D 00 84 00 02 01 10 00 51 00 00 00 F5

Identifier;

fixed as 77

The length of the data,

fixed to 0D means that

in addition to 77, there

are 13 bytes behind

Address code,

default is 00

Command word,

fixed at 84

ROLL axis angle:

The format is the

same as the PITCH

axis

YAW axis or reserved

bit angle: the format

is the same as the

PITCH axis

The last byte is the sum

of all the previous data

except the first number

(0x77). If there is a carry,

the lower data is taken.

PITCH axis angle:

The first digit of the first byte is the

sign bit, 0 is the positive angle, and 1

is the negative angle.

The second and second bytes of the

first byte are integer bits of the angle,

which are compressed BCD codes.

The third byte is the decimal place of

the angle, which is the compressed

BCD code.

IMU100C

High Cost-effective IMU

Bewis Sensing Technology LLC

www.bwsensing.com Tel：+86 189 0617 7922

Command response：

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（1byte）

Checksum

（1byte）

Identifier

（1byte）

0x77

0x05 0x8B

0x05

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（1byte）

Checksum

（1byte）

0x0B XX

Command：77 05 00 0B 02 12

2.5 Set baud rate

Note: 0x00 means 2400 0x01 means 4800 0x02 means 9600 0x03 means 19200, 0x04 means 115200, default

value is 0x02:9600 Each time the communication baud rate is changed successfully, the response command is

sent back at the original baud rate, and then the device communication baud rate is changed immediately.

Note: If high frequency output is required, set the baud rate to 115200. Modify the baud rate without sending

a save command, and it will take effect immediately.

0x00: success

0xFF: failure

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（1byte）

Checksum

（1byte）

Command response：

2.5 Set module address

0x0F

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（1byte）

Checksum

（1byte）

0x8F

Command：77 05 00 0F 01 15

new address

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（0byte）

Checksum

（1byte）

Command response：

2.6 Query current address

0x1F

Identifier

（1byte）

0x77

Frame Length

（1byte）

Address Code

（1byte）

Command

（1byte）

Data

（1byte）

Checksum

（1byte）

0x1F

Command： 77 04 00 1F 23

0x00: success

0xFF: failure

0x04

0x05

new address

0x00 0x23

new address new address

correct address

Note: For example, the following command "77 05 00 0F 0A 1E" means that the address of the product is changed

from hexadecimal address 00 to 0A.

Note: The query address command is to fix the command.。

IMU100C

High Cost-effective IMU

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 0617 7922

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