Low-cost Attitude Control MEMS IMU

ER-MIMU-104 Low-cost Attitude Control MEMS IMU

Introduction

ER-MIMU-104 is a micromechanical technology (MEMS)-based inertial measurement unit (IMU). Built-in three-axis gyroscope and three-axis accelerometer to measure three-axis angular velocity and acceleration.

The ER-MIMU-104 uses a high-quality, reliable MEMS accelerometer and gyroscope. It can be used for attitude measurements. The product uses high-performance MEMS inertial devices, which have high reliability and high robustness, and can accurately measure the angular velocity and acceleration information of moving carriers in harsh environments.

Features

Three-axis digital gyroscope:

Dynamic measurement range:±400º/s;

Bias instability: 1º/h (Allan variance);

Angle random walk: 0.2º/√h.

Three-axis digital accelerometer:

Dynamic measurement range: 30g;

Bias instability: 10ug(Allan variance);

Ensure accuracy over the full temperature range (-40°C~80°C): Built-in high-performance temperature calibration and compensation algorithm;

Low power consumption: 2W

Communication interface: 1 SPI

Applied to service robots

Attitude control and health monitoring of energy equipment

Application

Industrial instrumentation attitude measurement

Robot attitude control

Indoor people tracking, navigation, and tracking

Platform stability and control

Pipeline Inspection, exploration & positioning

Specifications

ER-MIMU-104
Parameter	Test condition	ER-MIMU-104	Unit
Gyroscope
Measuring range		±400	º/s
Bias stability	10s smoothing, 1σ	5	º/h
Bias instability	(1σ 25℃) Allan variance	3	º/h
Random Walk		0.25	º/√h
Bias Repeatability	(1σ 25℃)	5	º/h
Scale factor at 25°C		20000	LSB/°/s
Scale factor non-linearity		200	ppm
Bandwidth		200	Hz
Accelerometer
Measuring range		±30	g
Bias instability	Allan variance	20	ug
Bias stability	10s smoothing, 1σ	75	ug
Bias temp coefficient		<20	ug/℃
Bias Temp Hysteresis		<1	mg
Bias repeatability		100	ug
Scale factor non-linearity		<3000	ppm
Scale factor month repeatability		<30	ppm
Bandwidth		200	Hz
Communication Interface
1 way SPI	Baud rate	<15	MHz
Electrical specification
Voltage		6~12	V
Power consumption		2	W
Structural characteristics
Dimension	47×44×14mm
Weight		40	g
Operating environment
Operating temperature		-40~80	℃
Storage temperature		-55~105	℃

Dimension

Product composition and working principle

The product is mainly composed of three-axis MEMS accelerometer and gyroscope. The working principle is as follows: the gyroscope and accelerometer data are collected by ARM microcontroller, three high-precision gyroscopes are collected by 1-channel digital interface SPI, and three accelerometers are collected by another 1-channel digital interface SPI. All sensors are calibrated and compensated in software after acquisition.

Product technical characteristics

a)The product is designed for miniaturization and low power consumption;

b)Products with wide voltage design.

Electrical interface

The MIMU inertial measurement unit uses MW12-03-G-D-130-112 output externally, and the mating connector is Samtec CLM-112-02-L-D. The electrical pin definitions are shown in Table 1.

Table 1 Pin definition of MIMU high precision inertial measurement unit

Pin serial number	name	type	description
10，11，12	VDD	power supply
13，14，15	GND	Power Ground
7	DIO1	I/O	Generic I/O, configurable
9	DIO2	I/O
1	DIO3	I/O
2	DIO4	I/O
3	SPI-CLK	input	The SPI defaults to slave mode
4	SPI-MISO	output
5	SPI-MOSI	input
6	SPI-CS	input
8	RST	input	reposition
16~24	NC	spare	Manufacturer reserved

Communication protocol

Data output protocol

R/W	PAGE_ID	address	default	Register description
R/W	0x00	0x00	0x00	Page identifier
R	0x00	0x0E	N/A	temperature
R	0x00	0x10	N/A	x axis gyroscope output, low word
R	0x00	0x12	N/A	x axis gyroscope output,high word
R	0x00	0x14	N/A	y axis gyroscope output, low word
R	0x00	0x16	N/A	y axis gyroscope output,high word
R	0x00	0x18	N/A	z axis gyroscope output, low word
R	0x00	0x1A	N/A	z axis gyroscope output,high word
R	0x00	0x1C	N/A	x axis accelerometer output, low word
R	0x00	0x1E	N/A	x axis accelerometer output,high word
R	0x00	0x20	N/A	y axis accelerometer output, low word
R	0x00	0x22	N/A	y axis accelerometer output,high word
R	0x00	0x24	N/A	z axis accelerometer output, low word
R	0x00	0x26	N/A	z axis accelerometer output,high word

Transform formulas

Current temperature =25+ TEMP_OUT* 0.00565

X axis gyroscope for example	X_GYRO_OUT	X_GYRO_LOW
	1LSB=0.02°/S	The weight of the MSB is 0.01°/s, and the weight of the successors is half that of the previous one
	0.02*X_GYRO_OUT	0.01*MSB+0.005*.......

YZ gyroscopes are calculated in a similar way to X-axis gyroscopes。

X axis accelerometer for example	X_ACCL_OUT	X_ACCL_LOW
	1LSB=0.8mg	The weight of the MSB is 0.4mg, and the weight of the successors is half that of the previous one
	0.8*X_ACCL_OUT	0.4*MSB+0.2*.......

YZ accelerometers are calculated in a similar way to X-axis accelerometers。

Note: For gyroscope, accelerometer fraction high 16bit, and low 16bit, the final result of addition is calculated separately

Test interface operation description

The user installs the test interface on the computer, open xInsConnect.exe,as shown below.

Click "COMCFG" to configure the baud rate, which is the COM port required; Click the "Open" button power on the IMU

Precautions for use

1)Installation error description

Internal orthogonal compensation has been carried out for the whole product. If the platform used by the product cannot guarantee the accuracy of the benchmark after installation, please compensate the installation error accordingly.

2) Installation and protection

When the product is installed, it should be tightly installed parallel to the base level of the carrier installation (the installation error with the base level should be less than 0.05°).

Because the product is a precision test instrument, although there is a shell protection, in order to protect the product damage, users should handle gently. The use and movement of the product should avoid falling, and be sure not to let the product and other components in the use of serious impact, to ensure the accuracy of the product datum requirements.

After sale

If there is any technical problem or failure in the use of the product, you can contact the corresponding technical personnel of our company.

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