WitMotion Shenzhen Co., Ltd
AHRS IMU Sensor | HWT901B
HWT901B Ahrs IMU sensor
Lebelo le matla, lebelo la Angular, Angle, Magnetic filed & Mohloli oa Khatello ea Moea
HWT901B ke sesebelisoa sa sensor sa IMU, se bonang lebelo, lebelo la angular, angle, makenete. filed hammoho le khatello ea moea. Ntlo e matla le kemiso e nyane e etsa hore e tšoanelehe hantle bakeng sa lits'ebetso tsa indasteri joalo ka tlhahlobo ea maemo le tlhokomelo e boletsoeng esale pele. Ho lokisa sesebelisoa ho thusa moreki ho sebetsana le mefuta e mengata e fapaneng ea ts'ebeliso ka ho toloka data ea sensor ka li-algorithms tse bohlale le ho sefa Kalman.
LIEKETSENG MOHAPI
 |
|||
| Accelerometer | Gyroscope | Magnetometer | Barometer |
Khokahano ea Thupelo
Google Drive
Kopanya le litaelo DEMO:
BOHLOKOA Youtube Channel
Lenane la lipapali la HWT901B
Haeba u na le mathata a tekheniki kapa u sa khone ho fumana lintlha tseo u li hlokang litokomaneng tse fanoeng, ka kopo ikopanye le sehlopha sa rona sa tšehetso. Sehlopha sa rona sa boenjiniere se ikemiseditse ho fana ka tshehetso e hlokehang ho netefatsa hore o atleha tshebetsong ya disensara tsa rona tsa AHRS.
Ikopanye
Tlhahisoleseling ea Tšehetso ea Tekheniki
Kopo
- Koloi ea AGV
- Sethala Botsitse
- Sesebelisoa sa Polokeho ea Auto
- Nete ea Virtual ea 3D
- Taolo ea Liindasteri
- Roboto
- Tsamaiso ea Likoloi
- UAV
- Thepa ea Satellite Antenna e kentsoeng ka terakeng
Fetileview
Lebitso la mahlale la HWT901B ke sensor ea AHRS IMU. Sensor e lekanya 3-axis angle, lebelo la angular, lebelo, matla a khoheli le khatello ea moea. Matla a eona a ka har'a algorithm e ka khonang ho bala angle ea li-axis tse tharo ka nepo.
HWT901B e sebelisoa moo ho hlokahalang tekanyo e nepahetseng. HWT901B e fana ka li-advan tse 'maloatages holim'a sensor e qothisanang lehlokoa:
- Ho futhumetse bakeng sa ho fumaneha ha litaba hantle ka ho fetesisa: WITMOTION e ncha ea boits'oaro bo ikhethileng ea "calibration algorithm" e feta sensor ea moetlo oa accelerometer
- High Precision Roll Pitch Yaw (XYZ axis) Acceleration + Angular Velocity + Angle + Magnetic Field + Air Pressure output
- Theko e tlase ea ho ba mong: litlhahlobo tse hole le tšehetso ea tekheniki ea bophelo bohle ke sehlopha sa ts'ebeletso sa WITMOTION
- Thupelo e ntlafalitsoeng: ho fana ka bukana, database, video ea Demo, software ea PC, mobile phone APP le 51 serial, STM32, Arduino, le Matlab s.ample code, puisano protocol
- LI-sensors tsa WITMOTION li rorisitsoe ke baenjiniere ba likete e le tharollo e khothalletsoang ea litekanyo tsa maikutlo
Likaroloana
- Mojule oa WT901B o hahelletsoeng, bakeng sa lintlha tse qaqileng, ka kopo sheba litaelo.
- Sekhahla sa mantlha sa baud sesebelisoa sena ke 9600 'me se ka fetoloa.
- Sebopeho sa sehlahisoa sena se lebisa feela koung ea serial
- Mojule ona o na le gyroscope e nepahetseng haholo, accelerometer, tšimo ea geomagnetic le sensor ea barometer. Sehlahisoa se ka rarolla boemo ba hona joale ba nako ea 'nete ea mojule ka potlako ka ho sebelisa microprocessor e phahameng, litharollo tse matla le algorithm ea Kalman.
- Theknoloji e tsoetseng pele ea ho sefa ea dijithale ea sehlahisoa sena e ka fokotsa lerata la tekanyo le ho ntlafatsa ho nepahala ha tekanyo.
- Sekhahla se phahameng sa tlhahiso ea data ea 200Hz. Likahare tse hlahisoang li ka khethoa ka mokhoa o ikhethileng, lebelo la tlhahiso 0.2HZ ~ 200HZ le ka fetoloa.
Tlhaloso
Paramente
| Paramethara | Tlhaloso |
| ➢ Moqtage | TTL: 5V-36V |
| ➢ Hajoale | <40mA |
| ➢ Boholo | 55mm x 36.8mm X 24mm |
| ➢ Lintlha | Angle: XYZ, 3-axis Ho potlakisa: XYZ, 3-axis Angular Velocity: XYZ, 3-axis Tšimo ea Magnetic: XYZ, 3-axis Khatello ea Moea : 1-Axis Nako, Quaternion |
| ➢ Khafetsa ea tlhahiso | 0.2Hz – 200Hz |
| ➢ Sehokelo | Boemo ba serial TTL, |
| ➢ Sekhahla sa Baud | 9600 (ka ho sa feleng, ka boikhethelo) |
|
Tekanyo Range & Nepahalo |
||
| Sensoro | Tekanyo Range |
Nepa/ Keletso |
| ➢Accelerometer | X, Y, Z, 3-axis ±16g |
Ho nepahala: 0.01g Qeto: 16bit Botsitso: 0.005g |
| ➢ Gyroscope | X, Y, Z, 3-axis -±2000°/s |
Qeto: 16bit Botsitso: 0.05°/s |
| ➢ Magnetometer | X, Y, Z, 3-axis ±4900µT |
0.15µT/LSB mofuta. (16-bit) PNI RM3100 Chip ea Magnetometer |
| ➢Angle/ Inclinometer | X, Y, Z, 3-axis X, Z-axis: ±180° Y ±90° (Y-axis 90° ke ntlha e le 'ngoe) |
Nepahalo:X, Y-axis: 0.05° Z-axis: 1°(kamora ho lekanngoa ha makenete) |
| ➢Barometer | 1-axis | Ho nepahala: 1m |
Accelerometer Parameters
| Paramethara | Boemo | Boleng bo Tlwaelehileng |
| Range | ±16g | ±16g |
| Qeto | Bophahamo ba motlakase =100Hz | 0.0005(g/LSB) |
| Lerata la RMS | E behiloe ka ho rapama | 0.75 ~ 1mg-rms |
| Ho hoholeha ho zero | -40°C ~ +85°C | ± 20 ~ 40mg |
| Ho hoholeha ha mocheso | ±0.15mg/℃ | |
| Bophahamo ba motlakase | 5-256Hz |
Li-parameter tsa gyroscope
| Paramethara | Boemo | Boleng bo Tlwaelehileng |
| Range | ± 2000 ° / s | |
| Qeto | ± 2000 ° / s | 0.061(°/s)/(LSB) |
| Lerata la RMS | Bophahamo ba motlakase =100Hz | 0.028~0.07(°/s)-rms |
| Ho hoholeha ho zero | E behiloe ka ho rapama | ±0.5~1°/s |
| Ho hoholeha ha mocheso | -40°C ~ +85°C | ±0.005~0.015 (°/s)/℃ |
| Bophahamo ba motlakase | 5-256Hz |
Litekanyetso tsa magnetometer
| Paramethara | Boemo | Boleng bo Tlwaelehileng |
| Range | Palo ea palo ea potoloho (200) | -800uT ho ea ho +800 uT |
| Linearity ±200uT | Palo ea palo ea potoloho (200) | 0.60% |
| Lekhalo la ho lekanya | Palo ea palo ea potoloho (200) | 13nT/LSB |
Pitch le roll angle parameters
|
Paramethara |
Boemo |
Boleng bo Tlwaelehileng |
| Range | X: +180° | |
| Y:±90° | ||
| Ho nepahala ha tšekamelo | 0.1° | |
| Qeto | E behiloe ka ho rapama | 0.0055° |
| Ho hoholeha ha mocheso | -40°C ~ +85°C | ±0.5~1° |
Paramethara ea angle ea sehlooho
|
Paramethara |
Boemo |
Boleng bo Tlwaelehileng |
| Range | Z: +180° | |
| Ho nepahala ha sehlooho | 9-axis algorithm, matla a khoheli a matla a khoheli, a matla / a tsitsitseng | 1° (ntle le tšitiso ea matla a khoheli) |
| 6-axis algorithm, e tsitsitseng | 0.5° (Phoso e matla ea koketso e teng) | |
| Qeto | E behiloe ka ho rapama | 0.0055° |
Litekanyo tsa module
Litekanyetso tsa motheo
|
Paramethara |
Boemo | Min | Ea kamehla |
Max |
| Sehokedi | UART | 4800bps | 9600bps | 230400bps |
| KA | 3K | 250K | 1M | |
| Likahare tsa tlhahiso | Nako ea on-chip, ho potlakisa: 3D, lebelo la angular: 3D, matla a khoheli: 3D, angle: 3D | |||
| Sekhahla sa tlhahiso | 0.2Hz | 10Hz | 200Hz | |
| Nako ea ho qala | 1000ms | |||
| Mocheso oa ho sebetsa | -40℃ | 85 ℃ | ||
| Mocheso oa polokelo | -40℃ | 100 ℃ | ||
| Ho thothomela | 20000g | |||
Litekanyetso tsa motlakase
|
Paramethara |
Boemo | Min | Ea kamehla |
Max |
| Phepelo voltage | 5V | 12V | 36V | |
| Ho sebetsa hona joale | Mosebetsi (5V~36V) | 4.6mA (TTL) 8.9mA（232）8.5mA（485）21.3mA(CAN） |
3.2 Boholo
|
Paramethara |
Tlhaloso | Mamello |
Tlhaloso |
| Bolelele | 55 | ±0.1 | Sehlopha: millimeter. |
| Bophara | 36.8 | ±0.1 | |
| Bophahamo | 24 | ±0.1 | |
| Boima ba 'mele | 100 | ±1 | Yuniti: gram |
3.3 Axial Direction
The coordinate system used for attitude angle settlement ke northeast sky coordinate system. Beha mojule ka tsela e nepahetseng, joalo ka ha ho bonts'itsoe setšoantšong se ka tlase, tataiso e nepahetseng ke X-axis, tataiso e eang pele ke Y-axis, 'me ho ea holimo ke Z-axis. Euler angle e emela tatellano ea ho potoloha ha tsamaiso ea khokahanyo ha boikutlo bo hlalosoa e le ZY-X, ke hore, pele u potoloha Z-axis, ebe u retelehela ho Y-axis, ebe u fetola X-axis. 
PIN Tlhaloso
|
PIN |
Mmala |
Mosebetsi |
| VCC | KHIBIDUDU | Phepelo ea Lintho TTL : e tsamaisoa ke 3.3-5V |
| RX | MONAHANA | Ho kenya lintlha tsa serial RX : e hokahane le TX |
| TX | TŠEHLA | Tlhahiso ea data ea serial TX : e hokahane le RX |
| GND | TŠOANE | GND e tlase |
Puisano Protocol
Boemo: boemo ba TTL
Baud rate: 4800, 9600 (default), 19200 38400, 57600, 115200, 230400, emisa
hanyane le tekano
Khokahano ea protocol ea WITMOTION.
Tlhaloso: HWT901B TTL
buka ea tataiso v230620
www.wit-motion.com
support@wit-motion.com
Litokomane / Lisebelisoa
 |
WiT HWT901B Ahrs IMU Sensor [pdf] Tlhophiso Tataiso HWT901B Ahrs IMU Sensor, HWT901B, Ahrs IMU Sensor, IMU Sensor, Sensor |
