1. Introduction
The WitMotion WT9011DCL-BT50 is a high-precision 9-axis Inertial Measurement Unit (IMU) designed for various applications including drones, robotics, and industrial systems. This sensor utilizes Bluetooth 5.0 technology for long-distance transmission and incorporates a Kalman filter algorithm to enhance stability and accuracy. It provides 3-axis acceleration, angular velocity, magnetic field, and angle data.
Figure 1: WitMotion WT9011DCL-BT50 9-Axis IMU Sensor
Figure 2: Key features of the Bluetooth 5.0 sensor, including 3-axis acceleration, gyro, angle, magnetic field, 40h lifetime, and digital filtering.
Figure 3: Details on Bluetooth 5.0 technology, highlighting 50m range and ultra-low power consumption.
2. Package Contents
Before proceeding with setup, please ensure all items are present in the package:
- WT9011DCL-BT50 Sensor
- Type-C Cable
- Packaging Box
Figure 4: Contents of the product package.
3. Setup Instructions
The WT9011DCL-BT50 can be configured and used with PC software, Android, and iOS applications. A development kit is provided to facilitate integration.
3.1 Development Kit
The product offers a comprehensive development kit including PC software, Android and iOS apps, and sample programs for secondary development. Serial port drivers are also provided.
Figure 5: Overview of the Development Kit, including Manual, PC Software, Sample program, and Serial port driver.
3.2 PC Software Installation and Connection
To use the sensor with a PC, install the provided PC software. Connect the sensor via a Bluetooth adapter or directly if your PC has Bluetooth 5.0. The software allows for parameter configuration and acceleration calibration.
Figure 6: PC software interface for simplified development and testing.
3.3 Mobile App Installation and Connection
Download the official WITMOTION app from the Apple App Store or Google Play Store. The app allows for easy configuration and professional posture measurements.
Figure 7: WITMOTION app available for Android and Apple devices.
Figure 8: The WITMOTION app supports multiple sensor connections, data viewing, parameter configuration, calibration, curve diagrams, and data logging.
4. Operating Instructions
Once connected, the WT9011DCL-BT50 can provide real-time data for various parameters. The software and app interfaces offer comprehensive tools for data visualization and analysis.
4.1 Data Visualization
The PC software and mobile app allow for real-time display of sensor data, including acceleration, angular velocity, and angle. You can switch between different 3D models for visual representation of the sensor's attitude.
Figure 9: Freely switch between four commonly used 3D models for attitude visualization.
Figure 10: PC software displaying real-time angle data and a compass for orientation.
4.2 Data Logging and Analysis
The software provides features for recording and saving measurement data directly. This data can then be imported into tools like Matlab for further analysis.
Figure 11: Curve display showing real-time dynamic updates for acceleration, angular velocity, angle, and magnetic field.
Figure 12: Example of Matlab importing recorded data for analysis, showing various sensor plots.
Figure 13: Data Summary interface providing a comprehensive overview of sensor readings including time, acceleration, angular velocity, angle, magnetic field, pressure, port status, quaternion, and location data.
5. Maintenance
To ensure the longevity and optimal performance of your WT9011DCL-BT50 IMU, follow these maintenance guidelines:
- **Charging**: Charge the device using the provided Type-C cable and a standard 5V power source. Avoid overcharging.
- **Storage**: Store the sensor in a dry, cool environment, away from direct sunlight and extreme temperatures.
- **Cleaning**: Use a soft, dry cloth to clean the exterior of the device. Do not use harsh chemicals or abrasive materials.
- **Environmental Conditions**: Avoid exposing the sensor to strong magnetic fields, excessive vibrations, or moisture, as these can affect its accuracy and lifespan.
6. Troubleshooting
If you encounter issues with your WT9011DCL-BT50, consider the following:
6.1 Connection Issues
- **Bluetooth Pairing**: Ensure Bluetooth is enabled on your host device (PC/smartphone) and the sensor is in pairing mode.
- **Range**: Verify the sensor is within the effective Bluetooth range (up to 50m in open space).
- **Interference**: Minimize potential interference from other wireless devices or strong electromagnetic fields.
6.2 Data Accuracy and Calibration
The sensor's accuracy can be affected by magnetic interference. Regular calibration, especially magnetic field calibration, is recommended for optimal performance.
Figure 14: Visual interface for magnetic field calibration, showing 'Before calibration' and 'After calibration' states.
The Kalman filter algorithm helps maintain stability and accuracy, but external factors can still influence readings. Use the software's configuration options to adjust settings if needed.
Figure 15: Abundant software configuration options for system, calibration, range, and communication settings.
Figure 16: Explanation of the Kalman Filter Fusion Algorithm used for 3-axis angle calculation.
7. Specifications
Detailed specifications for the WT9011DCL-BT50 IMU are provided below:
Figure 17: WT9011DCL-BT50 Parameters and Specifications.
| Parameter | Specification |
|---|---|
| Communication | Bluetooth 5.0, 50m (open space) |
| Rate | 0.2-200Hz |
| Output Content | Three axes (acceleration, angular velocity, magnetic field, angle), Quaternion, port status |
| Working Current | Working: 14mA, Broadcast: 21mA, Standby: 14uA-30uA |
| Charging Voltage | 5V |
| Battery Voltage | 3.7V |
| Accuracy | XY axis: 0.2°, Z axis: 1° (No magnetic field) |
| Battery Life | 40h |
| Weight | 9g |
| Battery Capacity | 130mAh |
Figure 18: Detailed product parameters including dimensions (32.5*23.5*11.6mm).
| Parameter | Value |
|---|---|
| Current | Working current: 14mA, Broadcast current: 21mA, Standby current: 14uA-30uA |
| Range | Acceleration: ±16g, Angular velocity: ±2000°/s, Mag field: ±2Gauss, Angle: X/Z±180°, Y±90° |
| Resolution | Acceleration: 0.5mg/LSB (2048LSB/g), Angular velocity: 0.061(°/s)/LSB, Mag field: 0.0667mG/LSB, Angle: 0.0055°/LSB |
| Accuracy | X, Y axis: 0.2°, Z axis: 1° (no magnetic field interference and after calibration) |
| Output content | Acceleration, angular velocity, angle, magnetic field (magnetic field is not output by default) |
| Output frequency | 0.2Hz-200Hz |
| Transmission | Using BLE 5.0 technology, up to 50m (open area) |
| Communication | BLE 5.0 |
| Usage time | 40h |
| Weight | 9g |
| Battery | 130mAh |
| Dimensions | 32.5*23.5*11.6mm |
8. User Tips
- For best accuracy, perform magnetic field calibration in the environment where the sensor will be used, especially if moving between different locations.
- Utilize the provided PC software for advanced configuration and data logging, which can be crucial for development and detailed analysis.
- Keep the sensor charged to ensure continuous operation, especially during critical measurements. The 40-hour battery life provides ample usage time.
- Explore the various application cases shown (VR, robotics, motion monitoring) to inspire your own projects and integrations.
Figure 19: Various application cases for the WT9011DCL-BT50, including VR, robotics, and motion capture.
9. Warranty and Support
WitMotion provides lifetime technical support for the WT9011DCL-BT50 IMU. For any technical assistance, troubleshooting, or inquiries, please contact WitMotion customer support.
The product undergoes rigorous quality control, including high and low temperature tests, high precision non-magnetic turntable tests, salt spray tests, reliability tests, vibration tests, and aging tests to ensure professional quality and reliability.
Figure 20: Images showcasing the robust quality control processes, including various environmental and functional tests.
