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Hiwonder
IMU Inertial Navigation Module ROS1/ROS2 Robot MEMS USB Magnetometer 10-axis ARHS Posture Sensor
Product SKU: HW2019402
- 【High-performance three-dimensional motion and posture measurement system】The IM10A inertial navigation module includes a 3-axis electronic gyroscope + 3-axis accelerometer + 3-axis magnetometer + barometer (angle + altitude), combined with a high-dynamic Kalman filter fusion algorithm to provide users with high-precision, high-dynamic, real-time compensation 3-axis posture angle data.
- 【Rich data output】The IM10A inertial navigation module can output Euler angles (Roll, Pitch, Yaw), quaternions, position, speed, acceleration, angular velocity, and magnetic field vectors. It can provide output frequency up to 200Hz in real time, thus greatly reducing the research and development time for various needs.
- 【Supports multiple communication methods】 Supports USB/UART/I2C communication methods, is more efficient and compatible with Raspberry Pi, STM32, and Jetson series development boards, providing more development possibilities for DIY makers.
- 【Provide rich tutorial materials】 Hiwonder provides a wealth of tutorial materials, such as PC software, operating instructions, development manuals, development codes, source codes, etc.
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Product Description
The IM10A inertial navigation module is an advanced three-dimensional motion and posture measurement system utilizing MEMS technology. It comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer, and a barometer. With an integrated posture dynamics core algorithm engine and a sophisticated Kalman filter fusion algorithm, the IM10A delivers highly accurate, dynamic, and real-time compensated three-axis posture angle data.
The module supports real-time data transmission at an update rate of up to 200Hz and is compatible with GNSS data for fused positioning. We provide users with PC software, operational instructions, development manuals, and necessary development codes, streamlining the research and development process for users with diverse requirements.
Support ROS1 and ROS2 Systems
The IM10A module supports ROS1 and ROS2 systems, and the data output frequency is up to 200Hz. We provide dual system function packages and usage tutorials to facilitate users to get started quickly.
10-axis Posture Sensor
The IM10A inertial navigation module has built-in three-axis gyroscope, three-axis accelerometer, three-axis magnetometer and barometer.
Built-in Barometer for Altitude Measurement
The IM10A module has a built-in barometer, which can measure the current altitude, and can also integrate and calculate navigation data to output air pressure data.
Rich Data Output
The sensor raw data output frequency is 200Hz: three-axis accelerometer, three-axis gyroscope, and three-axis magnetometer data. Fusion-calculated navigation data output frequency 200Hz: Euler angles, quaternions, air pressure, position (combined with GNSS), speed.
Removable High-precision CNC
Metal Shell
The high-precision CNC metal shell ensures good heat dissipation performance and long period of stable operation.The metal shell can be easily disassembled, enabling communication through TTL/I2C pins.
Support Multiple Communication Methods
The IM10A module supports multiple communication methods such as USB, UART, and I2C, and is equipped with a standard TypeC port.
Features
- ①Stable angle output, yaw angle: 0.5″RMS, posture: 0.1*RMS
- ②Gyroscope automatic calibration technology
- ③Gyroscope bias, acceleration calibration, magnetometer calibration
- ④Integrated posture solver
- ⑤Serial port TTL, I2C communication port
- ⑥360° Stable and continuous angle output
- ⑦Built-in barometer for altitude measurement
- ⑧Receive serial GPS data in accordance with the NMEA-0183 standard to establish a GPS-IMU navigation integration unit
Provide STM32 Calculation Routines
Supports linking with STM32 solution data and displaying current IMU data and posture angles.
Provide Arduino Calculation Routines
Enables the output of 9-axis raw data, angular velocity, angles, and other information. The data is directly accessible through the serial port monitor of Arduino IDE and can be utilized with minimal wiring.
Product Features
Visualized Data Graph
The module can update data in real-time, display it graphically, and record the information.
3D Model Display
The module can represent its current pose using a 3D model.
Adjustable Baud Rate
The initial baud rate is set at 9600 bps, but it can be adjusted to alternative values such as 115200 bps, 921600 bps, or other custom rates.
High-Precision Inertia Measuring Unit
It can provide consistent data on gyroscope, accelerometer, magnetometer, Euler angles, quaternion, and other information.
Barometer for Pressure and Height Reading
The module includes an integrated barometer capable of measuring both atmospheric pressure and height.
Responsive Measurement
It can provide sensitive response, stable operation and accurate measurements.
Product Parameters
Basic Parameters
| Parameter | Note | Parameter | Note |
| Serial communication port | Default value: 9600bps. It can be adjusted within 4800bps - 921600bps. | Output data | On-chip clock, 3-axis acceleration, 3-axis angular velocity, 3-axis magnetic field, 3-axis angle, quaternion, port status, pressure and height |
| External assistance | Connect GPS module to D1 port to generate inertia navigation unit | I2C port | The hardware I2C supports a maximum of 400KHz, while the software I2C supports a maximum of 100KHz |
| Output speed | 10Hz by default. It can set to 0.2-200Hz | Working voltage | 5V or 3.3V |
| Operating temperature | -40-85℃ | Working current | 12mA |
| Storage temperature | -40-100℃ | Start-up duration | 1000ms |
| Shock resistance | 20kg | Support | ROS1/ ROS2 |
| Supporting device | PC, Raspberry Pi, NVIDIA Jetson series controllers, STM32 microcontroller and more | PC software compatible system | Windows |
| Size | Without shell: 42.2*29.6mm; With shell: 49.5*59.5*11.7mm | Weight | Without shell: 5.7g; With shell: 50g |
| Parameter | Note |
| Serial communication port | Default value: 9600bps. It can be adjusted within 4800bps - 921600bps. |
| Output data | On-chip clock, 3-axis acceleration, 3-axis angular velocity, 3-axis magnetic field, 3-axis angle, quaternion, port status, pressure and height |
| External assistance | Connect GPS module to D1 port to generate inertia navigation unit |
| I2C port | The hardware I2C supports a maximum of 400KHz, while the software I2C supports a maximum of 100KHz |
| Output speed | 10Hz by default. It can set to 0.2-200Hz |
| Working voltage | 5V or 3.3V |
| Operating temperature | -40-85℃ |
| Working current | 12mA |
| Storage temperature | -40-100℃ |
| Start-up duration | 1000ms |
| Shock resistance | 20kg |
| Support | ROS1/ ROS2 |
| Supporting device | PC, Raspberry Pi, NVIDIA Jetson series controllers, STM32 microcontroller and more |
| PC software compatible system | Windows |
| Size | Without shell: 42.2*29.6mm; With shell: 49.5*59.5*11.7mm |
| Weight | Without shell: 5.7g; With shell: 50g |
| Parameter | Condition | Classic value |
| Range | - | ±16g |
| Resolution | ±16g | 0.0005(g/LSB) |
| RMS noise | bandwidth=100Hz | 0.75-1mg-rms |
| Zero drift | Placed horizontally | ±20-40mg |
| Temperature drift | -40~+85℃ | ±0.15mg/℃ |
| Bandwidth | - | 5-256Hz |
Accelerometer Parameters
| Parameter | Condition | Classic value |
| Range | - | ±2000°/s |
| Resolution | ±2000°/s | 0.061(°/s)/(LSB) |
| RMS noise | bandwidth=100Hz | 0.028-0.07(°/s)-rms |
| Zero drift | Placed horizontally | ±0.5-1°/s |
| Temperature drift | -40~+85℃ | ±0.005~0.015(°/s)/℃ |
| Bandwidth | - | 5-256Hz |
Gyroscope Parameters
| Parameter | Condition | Classic value |
| Range | - | ±2Gauss |
| Resolution | ±2Gauss | 0.0667mGauss/LSB |
Magnetometer Parameters
| Parameter | Condition | Classic value |
| Range | - | 300-1100hPa |
| RMS noise | Standard mode | 0.5Pa-RMS |
| Relative accuracy | - | ±0.06hPa |
Barometer Parameters
| Parameter | Condition | Classic value |
| Range | - | x: ±180°; y: ±90° |
| Tilt accuracy | Static | 0.1° |
| Tilt accuracy | Dynamic | 0.5° |
| Resolution | Placed horizontally | 0.0055° |
| Temperature drift | -40~+85℃ | ±0.5~1°/s |
Pitch Angle & Roll Angle Parameters
| Parameter | Condition | Classic value |
| Range | - | Z: ±180° |
| Yaw accuracy | 9-axis algorithm, magnetic field calibration, dynamic/ static | 0.1° (free from magnetic interference) |
| Yaw accuracy | 6-axis algorithm, static | 0.5° (dynamic accumulation of integral errors) |
| Resolution | Placed horizontally | 0.0055° |
Yaw Angle Parameters
10-axis IMU Inertia Navigation Module
(Without Shell)
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(With Metal Shell)
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| Item | Specification |
| Serial communication port | Default value: 9600bps. It can be adjusted within 4800bps - 921600bps. |
| External assistance | Connect GPS module to D1 port to generate inertia navigation unit |
| Output speed | 10Hz by default. It can set to 0.2-200Hz |
| Operating temperature | -40-85℃ |
| Storage temperature | -40-100℃ |
| Shock resistance | 20kg |
| Supporting device | PC, Raspberry Pi, NVIDIA Jetson series controllers, STM32 microcontroller and more |
| Size | Without shell: 42.2*29.6mm; With shell: 49.5*59.5*11.7mm |
| Output data | On-chip clock, 3-axis acceleration, 3-axis angular velocity, 3-axis magnetic field, 3-axis angle, quaternion, port status, pressure and height |
| I2C port | The hardware I2C supports a maximum of 400KHz, while the software I2C supports a maximum of 100KHz |
| Working voltage | 5V or 3.3V |
| Working current | 12mA |
| Start-up duration | 1000ms |
| Support | ROS1/ ROS2 |
| PC software compatible system | Windows |
| Weight | Without shell: 5.7g; With shell: 50g |
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