IMU335RI ACEINNA | Alldatasheet
Document overview
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Technical content
Triple-Redundant 1.3/h Open-Source IMU with CAN Output The ACEINNA OpenIMU335RI is an easy -to-use high-performance 9 -DOF open inertial platform packaged in a rugged sealed over-molded plastic housing. The OpenIMU335 RI includes triple-redundant 3-Axis MEMS accelerometers and rate gyros which are fully calibrated over the operating temperature range. A 3-axis magnetic sensor is also available as an option. The processing power is provided by a 168MHz ARM M4 CPU with a Floating Point Unit. The OpenIMU335 RI runs the OpenIMU open-source stack that includes an optimized 16 -state Kalman Filter for Attitude and GPS -Aided Position- Velocity-Time (PVT) measurement. A free tool -chain based on VS Code supports PC, MAC, and Ubuntu.
i n f o @ a c e i n n a . c o m w w w . a c e i n n a . c o m Document: 6020-3321-01_C The ACEINNA OpenIMU335 RI is designed for use in 12 V and 24 V vehicle platforms. The plastic over-molded sealed packaging meets the challenging performance, reliability and cost requirements of the automotive, construction and agriculture vehicle markets. Advanced features allow the axes to be re-assigned by the user to accommodate any mounting orientation. A user accessible rotation matrix is available to adjust for mounting errors. OpenIMU335RS can consume and use Wheel Speed CAN messages available on the CAN bus to further improve accuracy. Supports user lever arm input.
Features
0.1 accuracy over temperature and angle Triple-redundant architecture with fault detection
- Precision 3-axis MEMS Accelerometers
- Low-Drift 3-axis MEMS angular rate sensors 3-axis AMR Magnetometer (Optional) CAN 2.0 J1939 and RS232 Interfaces 168 MHz ARM M4 processor Open Source Tool Chain / Algorithms (VG/AHRS/INS) User Rotation Matrix CAN Aiding Signal Support (Wheel Speed Input) Built in 16-State Open Source EKF Open Community & Support Wide Temp Range, -40C to +85C Wide Supply Voltage Range, 9 V – 32 V IP67 Ampseal Connector High Reliability, MTBF > 50k hours
Applications
Autonomous Vehicles Construction Vehicles Boom, Bucket and Cab Attitude Agriculture Vehicles and Implements Forklifts Self-Driving Taxis / Delivery Vehicles Robotics Control / Feedback Antenna / Camera Gimballing and Stabilization This product has been developed exclusively for commercial applications. It has not been tested for, and makes no representation or warranty as to conformance with, any military specifications or its suitability for any military application or end -use. Additionally, any use of this product for nuclear, chemical or biological weapons, or weapons research, or for any use in missiles, rockets, and/or UAV’s of 300km or greater range, or any other activity prohibited by the Export Administration Regulations, is expressly prohibit ed without the written consent and without obtaining appropriate US export license(s) w hen required by US law. Diversion contrary to U.S. law is prohibited. Specifications are subject to change without notice. OpenIMU335RI Triple-Redundant 1.3/h Open-Source IMU with CAN Output
Qualification Plan Summary (Not inclusive of all tests) Electrical Loads DUTs Op Mode3 Function Class3 Summary Over Voltage (V) 3 3.2 A SAE J 1455 4.13.1: 36 V, 60 minutes Reverse Voltage (V) 3 1.1 C SAE J 1455 4.13.1: -36 V, 5 minutes Short Circuit 3 3.2 C ISO 16750-2 4.10.2: Signal circuits Starting Profile 3 3.2 A ISO 16750-2 4.6.3: 10 pulses, 24 V System, Level II Load dump 3 3.2 A 5 pulses, 56V, 90 s pulse rate; 95 pulses 56V 120 s pulse rate Reset Behavior at Voltage Drop 3 3.2 B ISO 16750-2 4.6.2 Mechanical Loads Vibration Swept Sine 4 3.2 A 5 – 500 Hz; <10 Hz Displacement = ± 12 mm; >10 Hz = 5 g Pk Vibration Random 4 3.2 C 5 – 2000 Hz; 15.35 g RMS, 48 hrs/axis Mechanical Bump 4 3.2 C 100 bumps x 3 axis/DUT (600 Total/DUT) 400m/s 2, ½ sine, 6 ms pulse Mechanical Shock 4 3.2 C 3 Shocks x 3 axis x 2 directions (18 total) 981m/s2, ½ sine, 11 ms pulse Mechanical Drop 2 1.1 C 1 m to steel plate, 1 drop x 3 axis x 2 directions ( 6 total) Note 3: ISO 16750-1 Operation Mode and Function Class definition Performance Specification Ta = 25°C, VDC = 12 V, unless otherwise stated Angular Rate MIN TYP2 MAX Range (°/s) -400 +400 Bias Instability (°/hr)1 1.3 Bias Stability over Temp (°/s) 0.1 Scale Factor Accuracy (%FSR) 0.1 Cross-Axis Error (%FSR) 0.1 Non-linearity Error (%FSR) 0.1 Angle Random Walk (°/√hr)1 0.15 Configurable Bandwidth (Hz) 5 50 Acceleration MIN TYP2 MAX Range (g) -8 +8 Bias Instability (µg)1 20 Bias Stability over Temp (mg) 1.3 Scale Factor Accuracy (%FSR) 0.1 Cross-Axis Error (%FSR) 0.1 Linearity Error (%FSR) 0.1 VRW (m/s/√hr)1 0.02 Configurable Bandwidth (Hz) 2 50 Pitch / Roll (with VG EKF) MIN TYP2 MAX Pitch Angle Range () -70 +70 Roll Angle Range () -180 +180 Angle Accuracy over Temp () 0.1 Angle Accuracy over Angle Range () 0.1 Magnetic Field (optional3) MIN TYP2 MAX Range (mGauss) -8000 +8000 Resolution (mGauss) 0.3 Noise (mGauss/√Hz) 0.25 Bandwidth (Hz) 5 Note 1: Allan variance curve, constant temperature Note 2: Typical values are 1-sigma values unless otherwise noted Note 3: Contact Factory for availability of magnetic sensor i n f o @ a c e i n n a . c o m w w w . a c e i n n a . c o m Document: 6020-3321-01_C Electrical Specifications Characteristic Specification Input voltage 9 – 32 V Over voltage 36 V Reverse voltage -36 V Current 40 mA @ 12 V Typ Power 500 mW Typ Reset response Automatic after voltage dropout Start-up time <2 seconds Max Output Data Rate 100 / 200 Hz (CAN / Serial) CAN Baud rate 250k – 1M RS232 Baud Rate 38400 – 230400 Environmental Specifications Characteristic Specification Operating Temperature -40 – 85 ºC Storage Temperature -40 – 85 ºC Ingress Protection IP67, IP69K Physical Specifications Characteristic Specification Dimensions 65 x 66 x 27 mm Weight < 75 g Interface Connector Ampseal 16 – 6 Position IP67 Mating Connector TE Connectivity 776531 -1 Triple-Redundant 1.3/h Open-Source IMU with CAN Output OpenIMU335RI
OpenIMU335RI EVK Special Housing with JTAG connection for development / debugging ST-Link debugger for in-system development of application code Fixture and Interface JTAG board Development Cable with Ampseal 16-6 Position to Dual DB9 CAN 2.0 Connection DB9 RS232 Connection DB9 Flying Lead for power connection Part Ordering Information Rugged High-Performance OpenIMU Platform OpenIMU335RI Industrial Grade:
6 DOF IMU, FSR = 400dps / ±8g
OpenIMU335RI EVK Developer Kit with Open IMU300RI with JTAG, STLink/v2 an d developer cable MTLT305 Cable Mating Connector with flying leads Open Navigation Platform Embedded navigation applications quickly developed on PC, MAC, and Ubuntu and deployed to run on OpenIMU hardware. Code / /Compile / Debug Simulate / Analyze Aceinna Navigation Studio developer tools and GUI are found on our developer site: developers.aceinna.com Full manual, API and Algorithm documentation are found at: openimu.readthedocs.io IDE and Compilation tools, download VS Code and Add Aceinna Extension: code.visualstudio.com Ready to Use Open Source Algorithms Calibrated IMU, 3D Acceleration, 3D Rate, 3D Mag VG / AHRS, Dynamic Roll, Pitch and Heading INS, Position, Velocity, Attitude and Heading Development System Requirements PC or MAC USB Port (2.0) Internet Connection Dimensioned Drawing EMC Specifications Characteristic Standard Test Level / Frequency ESD direct contact discharge ISO 10605 8 kV - Function Class A, Reference Limits IV ESD air discharge ISO 10605 15 kV - Function Class A, Reference Limits IV Radiated Immunity Stripline ISO 11452-5 200 V/m, 0.5 – 250 MHz Radiated Immunity ALSE ISO 11452-2 125 V/m, 200 – 1000 MHz
40 V/m, 1 GHz – 2 GHz
15 V/m, 2 GHz – 2.4 GHz 10 V/m, 2.4 GHz – 2.7 GHz EMC Conducted Transmission ISO 16750-2; ISO 7637 24 V Parameters, Pulse 1, 2a, 2b, 3a, 3b, 4, 5b i n f o @ a c e i n n a . c o m w w w . a c e i n n a . c o m Document: 6020-3321-01_C Triple-Redundant 1.3/h Open-Source IMU with CAN Output OpenIMU335RI