CHR-6d Inertial Measurement Unit
Description
The CHR-6d is a 6-axis IMU, combining three accelerometer axes and three rate gyro axes in a .8" by .7" footprint. An onboard ARM Cortex™ processor samples and filters gyro and accelerometer outputs and sends results over a TTL (3.3V) UART. The CHR-6d was designed specifically for low cost and ease of use.
Onboard Extended Kalman Filter for pitch and roll angle estimation
As of Feb. 25, 2010, all CHR-6d units come with a built-in Extended Kalman Filter (EKF) for pitch and roll angle estimation. The onboard EKF automatically handles the tricky data-fusion problem, combining data from both accelerometers and rate gyros to produce pitch and roll angle outputs. Getting angles from the device is as simple as turning it on and reading the data from the UART!
Easy to Use
The CHR-6d IMU comes packed with features to simplify development, including- Configurable digital filter (windowed Parks-McClellan FIR)
- Onboard EKF for pitch and roll angle estimation
- Automatic bias calibration
- High bias stability over temperature
- Adjustable output rates (20 Hz - 300 Hz)
- Easy to use TTL (3.3V) UART interface
- Open-source firmware with free development tools
- Open-source PC software for data visualization and IMU configuration
- Optional Development Kit
Convenient PC Interface for Configuration
The CHR-6d can be configured by sending commands over the TTL UART. To simplify this process, our open-source PC software provides a convenient interface for data visualization and IMU configuration.
Other Features
- + 3.3 V single-supply operation
- 3-axes rotation rate measurement
- 3-axes acceleration measurement
- 16-bit effective measurement resolution (after oversampling and decimation)
- +/- 400 °/s full-scale gyro range
- +/- 3g full-scale accelerometer range
- 1.5 grams
To learn more about the CHR-6d, please see our User's Forum and the CHR-6d Datasheet
Resources
DATASHEETS
- CHR-6d Datasheet
- LPR510AL Datasheet (pitch/roll rate gyro)
- LY510ALH Datasheet (yaw rate gyro)
- ADXL335 Datasheet (3-axis accelerometer)
OTHER
- User's Forum
- Demonstration video for PC-based configuration software
- Video describing how to tune the onboard EKF
- Configuration Software and Source Code Downloads