HT-M-IMU
High precision MEMS IMU, gyro bias stability 0.02° / h – 0.5° / h ( Allan variance ).
Product characteristics
1.High precision, small volume, long-term stability.
2. Full temperature compensation.
3.Users can re-set gyro zeros that exclude earth rotation by serial instructions.
4. Has strong ability to withstand shock vibration.
Product description
HT-M-IMU is a small, high-precision MEMS inertial measurement unit, which integrates three-axis high-precision MEMS gyroscopes, three-axis high-precision MEMS accelerometers, and the full temperature temperature compensation of the product before leaving the factory to ensure its stable performance in complex temperature environments. The product is widely used in intelligent handling robots ( AGV ), autonomous underwater vehicles ( AUV ), industrial equipment, measurement / map, stable platform, traffic, unmanned aerial vehicles ( UAV ), unmanned ground vehicles ( UGV ), etc.
Main technical
No | Parameter | HT-M-IMU -100 | HT-M-IMU -400 | HT-M-IMU -500 | HT-M-IMU -2000 | HT-M-IMU -4000 | HT-M-IMU -8000 | Unit |
1 | Measurement Range | 150 | 400 | 500 | 2000 | 4000 | 8000 | deg/s |
2 | Bias Instability | ＜0.02 | ＜0.3 | ＜0.3 | ＜1 | ＜2 | ＜5 | deg/hr |
3 | Bias Repeatability (1σ ) | ＜0.1 | ＜1 | ＜1 | ＜3 | ＜5 | ＜5 | deg/hr |
4 | AngularRandom Walk | ＜0.005 | ＜0.125 | ＜0.15 | ＜0.3 | ＜0.5 | ＜0.8 | °/ √h |
5 | ScaleFactor Repeatability (1σ ) | ＜50 | ＜100 | ＜50 | ＜10 | ＜10 | ＜10 | ppm |
6 | Bandwidth (-3dB)） | 100 | 300 | 250 | 200 | 200 | 200 | Hz |
Accelerometer performance | |||
Parameters | Conditional | Index | Unit |
Measurement range | ±10、±20、±40 | g | |
Zero-bias stability | Allan Variance | 30 | ug |
Zero bias repeatability | 25℃ 1δ | 2 | mg |
Zero bias change of totaltemperature | 10 | mg | |
Scale factor nonlinearity | 300 | ppm | |
Noise density | 80 | μg/√Hz | |
Vibration rectification error | <0.1 | g | |
Interface characteristics | |
Data update rate | 600Hz、1200Hz、2000Hz |
Start-up time | <300ms |
Data interface | RS422 |
Baud rate | 921.6Kbps |
Physical characteristics | |
Working temperature | -40℃-+80℃ |
Storage temperature | -50℃-+85℃ |
Size | 38.6*44.8*21.5mm |
Weight | 75g |
Output data format
RS422 Protocol：Baud=921.6K, no parity, data=8 bits, stop=1; | |||
Byte offset | Name | description | Size[bit] |
0 | header | 0xC0C0 | 16 |
2 | Angle rate | float (deg/s) | 32 |
6 | Angle rate | float (deg/s) | 32 |
10 | Angle rate | float (deg/s) | 32 |
14 | Acceleration | float (g) | 32 |
18 | Acceleration | float (g) | 32 |
22 | Acceleration | float (g) | 32 |
26 | Temperature / BIT | Integer LSB 0.01 | 16 |
28 | Packet counter | uint8 | 8 |
29 | BIT_Status | uint8 | 8 |
30 | CRC16 | CRC-CCITT: Bytes 2-29 | 16 |
Definition of wiring
No. | Name | I/O | Description |
1 | TX- | O | Line Tx- RS422 Level |
2 | RX- | I | Line Rx- RS422 Level |
9 | Tx+ | O | Line Tx- RS422 Level |
10 | Rx+ | I | Line Rx+ RS422 Level |
8 | VSUP | I | Power supply |
15 | GND | Power ground | |
3,4,5,6 | Factory use. No access to any level | ||
7,11,12, 13,14 | NC |
Download：
HT-M-IMU.pdf
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