IMU 9 DoF AHRS is a 9 Degrees of Freedom sensor board created using Invensense's MPU-9150. It has an on-board ATmega328 running at 8 MHz (3.3V) which does all the complex motion processing for the user. The end result is a device capable of providing Yaw, Pitch and Roll data to the user.
Full AHRS Capability: This board offloads the user's microcontroller by processing all the complex motion fusion algorithms on-board the ATmega328 and producing a single Serial Stream of data. It does not use the DMP feature of MPU-9150 and uses only the raw data from the sensors. It uses Madgwick Algorithm to calculate the Quaternion and then finds out the final Yaw, Pitch and Roll data. User has an option to use the DMP feature of MPU-9150 but the DMP can only fuse Accelerometer and Gyroscope data. For Magnetometer correction and heading value, user has to process the data on a microcontroller which the IMU 9 DoF can easily achieve itself.
Pressure and Humidity: The IMU 9 DoF AHRS Board has support for additional sensors like, Pressure sensor from Freescale Semiconductor (MPL3115A2) and a Humidity sensor from Measurement Specialities (HTU21D). Outputs from these devices can also be used in user's end application.
Optional GPS Connector: It has an on-board 6-pin GPS connector (JST) which can be used to connect a GPS device. Then, the final output can also include Latitude, Longitude, as well as various data present in the GPS NMEA protocol.
Wireless: The IMU 9 DoF AHRS board has an on-board xBee header to accommodate Digi's xBee modules like the Series 1, Series 2 and their Pro versions. Just connect an xBee to the sensor board and another one to the computer using a USB to Serial board like the xBee Explorer USB and you will get the output Serial Stream wirelessly to your computer. Also, a Bluetooth Mate Gold can be connected to the FTDI port on the board for Bluetooth connectivity with a computer or a cell-phone.
Interrupts: Interrupt pin from the MPU-9150 is already connected to Arduino's PD2 (INT0) for the user to take advantage of different Motion Processing Interrupts like gesture recognition, panning, zooming, scrolling, zero-motion detection, tap detection, and shake detection. Also, Interrupts from the Pressure Sensor can be used - For example, to light up an on-board User LED if the Altitude/Pressure reaches a certain value.
The MPU-9150 is a System in Package (SiP) that combines two chips: the MPU-6050, which contains a 3-axis gyroscope, 3-axis accelerometer, and an onboard Digital Motion Processor™ (DMP™) capable of processing complex MotionFusion algorithms; and the AK8975, a 3-axis digital compass. The part’s integrated 6-axis MotionFusion algorithms access all internal sensors to gather a full set of sensor data.
Dimensions:Length x Width: 47 mm x 27 mm Height: 10.5 mm (including xBee Headers) Weight: 7g
- Supports input voltage from 3.3 to 5.5 volts .
- Tri-Axis angular rate sensor (gyro) with a sensitivity up to 131 LSBs/dps and a full-scale range of ±250, ±500, ±1000, and ±2000dps
- Tri-Axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
- LED for RSSI connected to a PWM pin on the ATmega328 to show the Received Signal Strength from the xBee.
- LED for GPS One Pulse Per Second (1PPS) output.
- Additional Information
Type Altitude, Location (GPS), Orientation, Pressure, Temperature IMU Type Accelerometer, Gyroscope, Magnetometer On-Board AHRS Yes Arduino-Compatible Yes IMU Input Voltage 3.3V to 5.5V IMU Interface Bluetooth, FTDI, Serial, xBee IC Name HTU21D, MPL3115A2, MPU-9150 IC Manufacturer Honeywell, Invensense, Measurement Specialities Digital Pins No Analog Pins No PWM Pins No