JY901S 9-Axis AHRS Module for Precise Motion Posture Determination-Miceyun (Shenzhen) Intelligent Technology Co., Ltd.

JY901S 9-axis AHRS Tilt Inclinometer Gyroscope Module

The JY901S 9-axis AHRS Tilt Inclinometer Gyroscope Module is designed to deliver high-precision motion posture data in real-time, utilizing cutting-edge microprocessors and dynamic filtering algorithms. Featuring exceptional stability and accuracy, this module surpasses professional inclinometers, making it ideal for applications requiring precise motion tracking.

Description

This module integrates high-precision gyroscopes, accelerometers, and geomagnetic field sensors, utilizing advanced microprocessors and dynamic calculation algorithms to swiftly determine real-time motion posture.

Advanced digital filtering technology effectively reduces measurement noise and enhances accuracy.

Equipped with an attitude solver and dynamic Kalman filter algorithm, this module accurately provides the current attitude in dynamic settings. Boasting an impressive 0.2° attitude measurement accuracy and exceptional stability, it outperforms some professional inclinometers.

By incorporating Z-axis heading angle into the geomagnetic sensor fusion, cumulative errors from gyroscopic drift in the 6-axis algorithm are eliminated. It ensures stable long-term heading angle output. Calibration is necessary before usage due to magnetic field detection, with a requirement to operate at least 20cm away from magnetic interference areas and other magnetic objects.

Featuring a built-in voltage stabilization circuit, this module operates within a 3.3-5V range. Its pin level compatibility with 3.3V/5V embedded systems simplifies connections.

Supporting both serial port and IIC interfaces, users can easily opt for the ideal connection method. The serial port baud rate is adjustable from 4800bps to 230400bps, while the IIC interface supports a full-speed 400K rate.

Capable of a maximum data output rate of 200Hz, users can freely select output content with an adjustable rate ranging from 0.2 to 200Hz.

Crafted with a stamp hole gold plating process, this module can be seamlessly embedded into PCB boards. For enhanced reliability, be cautious not to wire beneath the geomagnetic chip to avoid magnetometer interference. With a 4-layer PCB technology, the module is thinner, smaller, and more robust.

Specifications

Accelerometer parameters

Parameters	Condition	Typical value
Measuring range	/	±16g
Resolution ratio	±16g	0.0005(g/LSB)
RMS noise	Bandwidth=100Hz	0.75~1mg-rms
Static zero drift	Place horizontally	±20~40mg
Temperature drift	-40°C ~ +85°C	±0.15mg/℃
Bandwidth	/	5~256Hz

Gyroscope parameters

Parameters	Condition	Typical value
Measuring range	/	±2000°/s
Resolution ratio	±2000°/s	0.061(°/s)/(LSB)
RMS noise	Bandwidth=100Hz	0.028~0.07(°/s)-rms
Static zero drift	Place horizontally	±0.5~1°/s
Temperature drift	-40°C ~ +85°C	±0.005~0.015 (°/s)/℃
Bandwidth	/	5~256Hz

Magnetometer parameters

parameters	Condition	Typical value
Measuring range	/	±2Gauss
Resolution ratio	±2Gauss	8.333nT/LSB

Pitch and roll angle parameters

parameters	Condition	Typical value
Measuring range	/	X:±180°
Measuring range	/	Y:±90°
Inclination accuracy	/	0.2°
Resolution ratio	Place horizontally	0.0055°
Temperature drift	-40°C ~ +85°C	±0.5~1°

Heading angle parameter

parameters	Condition	Typical value
Measuring range	/	Z:±180°
Heading accuracy	9-axis algorithm, magnetic field calibration, dynamic/static	1°（Without interference from magnetic fields）【1】
Heading accuracy	6-axis algorithm, static	0.5°（Dynamic integral cumulative error exists）【2】
Resolution ratio	Place horizontally	0.0055°

Note:【1】Please perform magnetic field calibration in the testing environment before use to ensure that the sensor is familiar with the magnetic field in the environment. During calibration, please stay away from magnetic interference.

【2】In some vibration environments, there will be cumulative errors. The specific errors cannot be estimated and are subject to actual testing.

Application scenarios

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