I. Product Introduction
The XY-IMU-M-07 MEMS Inertial Measurement Unit (IMU) can measure and output in real-time the angular velocity and linear acceleration of a carrier along three axes: roll, pitch, and yaw. This model is characterized by its small size, low power consumption, light weight, and high reliability, making it suitable for various application fields.
1.1 Main Functions
- Measure and output in real-time the angular velocity and linear velocity of the carrier along the three axes: roll, pitch, and yaw.
1.2 Main Features
- Continuous output of angular velocity and linear velocity measurements along the three axes.
- Short start-up time.
- Embedded digital filtering and compensation algorithms.
- Small size, low power consumption, light weight, simple interface, and easy installation and use.
- control and integrated navigation.
1.3 Reference Standards
- GJB 2426A-2004: Test Methods for Fiber Optic Gyroscopes
- GJB 585A-1998: Terminology for Inertial Technology
1.4 Application Fields
- Servo control
- Stabilization platforms
- Integrated navigation
II. Gyroscope Technical Specifications
Table 1 Performance Specifications
| Performance Indicators | Notes | ||||||
| Triaxial Gyroscope | Measurement Range | ±2000°/s | |||||
| Scale Factor Nonlinearity | 200ppm | ||||||
| Misalignment Angle | ≤5′ | ||||||
| Zero Bias (Full Temperature) | ≤±0.15°/s | Full Temperature | |||||
| Zero Bias Stability | ≤10°/h | (1σ, 10s smoothing) Full Temperature | |||||
| Zero Bias Repeatability | ≤5°/h | (1σ, 10s smoothing) Full Temperature | |||||
| Bandwidth (-3dB) | >200 Hz | ||||||
| Triaxial Accelerometer | Measurement Range | ±50g | |||||
| Misalignment Angle | ≤5′ | ||||||
| Zero Bias (Full Temperature) | ≤1mg | Full Temperature | |||||
| Zero Bias Stability | ≤3mg | Full Temperature | |||||
| Zero Bias Repeatability | ≤1mg | Full Temperature | |||||
| Bandwidth (-3dB) | >200 Hz | ||||||
| Interface Characteristics | |||||||
| Interface Type | RS-422 | Baud Rate | 460800bps（ Customizable ） | ||||
| Data Format | 8 data bits, 1 start bit, 1 stop bit, no parity | ||||||
| Data Update Rate | 400Hz (configurable) | ||||||
| Environmental Adaptability | |||||||
| Operating Temperature Range | -40℃～+70℃ | ||||||
| Storage Temperature Range | -45℃～+80℃ | ||||||
| Vibration (g) | 10gms，20Hz~2000Hz | ||||||
| Electrical Characteristics | |||||||
| Input Voltage （VDC） | +5V | ||||||
| Physical Characteristics | |||||||
| Dimensions（mm） | (47±0.1)mm×(47±0.1)mm×(35±0.1)mm | ||||||
| Weight （g） | ≤60g | ||||||
III Interface Description
The MEMS gyroscope output is J30J-9TJL, with the interface definition shown in Table 2.
Table 2 Interface Definition
| Pin Number | Identifier | Function | Notes |
| 1 | RS422_1_Tx+ | Gyro Transmit+ | |
| 2 | RS422_1_Tx- | Gyro Transmit- | |
| 3 | RS422_2_Tx+ | IMU Transmit+ | |
| 4 | RS422_2_Tx- | IMU Transmit- | |
| 5 | RS422_2_Rx+ | IMU Receive+ | |
| 6 | +5V | Power Supply | |
| 7 | NC | Not Connected | |
| 8 | GND | Ground | |
| 9 | RS422_2_Rx- | IMU Receive- |
IVCommunication Protocol
- Data Format: 1 start bit, 8 data bits, 1 stop bit, no parity
- Baud Rate: 921.6kbps
- Data Update Frequency: 400Hz (Configurable)
Table 4 IMU Data Interface Protocol
| Byte Number | Name | Format | Byte Count | Description |
| 1 | Frame Header | Unsigned Char | 2 | 0x55AA |
| 3 | Length | Unsigned Char | 1 | 0x35 (Excluding frame header, frame tail, length, and checksum, a total of 53 bytes) |
| 4-7 | Gyro X-axis Angular Velocity | Float | 4 | °/s |
| 8-11 | Gyro Y-axis Angular Velocity | Float | 4 | °/s |
| 12-15 | Gyro Z-axis Angular Velocity | Float | 4 | °/s |
| 16-19 | Gyro X-axis Temperature | Float | 4 | °C |
| 20-23 | Gyro Y-axis Temperature | Float | 4 | °C |
| 24-27 | Gyro Z-axis Temperature | Float | 4 | °C |
| 28-31 | Accelerometer X-axis Acceleration | Float | 4 | g |
| 32-35 | Accelerometer Y-axis Acceleration | Float | 4 | g |
| 36-39 | Accelerometer Z-axis Acceleration | Float | 4 | g |
| 40-43 | Accelerometer X-axis Temperature | Float | 4 | °C |
| 44-47 | Accelerometer Y-axis Temperature | Float | 4 | °C |
| 48-51 | Accelerometer Z-axis Temperature | Float | 4 | °C |
| 52-55 | Frame Count | Unsigned int | 4 | Starting from the power-on of the MEMS, the count value increases by 1 for each frame sent |
| 56 | IMU Status | Unsigned Char | 1 | Bits 0-5 represent the status of gyro xyz and accelerometer xyz respectively. A bit value of 0 indicates normal operation of the corresponding axis of the accelerometer or gyro, while 1 indicates an abnormality. |
| 57 | Checksum | Unsigned Char | 1 | The sum of bytes from 3 to 56, a total of 54 bytes |
V Dimensions and Mechanical Interface
The dimensions are (44.8±0.1)×(38.6±0.1)×(21.5±0.1)mm. The product’s physical structure is shown in Figure 1.
Figure 1: Dimensions Schematic
