General
integrated-sensors
I
Data Outputs
Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, ambient pressure, Delta-theta, Delta-velocity
COMPUTED OUTPUTS
Extended Kalman Filter (EKF): filter status, attitude estimates (in Euler angles, quaternion,orientation matrix), bias compensated angular rate, pressure altitude, gravityfree linear acceleration, attitude uncertainties, gyroscope and accelerometer bias, scale factors and uncertainties, gravity models, and more.
Complementary Filter (CF): attitude estimates (in Euler angles, quaternion, orientation matrix) stabilized, north and up vectors, GPS correlation timestamp
Inertial Measurement Unit (IMU) Sensor Outputs
Measurement ranges
Accelerometer: +/-8 g (standard), +/-2 g, +/-4 g, +/-20 g,
+/-40 g (optional)
Gyroscope: 300°/sec (standard), +/-75, +/-150, +/-900 (optional)
Non linearity
Accelerometer: +/-0.02% fs
Gyroscope: +/-0.02% fs
% FS
Resolution
Accelerometer: 0.02 mg (+/- 8 g)
Gyroscope: <0.003°/sec (300 dps)
bias-instability
Accelerometer: +/-0.04 mg
Gyroscope: 8°/hr
initial-bias-error
Accelerometer: +/-0.002 g
Gyroscope: +/-0.04°/sec
scale-factor-stability
Accelerometer: 0.03%
Gyroscope: +/-0.05%
%
noise-density
Accelerometer: 25 µg/√Hz (2 g)
Gyroscope: 0.005°/sec/√Hz (300°/sec)
alignment-error
Accelerometer: +/-0.05°
Gyroscope: +/-0.05°
°
adjustable-bandwidth-max
Accelerometer: 225 Hz
Gyroscope: 250 Hz
Hz
Temperature effect on zerooffset-error-over-temperature
Accelerometer: 0.06% (typ)
Gyroscope: 0.04% (typ)
gain-error-over-temperature
Accelerometer: 0.03% (typ)
Gyroscope: 0.03% (typ)
vibration-induced-noise
Accelerometer: -
Gyroscope: 0.072°/s RMS/g RMS
vibration-rectification-error
Accelerometer: -
Gyroscope: 0.001°/s/g2 RMS
imu-filtering
Digital sigma-delta ADC sampled at 1kHz and 4kHz. 4kHz data averaged to 1kHz nominal sampling rate. Scaled into physical units at 1kHz. User adjustable IIR filter available for 1kHz data. Coning and sculling integrals computed at 1kHz.
Sampling Rate
HzI
imu-data-output-rate
1 –
1000
Hz
Pressure Altimeter
pressure-altimeter-range
-1800 –
10000
m
pressure-altimeter-resolution
< 0.1
m
pressure-altimeter-noise-density
0.01
hPa RMS
Sampling Rate
25
Hz
Computed Outputs
attitude-accuracy
EKF outputs: ±0.25° RMS roll and pitch, (typ)
CF outputs: ±0.5° roll and pitch (static, typ) and ±2.0° roll and pitch (dynamic, typ)
attitude-heading-range
360
°I
attitude-resolution
< 0.01
°
attitude-repeatability
0.2
°I
calculation-update-rate
500
Hz
computed-data-output-rate
1 –
500
HzI
Operating Parameters
communication
USB 2.0 (full speed)
RS232 (9,600 bps to 921,600 bps, default 115,200)
Power Supply
4 –
36
VI
Power Consumption
0.5
WI
Operating Temperature
-40 –
85
°C
mechanical-shock-limit
gI
Physical Specifications
Dimensions
36x
36.6
x
11
mm
Weight
16.5
g
Case Material
Aluminium
Regulatory-compliance
ROHS, CE
Integration
Connector
Data/power output: micro-DB9
Application software
MIP Monitor, Windows XP/Vista/7/8/10 compatible
compatibility
Protocol compatibility across 3DM-GX3, GX4, RQ1, GQ4, GX5 and CV5 product families
software-development-kit
MIP data communications protocol with sample code available (OS and platform independent)
