WitMotion Shenzhen Co., Ltd
Inzwa ye-AHRS IMU | I-HWT901B
Inzwa ye-HWT901B Ahrs IMU
I-Robust Acceleration, i-Angular velocity, i-engeli, i-Magnetic filed & Umtshina Wengcindezi Yomoya
I-HWT901B iyisizwa se-IMU, ebona ukusheshisa, isivinini se-angular, i-engeli, kazibuthe. filed kanye nomfutho womoya. Izindlu eziqinile kanye nohlaka oluncane luyenza ifaneleke ngokuphelele izinhlelo zokusebenza zezimboni ezifana nokuqapha isimo nokunakekelwa okubikezelwayo. Ukulungisa idivayisi kuvumela ikhasimende ukuthi libhekane nenhlobonhlobo yohlelo lokusebenza ngokuhumusha idatha yenzwa ngama-algorithms ahlakaniphile kanye nokuhlunga kwe-Kalman.
IZInzwa EZAKHELWE NGAPHAKATHI
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| I-Accelerometer | I-Gyroscope | I-Magnetometer | I-Barometer |
Isixhumanisi Sokufundisa
I-Google Drayivu
Xhumanisa nemiyalo DEMO:
WITMOTION Isiteshi se-Youtube
HWT901B Uhlu lokudlalayo
Uma unezinkinga zobuchwepheshe noma ungakwazi ukuthola ulwazi oludingayo kumadokhumenti anikeziwe, sicela uxhumane nethimba lethu losekelo. Ithimba lethu lonjiniyela lizibophezele ekunikezeni usizo oludingekayo ukuze siqinisekise ukuthi uphumelela ngokusebenza kwezinzwa zethu ze-AHRS.
Oxhumana naye
Imininingwane Yokuxhumana Nobuchwepheshe
Isicelo
- Iloli le-AGV
- I-Platform Stability
- Uhlelo Lokuphepha Ngokuzenzakalela
- Iqiniso le-3D Virtual
- Ukulawulwa Kwezimboni
- Irobhothi
- Ukuzulazula Kwemoto
- I-UAV
- Isisetshenziswa Sesathelayithi esigibele ngeloli
Kuphelileview
Igama lesayensi le-HWT901B inzwa ye-AHRS IMU. Inzwa ikala i-engeli engu-3-eksisi, isivinini se-angular, ukusheshisa, inkambu kazibuthe nomfutho womoya. Amandla ayo aku-algorithm engakwazi ukubala i-engeli yama-eksisi amathathu ngokunembile.
I-HWT901B isetshenziswa lapho kudingeka khona ukunemba okuphezulu kakhulu. I-HWT901B inikeza ama-advan ambalwatagingaphezu kwenzwa eqhudelanayo:
- Ukufudunyelelwa ukutholakala kwedatha ehamba phambili: i-WITMOTION entsha enelungelo lobunikazi lokuthola i-zero-bias othomathikhi i-algorithm idlula inzwa yendabuko ye-accelerometer
- Ukunemba okuphezulu kwe-Roll Pitch Yaw (i-XYZ axis) Ukusheshisa + I-Angular Velocity + I-engeli + I-Magnetic Field + Ukukhishwa kwe-Air Pressure
- Izindleko eziphansi zobunikazi: ukuxilongwa okukude kanye nokusekelwa kwezobuchwepheshe besikhathi sonke yiqembu lesevisi ye-WITMOTION
- Okokufundisa okuthuthukisiwe: ukuhlinzeka ngemanuwali, idatha yedatha, ividiyo yeDemo, isofthiwe ye-PC, i-APP yomakhalekhukhwini kanye ne-51 serial, i-STM32, i-Arduino, ne-Matlab sample khodi, iphrothokholi yokuxhumana
- Izinzwa ze-WITMOTION zinconywe yizinkulungwane zonjiniyela njengesixazululo esinconywayo sokulinganisa isimo sengqondo
Izici
- Imojula eyakhelwe ngaphakathi ye-WT901B, ukuze uthole imingcele enemininingwane, sicela ubheke imiyalo.
- Izinga le-baud elizenzakalelayo lale divayisi ngu-9600 futhi lingashintshwa.
- I-interface yalo mkhiqizo iholela kuphela embobeni ye-serial
- Imojula iqukethe i-gyroscope enembayo ephezulu, i-accelerometer, inkambu ye-geomagnetic kanye nenzwa ye-barometer. Umkhiqizo ungaxazulula ukuma kwamanje kokunyakaza kwesikhathi sangempela semojuli ngokushesha ngokusebenzisa i-highperformance microprocessor, izixazululo ezithuthukisiwe ezinamandla kanye ne-algorithm yesihlungi se-Kalman.
- Ubuchwepheshe bokuhlunga bedijithali obuthuthukisiwe balo mkhiqizo bunganciphisa ngempumelelo umsindo wokulinganisa futhi buthuthukise ukunemba kokulinganisa.
- Isilinganiso esiphezulu sokuphuma kwedatha esingu-200Hz. Okuqukethwe okukhiphayo kungakhethwa ngokungafanele, isivinini sokuphumayo esingu-0.2HZ~ 200HZ siyalungiseka.
Ukucaciswa
Ipharamitha
| Ipharamitha | Ukucaciswa |
| ➢ Working Voltage | I-TTL:5V-36V |
| ➢ Okwamanje | <40mA |
| ➢ Usayizi | I-55mm x 36.8mm X 24mm |
| ➢ Idatha | I-engeli: XYZ, 3-eksisi Ukusheshisa: XYZ, 3-eksisi I-Angular Velocity: XYZ, 3-eksisi Inkundla kazibuthe : XYZ, 3-eksisi Ingcindezi Yomoya : 1-Axis Isikhathi, Quaternion |
| ➢ Imvamisa yokuphumayo | 0.2Hz – 200Hz |
| ➢ Isixhumi esibonakalayo | Izinga le-Serial TTL, |
| ➢ Izinga le-Baud | 9600 (okuzenzakalelayo, ozikhethela) |
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Ibanga Lokulinganisa Nokunemba |
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| Inzwa | Ibanga Lokulinganisa |
Ukunemba/Ukuphawula |
| ➢I-Accelerometer | X, Y, Z, 3-eksisi ±16g |
Ukunemba: 0.01g Ukulungiswa: 16bit Ukuzinza: 0.005g |
| ➢ I-Gyroscope | X, Y, Z, 3-eksisi -±2000°/s |
Ukulungiswa: 16bit Ukuzinza: 0.05°/s |
| ➢ I-Magnetometer | X, Y, Z, 3-eksisi ±4900µT |
0.15µT/LSB uhlobo. (16-bit) PNI RM3100 I-Magnetometer Chip |
| ➢I-engeli/Inclinometer | X, Y, Z, 3-eksisi X, i-Z-eksisi: ±180° Y ±90° (I-Y-axis 90° iphoyinti elilodwa) |
Ukunemba:X, i-Y-eksisi: 0.05° Z-eksisi: 1°(ngemuva kokulinganisa kazibuthe) |
| ➢ I-Barometer | 1-eksisi | Ukunemba: 1m |
Amapharamitha we-Accelerometer
| Ipharamitha | Isimo | Inani Elijwayelekile |
| Ibanga | ±16g | ±16g |
| Isixazululo | Ububanzi =100Hz | 0.0005(g/LSB) |
| Umsindo we-RMS | Ibekwe ngokuvundlile | 0.75 ~ 1mg-rms |
| I-Static zero drift | -40°C ~ +85°C | ±20 ~ 40mg |
| Ukwehla kwezinga lokushisa | ±0.15mg/℃ | |
| Umkhawulokudonsa | 5 ~ 256Hz |
Imingcele ye-Gyroscope
| Ipharamitha | Isimo | Inani Elijwayelekile |
| Ibanga | ±2000°/s | |
| Isixazululo | ±2000°/s | 0.061(°/s)/(LSB) |
| Umsindo we-RMS | Ububanzi =100Hz | 0.028~0.07(°/s)-rms |
| I-Static zero drift | Ibekwe ngokuvundlile | ±0.5~1°/s |
| Ukwehla kwezinga lokushisa | -40°C ~ +85°C | ±0.005~0.015 (°/s)/℃ |
| Umkhawulokudonsa | 5 ~ 256Hz |
Imingcele ye-Magnetometer
| Ipharamitha | Isimo | Inani Elijwayelekile |
| Ibanga | Inani lesibalo somjikelezo (200) | -800uT ukuze +800 uT |
| I-Linearity ±200uT | Inani lesibalo somjikelezo (200) | 0.60% |
| Ibanga lokulinganisa | Inani lesibalo somjikelezo (200) | 13nT/LSB |
Amapharamitha we-pitch and roll angle
|
Ipharamitha |
Isimo |
Inani Elijwayelekile |
| Ibanga | X:±180° | |
| Y:±90° | ||
| Ukunemba kokuthambekela | 0.1° | |
| Isixazululo | Ibekwe ngokuvundlile | 0.0055° |
| Ukwehla kwezinga lokushisa | -40°C ~ +85°C | ±0.5~1° |
Ipharamitha ye-engeli yesihloko
|
Ipharamitha |
Isimo |
Inani Elijwayelekile |
| Ibanga | Z:±180° | |
| Ukunemba kwesihloko | I-algorithm ye-axis engu-9, ukulinganisa kwendawo kazibuthe, i-dynamic/static | 1° (ngaphandle kokuphazanyiswa yizibuthe) |
| I-algorithm ye-axis engu-6, emile | 0.5° (Iphutha lokuhlanganisa elihlanganisayo elinamandla likhona) | |
| Isixazululo | Ibekwe ngokuvundlile | 0.0055° |
Amamojula wemodyuli
Imingcele eyisisekelo
|
Ipharamitha |
Isimo | Okuncane | Okuzenzakalelayo |
Ubukhulu |
| Isixhumi esibonakalayo | UART | 4800bps | 9600bps | 230400bps |
| CAN | 3K | 250K | 1M | |
| Okuqukethwe okukhiphayo | Isikhathi se-chip, ukusheshisa: 3D, isivinini se-angular: 3D, inkambu kazibuthe: 3D, i-engeli: 3D | |||
| Izinga lokukhiphayo | 0.2Hz | 10Hz | 200Hz | |
| Isikhathi sokuqala | 1000ms | |||
| Izinga lokushisa lokusebenza | -40℃ | 85℃ | ||
| Izinga lokushisa lesitoreji | -40℃ | 100℃ | ||
| Ukunyakaza kwesibhamu | 20000g | |||
Imingcele kagesi
|
Ipharamitha |
Isimo | Okuncane | Okuzenzakalelayo |
Ubukhulu |
| Ukunikezwa kwevoltage | 5V | 12V | 36V | |
| Ukusebenza kwamanje | Umsebenzi (5V~36V) | 4.6mA (TTL) 8.9mA（232）8.5mA（485）21.3mA(CAN） |
3.2 Usayizi
|
Ipharamitha |
Ukucaciswa | Ukubekezelelana |
Phawula |
| Ubude | 55 | ±0.1 | Iyunithi: imilimitha. |
| Ububanzi | 36.8 | ±0.1 | |
| Ubude | 24 | ±0.1 | |
| Isisindo | 100 | ±1 | Iyunithi: gram |
3.3 I-Axial Direction
Isistimu yokuxhumanisa esetshenziselwa ukuhlala kwe-engeli yesimo iwuhlelo olusenyakatho-mpumalanga yesibhakabhaka. Beka imojuli ohlangothini oluhle, njengoba kukhonjisiwe esithombeni esingezansi, isiqondiso kwesokudla yi-X-eksisi, isiqondiso esiya phambili yi-Y-eksisi, futhi isiqondiso phezulu yi-axis Z. I-engeli ye-Euler imelela ukuhleleka kokujikeleza kwesistimu yokuxhumanisa lapho isimo sengqondo sichazwa ngokuthi ZY-X, okungukuthi, qala ngokuzungeza i-axis engu-Z, bese ujikisa i-eksisi engu-Y, bese ujika i-eksisi engu-X. 
I-PIN Incazelo
|
I-PIN |
Umbala |
Umsebenzi |
| VCC | RED | Ukunikezwa Kokufaka I-TTL : inikwa amandla yi-3.3-5V |
| RX | OKULUHLAZA | Okokufaka kwedatha ye-serial I-RX : ixhunywe ne-TX |
| TX | OKUTHULU | Okuphumayo kwedatha ye-serial I-TX : ixhunywe ne-RX |
| GND | EMNYAMA | Intengo GND |
Iphrothokholi Yezokuxhumana
Izinga: Izinga le-TTL
Izinga le-Baud:4800, 9600 (okuzenzakalelayo), 19200 38400, 57600, 115200, 230400, yima
kancane kanye nokulingana
Xhuma kuphrothokholi ye-WITMOTION.
Idatha ye-HWT901B TTL
imanuwali v230620
www.wit-motion.com
support@wit-motion.com
Amadokhumenti / Izinsiza
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Inzwa ye-WiT HWT901B Ahrs IMU [pdf] Umhlahlandlela wokufaka Inzwa ye-HWT901B Ahrs IMU, i-HWT901B, inzwa ye-Ahrs IMU, inzwa ye-IMU, inzwa |
