- Product Introduction
The XY-AHRS-M-03 MEMS AHRS Module is capable of real-time measurement of the carrier’s roll angle, pitch angle, and heading angle, with real-time output. This model is characterized by its small size, low power consumption, light weight, and high reliability, meeting the application requirements of various fields.
1.1 Main Functions
- The AHRS module can measure and output the roll, pitch, and heading angles of the carrier in real time.
- It features power-on self-test and periodic self-test functions.
- It has installation error correction functionality.
- It can correct the attitude using an internal magnetometer or external sensors.
1.2 Main Features
- Short start-up time.
- Embedded digital filtering and compensation algorithms for sensors.
- Built-in magnetometer for attitude correction using magnetic sensors.
- Small size, low power consumption, light weight, simple interface, and easy installation.
1.3 Application Fields
- Drones
- Stabilization platforms
- Underwater vehicles
- Technical Specifications
The main technical specifications of the AHRS module are shown in Table 1.
Table 1 Performance Technical Specifications
| Product Name | MEMS AHRS Module | |||||
| Product Model | XY-AHRS-M-03 | |||||
| Performance Indicator | Remarks | |||||
| Attitude Accuracy | Heading | 0.5°（RMS） | ||||
| Pitch | 0.3°（RMS） | |||||
| Roll | 0.3°（RMS） | |||||
| Gyroscope | Range | ±100°/s | ||||
| Full Temperature Scale Factor Nonlinearity | ≤100ppm | |||||
| Cross Coupling | ≤300ppm | |||||
| Zero Bias (Full Temperature) | ≤±0.005°/s | |||||
| Zero Bias Stability | ≤0.1°/h | (1σ, 10s smoothing, full temperature) | ||||
| Zero Bias Repeatability | ≤0.1°/h | (1σ, full temperature) | ||||
| Bandwidth (-3dB) | 25 Hz | |||||
| Accelerometer | Range | ±20g | ||||
| Cross Coupling | ≤300ppm | |||||
| Zero Bias (Full Temperature) | ≤1mg | |||||
| Zero Bias Stability | ≤0.2mg | (1σ, 10s smoothing, full temperature) | ||||
| Zero Bias Repeatability | ≤0.2mg | (1σ, full temperature) | ||||
| Bandwidth (-3dB) | ≥100 Hz | |||||
| Interface Characteristics | ||||||
| Interface Type | RS-422/RS232 | Baud Rate | 921600/115200bps（Configurable） | |||
| Data Format | 8 data bits, 1 start bit, 1 stop bit, no parity check | |||||
| Data Update Rate | 100Hz | |||||
| Environmental Adaptability | ||||||
| Operating Temperature Range | -40℃～+75℃ | |||||
| Storage Temperature Range | -55℃～+85℃ | |||||
| Vibration (g) | 6.06gms，20Hz~2000Hz | |||||
| Electrical Characteristics | ||||||
| Input Voltage (VDC) | +5V | |||||
| Physical Characteristics | ||||||
| Dimensions (mm) | 56mm×48mm×29mm | |||||
| Weight (g) | ≤120g | |||||
3、AHRS Module Interface
3.1 Electrical Interface
The MEMS AHRS module outputs J30J-15ZKP, and the interface definition is shown in Table 2.
Table 2 Interface Definition
| Pin Number | Signal Definition | I/O | Signal Description | Pin Number | Signal Definition | I/O | Signal Description |
| 1 | RS422_TXD- | O | Digital communication interface | 9 | RS422_TXD+ | O | Digital communication interface |
| 2 | RS422_RXD- | I | 10 | RS422_RXD+ | I | ||
| 3 | — | Reserved (not connected) | 11 | — | Reserved (not connected) | ||
| 4 | — | Reserved (not connected) | 12 | — | Reserved (not connected) | ||
| 5 | — | Reserved (not connected) | 13 | — | Reserved (not connected) | ||
| 6 | — | Reserved (not connected) | 14 | RS232_TXD | I | Debugging interface | |
| 7 | RS232_RXD | I | Debugging interface | 15 | GND | I | 5V power ground |
| 8 | VSUP | I | +5V power input | ||||
3.2Communication Protocol
The communication protocol of the RS422 port is shown in Table 3.
Table 3 Data Frame Format
| ype | Asynchronous Serial Data Frame | ||||
| Complies with Standard | RS422 | ||||
| Transmission Type | Digital | ||||
| Size | 59 bytes | ||||
| Update Rate | 10ms | ||||
| Communication Format | 1 start bit, 8 data bits (low bit first, high bit later), no parity check, 1 stop bit; Transmission rate: 921600bps | ||||
| Element | Signal Name | Signal Description | Unit | Range | Resolution |
| 0～1 | Preamble | Uchar | N/A | 0x5A5A | N/A |
| 2～5 | X-axis Gyroscope | Float | °/s | -500~+500 | 1 |
| 6～9 | Y-axis Gyroscope | Float | °/s | -500~+500 | 1 |
| 10～13 | Z-axis Gyroscope | Float | °/s | -500~+500 | 1 |
| 14～17 | X-axis Accelerometer | Float | g | -50~+50 | 1 |
| 18～21 | Y-axis Accelerometer | Float | g | -50~+50 | 1 |
| 22～25 | Z-axis Accelerometer | Float | g | -50~+50 | 1 |
| 26～29 | Pitch Angle | Float | ° | -90~+90 | 1 |
| 30～33 | Roll Angle | Float | ° | -180~+180 | 1 |
| 34～37 | Heading Angle | Float | ° | -180~+180 (Northwest is positive) | 1 |
| 38～41 | Reserved | Float | / | 0 | |
| 42～45 | Reserved | Float | / | 0 | |
| 46～49 | X-axis Magnetometer | Float | Gauss | -2~+2 | 1 |
| 50～53 | Y-axis Magnetometer | Float | Gauss | -2~+2 | 1 |
| 54～57 | Z-axis Magnetometer | Float | Gauss | -2~+2 | 1 |
| 58 | Checksum | Uchar | / | 0x00~0xff (Sum of bytes 2 to 57, take the lower 8 bits) | 1 |
4 Mechanical Interface
The dimensions of the AHRS module are 56 mm × 48 mm × 29 mm. The external structure of the AHRS module is shown in Figures 1 and 2 below.
Figure 1: External Dimensions of the AHRS Module
Figure 2: Three-View Drawing of the MEMS AHRS Module
