DMU41

超精密动作感应增强了 MEMS IMU 的性能,可与重量更重、体积更大、可靠性稍逊、更昂贵的光纤陀螺仪装置当面一较高下。

DMU41 是我们最新的六自由度高性能 IMU (HPIMU)。 MEMS 的 DMU41 是一款开创性、非 ITAR 的 “FOG 级” IMU 平价替代品。 它继承了其前身(广受欢迎的 DMU30)久经考验的性能和可靠性,但外形更小巧并具有更多用户功能。 DMU41 是一款令人印象深刻的 Swap-C IMU,尺寸为 125cm3,重量不足 170 克,功耗不足 2.5W。

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DMU41 high performance imu sensor
DMU41
Supply Voltage4.75V to 32V
Angular Random Walk0.02˚/√hr
Bias Instability0.1°/hr, 0.015mg
Bandwidth (nominal)IMU>77Hz Acc sensor 250Hz Gyro sensor 150Hz
Operating Temperature-40°C to +85°C
Typ. Current Consumption125mA (at 12V)
Angular Rate Range±490˚/s
Axes of Acceleration3
Velocity Random Walk 0.05m/s/√hr
Axes of Angular Rate3
Noise Spectral Density Gyro0.05 °/s rms
Noise Spectral Density Acc0.9 mg rms
Rate SF over Temp-700ppm to +700ppm (over life)
Rate Bias Over Temperature-30°/h to +30°/h (over life)
Acc Bias over Temp-7mg to +7mg (over life)
Acc SF over Temp-1000ppm to +1000ppm (over life)
Baud Rate115200/ 230400/ 460800/ 921600
Accelerometer Bias Instability15μg 1σ to 30μg Max
Vibration Rectification ErrorAcc: ±0.006°/s/g²rms Gyro: ±0.15mg/g²rms
Datasheet
Please explain DMU41's Delta Theta and Delta Velocity outputs

The basic inertial data output from DMU41 is angular rate (deg/s) and acceleration (g). Delta Theta and Delta Velocity outputs can be considered as a re-scaling of these basic data outputs. Provision and use of these values is an industry standard expected and used by many of our customers.

Delta Theta is in degrees and represents the degrees rotated over the sampling time of 5.0ms (or 1/200th of a second). For example, if the IMU axis is rotating at 200deg/s, Delta Theta will be 1 deg.

Similarly, Delta Velocity is a re-scaling from g to m/s, representing the change in velocity change over the same 5ms. The output in m/s is equal to the acceleration in g multiplied by 0.04903325 (divide by 200 and multiply by 9.80665, the latter being a universal measure of g).

What is the resolution of sensor data inside DMU41?

24-bit sigma delta analogue to digital convertors are used within DMU41. Compensation is carried out using single precision floating point mathematics. The DMU41 output message is also output as single precision floating point numbers. So, the mathematical resolution is very small indeed.

In practical terms, the minimum resolvable change is dominated by the sensor noise. With averaging, this can be improved to a point where the minimum resolvable change is dictated by the bias instability derived from Allan Deviation plots. For the gyro channels this is below 0.1 deg/hr and for the accelerometers, around 10μg.

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