UM6-LT Orientation Sensor

UM6-LT Orientation Sensor

Discontinued Upgrade to the new UM7-LT. The UM6-LT is an OEM version of the UM6. The UM6-LT provides the same functionality as the UM6 at lower cost, but it usually takes a little more effort to get started. The UM6-LT Ultra-Miniature Orientation Sensor measures orientation in all three dimensions at 500 Hz using a combination of rate gyros, accelerometers, and magnetic sensors.

Upgrade to the new UM7-LT. The UM6-LT is an OEM version of the UM6. The UM6-LT provides the same functionality as the UM6 at lower cost, but it usually takes a little more effort to get started. The UM6-LT Ultra-Miniature Orientation Sensor measures orientation in all three dimensions at 500 Hz using a combination of rate gyros, accelerometers, and magnetic sensors." />

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Overview

Discontinued. Upgrade to the new UM7-LT. The UM6-LT is an OEM version of the UM6, providing the same functionality at a lower price. The UM6-LT Ultra-Miniature Orientation Sensor measures orientation in all three dimensions at 500 Hz using a combination of rate gyros, accelerometers, and magnetic sensors. By combining data from all three types of sensors, the UM6-LT produces orientation measurements that are resistant to vibration and immune to long-term angular drift.

The UM6-LT can provide orientation measurements using either Euler Angles (yaw, pitch, and roll) or quaternions. In addition to orientation, the UM6-LT can report raw and processed sensor data from the accelerometers, rate gyros, and magnetic sensors. The UM6-LT also has the capability to interface with external GPS modules to provide position, velocity, course, and speed information.

Unlike the UM6, the UM6-LT does not come with the magnetometer pre-calibrated, and there are no expansion boards available.

To simplify communication with the UM6-LT, the CHR Serial Interface software can be used to set configuration registers, log data, and plot data in real-time.

Outputs (User-Selectable)

  • GPS position, heading, and velocity (with connected GPS)
  • GPS position in meters from customizable home location
  • Euler Angles
  • Quaternions
  • Raw gyro, accel, and mag data
  • Processed sensor data (scale factors applied, biases removed)
  • Attitude estimate covariance

Features

  • Supports GPS connectivity and data parsing
  • GPS position can be reported in meters from user-customizable home position
  • Automatic gyro bias calibration (initiated by user command)
  • Adjustable output rates (20 Hz – 300 Hz) and baud rate (up to 115200 baud)
  • Open-source firmware with free development tools
  • Open-source PC software for data visualization, calibration, and sensor configuration

Specifications

  • States updated internally at 500 Hz
  • Better than 2 degree pitch and roll angle accuracy
  • Better than 5 degree yaw angle accuracy
  • +5V input voltage, 3.3V logic level (5V tolerant)
  • +/- 2000 °/s maximum measurable rotation rates
  • +/- 2g maximum measurable acceleration

Documents

Software Downloads

  • CHR Serial Interface
    Use the Serial Interface software to configure the UM6, log data, and plot data in real-time.

Example Code

Source Code

  • UM6 Firmware Source Code
    The UM6 Firmware is available in a SourceForge project at the above link. Once there, click “Code” to get started.
  • CHR Serial Interface Source Code
    The Serial Interface code is available in a SourceForge project at the above link. Once there, click “Code” to get started.

Videos

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