GMU200-BL Bluetooth attitude sensor

❖ Integrated nine-axis sensor and temperature ❖ Bluetooth 5.1 wireless transmission; ❖ Real-time 3D dynamic measurement; ❖ Compact structure, easy installation. The GMU200-BL is a cost-effective miniature attitude reference system (AHRS) suitable for equipment requiring high dynamic balance capabilities, such as model aircraft, robots, agricultural machinery, engineering vehicles, and forklifts. This device collects sensor data, integrates a Kalman filter algorithm, and outputs attitude information in real time. It employs a three-axis accelerometer and a three-axis magnetometer to assist the...

1) Accuracy: Refers to the root mean square difference between the measured value and the actual angle error after multiple angle measurements (>16 times) under normal temperature conditions. 2) Zero-point temperature coefficient: Refers to the rate of change of the sensor's reading relative to normal temperature within its rated operating temperature range when the sensor is at zero. 3) Sensitivity temperature coefficient: Refers to the rate of change of the sensor's full-scale reading within its rated operating temperature range relative to its full-scale reading at normal temperature as a...

Measurement Directions Proper sensor installation can avoid measurement errors. The key points are: the mounting surface and the surface being measured must be flat, close, and firmly fixed. An uneven base surface will cause angular deviations; the sensor axis must be parallel to the axis of the measured object, with no included angle. Instructions for use of indicator lights ① Power On: Press and hold for 2 seconds; the green light will flash for 2 seconds. ② Power Off: Press and hold for 2 seconds; the green light will remain on for 2 seconds. ③ After connecting to the host, the green light...

Size diagram of charging case Shell: L172×W30×H22mm Material: 3D printed plastic material Installation Direction

Introduction to Mini Program Interface Users can search for the "瑞惯传感" mini program in WeChat. After completing device networking configuration and link handshake, they can continuously subscribe to the data stream uploaded by the device, fully obtain real-time operating condition data, sensing acquisition data, and operation logs, and display them in local cache. Relying on the cloud forwarding mechanism, it is compatible with both local near-field reading and remote cross-regional access modes, providing lightweight data support for device operation and maintenance and condition analysis on...

Calibration Method Calibration prerequisites: 1) The sensor accuracy does not meet the requirements; 2) The sensor installation environment has magnetic field interference. This interference is constant. Ensure that the distance between the sensor and the interfering magnetic field does not change after installation (e.g., if the sensor is installed on a carrier (iron) with magnetic interference, the sensor and carrier cannot be separated. Fix it and rotate it for calibration. If separation occurs due to lack of fixation, recalibration is required. If the distance between the sensor and the mounting...

BLE Protocol This protocol applies to communication between a host and a slave device based on Bluetooth Low Energy (BLE) technology. It is mainly used for data acquisition, data transmission, and remote control between the host and the Bluetooth slave device (GMU200-BL, hereinafter referred to as the slave device). BLE Protocol Basics: Based on the GATT (General Attribute Protocol) model, the slave device acts as the GATT server, and the master device (mobile APP or PC) acts as the GATT client. GATT (General Attribute Protocol): The core protocol for BLE data transmission, based on a client-server...

Data Frame Format: Frame Header Syncl, Sync2: Frame start synchronization words. All data frames begin with two synchronization characters 'T' and 'M'. Class Field: 1 Byte. Defines the type of data frame. ID Field: 1 Byte. Defines the frame function ID. Length Field: 2 Bytes. Defines the byte length of the Data field, excluding the frame synchronization words. The Class, ID, and Checksum fields are: two-byte unsigned integers, little-endian, with the least significant byte first (LCM). Data Field: The data portion, variable length, determined by the Class and ID fields. Checksum Field: Two-byte...

INT16U checksum = 0; for(; length > 0; length--) return checksum; List of Class and ID function codes:

Data Item OUTMAP_ACCEL: 0x02 represents acceleration; MAP OUTMAP_GYRO: 0x04 represents gyro angular velocity; OUTMAP_MAG: 0x08 represents magnetometer; OUTMAP_TC: 0x10 represents temperature; OUTMAP_BAT: 0x20 represents battery level; OUTMAP_STS: 0x40 represents IMU status; OUTMAP_TPS: 0x80 represents time; 0x07: represents Euler angles, accelerometer readings, and gyro angular velocity; E.g: Setting output data item MAP=0xFF: TX: 54 4D 0F 04 01 00 FF 44 B1 RX: 54 4D0F04 00 00 42 D5 E.g: Read the current data item and output the Query Output MAP. Set Current Acceleration Output Type Output data...

0x01: 5-second static start mode; E.g: Setting a 5-second static start mode: Set Startup Note: The 5-second static start mode is mainly Mode for applications that require high heading accuracy and very small gyroscope bias (such as AGVs). After the IMU is connected and started, it must remain still for 5 seconds to perform one gyroscope bias removal operation at a time. E.g: Query startup mode: Current mode: 5-second static start mode 0x00: 2g; E.g: Set the angular velocity range to 2000 dec/sec:

0x01: Construction tower crane; 0x03: AGV/vehicle-mounted application; 0x04: Mining truck application; 0x07: Agricultural machinery or robot application; E.g: Setting up the application platform for agricultural machinery/robot application: Platform The current application platform is agricultural machinery/robot application 1. Data output items Out Map OutMap specifies the data items to be output and the order in which the data is output. The data can be parsed based on the value of OutMap. 2. Data Item Analysis 2.1 Attitude angle IMU_OUTMAP_EULER Attitude angles include Roll, Pitch, and Yaw,...