CHR-UM6

UM6 Ultra-Miniature Orientation Sensor Datasheet Document rev. 2.4, updated 10/14/2013 1. Introduction Device Overview The UM6 Ultra-Miniature Orientation Sensor combines sensor measurements from rate gyros, accelerometers, and magnetic sensors to measure orientation at 500 Hz. The UM6 also has the capability to interface with external GPS modules to provide position, velocity, course, and speed information. Communication with the UM6 is performed over either a TTL (3.3V) UART or a SPI bus. The UM6 is configured by default to automatically transmit data over the UART. The UM6 can be configured to automatically transmit raw sensor data, processed sensor data, angle estimates, and angle estimate covariances at user configurable rates ranging from 20 Hz to 300 Hz in roughly 1 Hz increments. The UM6 can also receive and parse GPS packets, automatically transmitting new GPS position, velocity, and satellite data whenever it is available. Alternatively, the UM6 can operate in "silent mode," where data is transmitted only when specific requests are received over the UART. Regardless of the transmission mode and rate, internal angle estimates are updated at 500 Hz to improve accuracy. The UM6 simplifies integration by providing a number of automatic calibration routines, including rate gyro bias calibration, magnetometer hard and soft iron calibration, and accelerometer "zeroing" to compensate for sensor-platform misalignment. All calibration routines are triggered by sending simple ...