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.
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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
- UM6 Datasheet
- AN1002 – Reprogramming the Firmware on the UM6
- AN1003 – Getting Started with the UM6 Orientation Sensor
- AN1005 – Understanding Euler Angles
- AN1006 – Understanding Quaternions
- AN1007 – Estimating Position and Velocity Using Accelerometers
- AN1008 – Sensors used for Orientation Estimation
Software Downloads
- CHR Serial Interface
Use the Serial Interface software to configure the UM6, log data, and plot data in real-time.
Example Code
- UM6 and UM6-LT drivers for Parallax Propeller: http://obex.parallax.com/objects/908/
- Example Matlab communication 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.
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UM7 Orientation Sensor
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