I. Product Introduction
The XY-IMU-M-02 MEMS-IMU can measure and output in real-time the angular velocity and linear velocity of a carrier on 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 a wide range of applications.
1.1 Main Functions
- Measure and output in real-time the angular velocity and linear velocity of a carrier on the roll, pitch, and yaw axes.
1.2 Main Features
- Independent, comprehensive, and continuous output of angular and linear velocity measurements on three axes.
- Short startup time.
- High-performance temperature compensation algorithm for a wide operating temperature range.
- Compact size, low power consumption, light weight, simple interface, and easy installation and use.
- Capable of meeting the demands of high-performance gyro-stabilized platform servo control and integrated navigation.
1.3 Reference Standards
- GJB 2426A-2004: Test Methods for Fiber Optic Gyroscopes
- GJB 585A-1998: Terminology for Inertial Technology
II. Gyroscope Technical Specifications
Table 1 Performance Specifications
| Performance Indicators | Notes | ||||||
| Triaxial Gyroscope | Measurement Range | ±500°/s | |||||
| Scale Factor Nonlinearity | 200ppm | ||||||
| Misalignment Angle | ≤5′ | ||||||
| Zero Bias (Full Temperature) | ≤±0.02°/s | Full Temperature | |||||
| Zero Bias Stability | ≤1°/h | (1σ, 10s smoothing) Full Temperature | |||||
| Zero Bias Repeatability | ≤1°/h | (1σ, 10s smoothing) Full Temperature | |||||
| Angular Random Walk | ≤0.06°/√h | ||||||
| Bandwidth (-3dB) | >200 Hz | ||||||
| Triaxial Accelerometer | Measurement Range | ±50g | |||||
| Misalignment Angle | ≤5′ | ||||||
| Zero Bias (Full Temperature) | ≤1mg | Full Temperature | |||||
| Zero Bias Stability | ≤0.2mg | Full Temperature | |||||
| Zero Bias Repeatability | ≤0.2mg | Full Temperature | |||||
| Angular Random Walk | ≤0.005m/s/√h | ||||||
| Bandwidth (-3dB) | >100 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 | 1000Hz（IMU）
4000Hz（GYRO） |
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| 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: 1000Hz (Configurable)
Table 3 Gyro Data Interface Protocol
| Byte Number | Meaning | Data Type | Code | Scale |
| 0 | Frame Header | U8 | 0x7E | |
| 1 | Frame Header | U8 | 0xD5 | |
| 2-4 | Y-axis Data | I24 | Little-endian
Little-endian Little-endian |
Range: -375000~375000, 0.0008°/s/Bit
Range: -375000~375000, 0.0008°/s/Bit Range: -375000~375000, 0.0008°/s/Bit |
| 5-7 | X-axis Data | I24 | ||
| 8-10 | Z-axis Data | I24 | ||
| 11 | Checksum | U8 | Sum of bytes 2-10, low 8 bits |
Table 4 IMU Data Interface Protocol
| Byte Number | Meaning | Data Type | Code | Scale |
| 0 | Frame Header | U8 | 0x55 | |
| 1 | Frame Header | U8 | 0xAA | |
| 2 | Data Length | U8 | 0x1C | |
| 3-5 | X-axis Gyro | I24 | Little-endian | Range: -375000~375000, 0.0008°/s/Bit |
| 6 | X-axis Gyro Temperature | I8 | 1℃/Bit | |
| 7-9 | Y-axis Gyro | I24 | Little-endian | Range: -375000~375000, 0.0008°/s/Bit |
| 10 | Y-axis Gyro Temperature | I8 | 1℃/Bit | |
| 11-13 | Z-axis Gyro | I24 | Little-endian | Range: -375000~375000, 0.0008°/s/Bit |
| 14 | Z-axis Gyro Temperature | I8 | 1℃/Bit | |
| 15-17 | X-axis Accelerometer | I24 | Little-endian | Range: -4000000~4000000, 2.5μg/Bit |
| 18 | X-axis Accelerometer Temperature | I8 | 1℃/Bit | |
| 19-21 | Y-axis Accelerometer | I24 | Little-endian | Range: -4000000~4000000, 2.5μg/Bit |
| 22 | Y-axis Accelerometer Temperature | I8 | 1℃/Bit | |
| 23-25 | Z-axis Accelerometer | I24 | Little-endian | Range: -4000000~4000000, 2.5μg/Bit |
| 26 | Z-axis Accelerometer Temperature | I8 | 1℃/Bit | |
| 27-30 | Reserved | U8 | ||
| 31 | Checksum | Sum of bytes 3-30, low 8 bits |
V Dimensions and Mechanical Interface
The gyroscope component dimensions are (47±0.1)mm × (47±0.1)mm × (35±0.1)mm. The mechanical structure of the gyroscope component is shown in Figures 1 and 2 below.
Figure 1: MEMS-IMU 3D Dimensional Diagram
Figure 2: MEMS-IMU Component Three-View Diagram
