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3DM-GX3® -25

Microstrain 3dm-gx3-25 Attitude Heading Reference System

Miniature Attitude Heading Reference System (AHRS)

The 3DM-GX3® -25  is a high-performance, miniature Attitude Heading Reference System (AHRS), utilizing MEMS sensor technology. It combines a triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor running a sophisticated sensor fusion algorithm to provide static and dynamic orientation, and inertial measurements.

Microstrain 3dm-gx3-25 Attitude Heading Reference System

Best in Class

  •     precise attitude estimations
  •     high-speed sample rate & flexible data outputs
  •     high performance under vibration and high g

Easiest to Use

  •     smallest, lightest industrial AHRS available
  •     simple integration supported by SDK and comprehensive API

Cost Effective

  •     reduced cost and rapid time to market for customer’s applications
  •     aggressive volume discount schedule

AHRS Specifications

Attitude and Heading

Attitude heading range

360° about all 3 axes

Accelerometer range

±5g standard

Gyroscope range

±300°/sec standard

Static accuracy

±0.5° pitch, roll, heading typical for static test conditions

Dynamic accuracy

±2.0° pitch, roll, heading for dynamic (cyclic) test conditions and for arbitrary angles

Long term drift

eliminated by complimentary filter architecture

Repeatability

0.2°

Resolution

<0.1°

Data output rate

up to 1000 Hz

Filtering

sensors sampled at 30 kHz, digitally filtered (user adjustable ) and scaled into physical units; coning and sculling integrals computed at 1 kHz

Output modes

acceleration, angular rate, and magnetic field

deltaTheta, deltaVelocity, Euler angles, quaternion, rotation matrix

General

A/D resolution

16 bits SAR oversampled to 17 bits

Interface options

USB 2.0 or RS232

Baud rate

115,200 bps to 921,600 bps

Power supply voltage

+3.2 to +16 volts DC

Power consumption

80 mA @ 5 volts with USB

Connector

micro-DB9

Operating temperature

-40° C to +70° C

Dimensions

44 mm x 24 mm x 11 mm - excluding mounting tabs, width across tabs 37 mm

Weight

18 grams

ROHS

compliant

Shock limit

500 g

Software utility

CD in starter kit (XP/Vista/Win7/Win 8 compatible)

Software development kit (SDK)

complete data communications protocol and sample code

Sensor Specifications

 

Accels

Gyros

Mags

Measurement range

±5 g

±300°/sec

±2.5 Gauss

Non-linearity

±0.1 % fs

±0.03 % fs

±0.4 % fs

In-run bias stability

±0.04 mg

18°/hr

Initial bias error

±0.002 g

±0.25°/sec

±0.003 Gauss

Scale factor stability

±0.05 %

±0.05 %

±0.1 %

Noise density

80 µg/√Hz

0.03°/sec/√Hz

100 µGauss/√Hz

Alignment error

±0.05°

±0.05°

±0.05°

User adjustable bandwidth

225 Hz max

440 Hz max

230 Hz max

Sampling rate

30 kHz

30 kHz

7.5 kHz max

Options

Accelerometer range

±1.7 g, ±16 g, ±50 g

Gyroscope range

±50°/sec, ±600°/sec, ±1200°/sec

 

#1512: What is the difference between SINGLE BYTE and MIP protocol?

The main difference between single byte (SB) and MIP is as follows:

  • All MIP commands and data have a header and checksum.  SB only has a header (the echo of the command byte) and a checksum on the replies.  This means that the programmer has to create a header and calculate the checksum for a command before s/he sends the command.  This was not necessary with SB.
  • MIP setup and control commands (like start and stop continuous mode) send an ACK/NACK field with a reply.  SB does not.  The ACK/NACK field has an error code that can be used to confirm that a command was accepted.
  • MIP packets can contain multiple command and data fields.  SB commands and data only have one fixed field.

The reason we created MIP was the higher reliability for communications and control, plus the ability to have custom data messages.  SB was prone to phantom commands in a noisy environment.  In addition, SB had a limited number of data combinations available.

To move code from Single Byte to MIP with simple applications is fairly painless if you follow some guidelines.

  • You can “prebuild” all your setup and control commands and make them constants in your code.   You can plug the prebuilt packet constants into the same part of the code that you previously used to send a single byte command (In essence, you are sending a “multi-byte” command instead of a single byte command).  We have a “packet builder” tool in the MIP Monitor that will build the packet for you.  You can try out the command and then copy the packet and paste it directly into your code as a string constant.
  • When you design the MIP data message, make sure all the “data rate decimation” values are the same.  This will make all the data packets identical, which makes finding data in the packet similar to finding data in a SB data message (by using fixed offsets).

 

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#1505: What is the ECCN for the 3DM-GX3?

The ECCN is 7A994.

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#1480: How do I upgrade the firmware on my GX3 inertial sensor?

From time to time, MicroStrain releases firmware upgrades for its 3DM-GX3® inertial sensors. These firmware upgrades represent operating improvements, new functions, etc. In most cases, the user may download these upgrades and perform the upgrade using a simple step-by-step process. This technical note describes which firmware upgrades may be accomplished by the user and which firmware upgrades must be done at the factory. Familiarity with 3DM-GX3® operation is assumed. The upgrade procedure employs a Microsoft Windows computer and the Microsoft HyperTerminal utility.

Click here.

 

 

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#1477: Can I use dataloggers with the inertial sensors?

Many inertial applications incorporate dataloggers. The datalogger can take many forms: hardware or software, analog or digital, simple or complex, and/or combinations of all. For our purposes, let’s work through a simple-digital-software datalogger. In this case, datalogger software is installed on a computer. The inertial sensor is connected to the computer via an RS-232 communication interface. The inertial sensor is pre-programmed to automatically send data when powered. The computer receives the stream of data and the datalogger software continuously records the stream to a data file.

Click here.

 

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#1476: How can I program the inertial sensor so that it outputs on start-up?

The LORD MicroStrain 3DM-GX3 inertial sensor family allows the user to pre-program the inertial sensor so that it continuously outputs specific data packets at specific sampling rates each time it is powered on. This functionality facilitates integration of the inertial sensor with other equipment and systems. For example, connection of the 3DM-GX3 inertial sensor to a datalogger becomes quite easy. The user pre-programs the 3DM-GX3 data output settings on his desktop, connects the 3DM-GX3® to the datalogger’s RS-232 port, powers the 3DM-GX3, and the datalogger records the inertial data. This technical note assumes some familiarity with your particular 3DM-GX3 inertial sensor and its accompanying MIP Monitor (Windows-based) software.

Click here.

 

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#1342: How do I repair or return a LORD MicroStrain® product?

In order to return any LORD MicroStrain® product either for repair or return, you must contact us for a Return Merchandise Authorization number (RMA). If you purchased directly from LORD MicroStrain® in the United States, please contact your Sales or Support Engineer to obtain an RMA.  If you purchased directly from a LORD MicroStrain® distributor, please contact your distributor to obtain an RMA.

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#1340: Where do I purchase LORD MicroStrain® products?

If you are located in the United States, LORD MicroStrain® supplies you directly.  If you are in located in another country, LORD MicroStrain® products are available exclusively from LORD MicroStrain® distributors.  Please use this locator to determine your distributor: http://www.microstrain.com/support/international

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#1339: Does LORD MicroStrain® provide a trial period for its products?

To enable customers to try our standard products risk free, LORD MicroStrain® offers a 30 day return on the purchase of a starter kit. In order to take advantage of this offer, a purchase order or payment for the starter kit is required when the order is placed. 30 day trial details may be found at: http://www.microstrain.com/support/warranty

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#1338: How do I get support for my LORD MicroStrain® products?

LORD MicroStrain® Support Engineers are always available to support you in any way we can by phone, email, SKYPE or Live Chat from our home page.  Contact details may be found at: http://www.microstrain.com/support/contact-support

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#1337: What is the shipping policy for LORD MicroStrain® products?

LORD MicroStrain® insures all products shipments to their full value unless the customer specifically states a different method.

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#1336: What is the warranty for LORD MicroStrain® products?

LORD MicroStrain® warrants its standard products to be free from defective material and workmanship for a period of one (1) year from the original date of purchase.  Warranty details may be found at: http://www.microstrain.com/support/warranty

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#1331: What is the difference between static and dynamic accuracy?

The term ‘static’ accuracy refers to measurements made when the inertial unit is not moving and the on-board orientation algorithm has recovered from any sensor over-ranging.

The term ‘dynamic’ accuracy refers to measurements made while the inertial unit is moving and not exceeding the measurement range of the individual on-board sensors (accelerometers, gyroscopes, magnetometers).

The 3DM, 3DM-DH and FAS-A are designed to measure static rotations.

The 3DM-GX3 family is designed to measure both static and dynamic rotations.

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#1297: What is Gyro Bias?

Related products:

#677: What formulas are used to convert between the various orientation data quantities?

Here is a link to a detailed technical note: http://files.microstrain.com/Orientation%20Conversion%20formulas.pdf

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#664: Is it possible to use the RS-232 interface of LORD MicroStrain® inertial sensors with a serial port emulator (i.e., with a USB to serial adapter)?

Yes.  We have had good success with several types of off-the-shelf USB to serial port adaptors, such as those from IOGear and Keyspan, which may be purchased through any of the electronics products distributors.

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#598: Can the USB and serial interfaces of the 3DM-GX3 be used at the same time?

No – only one can be used at a time.  The device auto-senses which communication signal is attached (USB or serial), and only uses that channel for communications.

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#597: Where can I buy additional communication 3DM-GX3 and 3DM-GX3 OEM interface connectors?

The standard unit uses a specialized Ulti-Mate brand micro-DB9.  This technical note contains more details: http://files.microstrain.com/TN-I0023_Inertia-Link_3DM-GX2_3DM-GX3_Pin-Outs.pdf

The OEM unit uses a Samtec FTSH-105-01-F-D-K.  This technical note contains more details: http://files.microstrain.com/3DM-GX3-25_OEM_Footprint_and_Connector.pdf

LORD MicroStrain® suggests that you purchase additional connectors with your order.

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#596: How long can the communication cables be for the 3DM-GX3?

The 3DM-GX3 USB and RS-232 communication interfaces are built to satisfy the standard USB-IF and EIA specifications.  LORD MicroStrain® provides 6 foot cables as standard.  Many techniques can be used to extend the length of the communication interfaces including powered USB hubs, USB boosters, RS-232 extenders, etc.

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#595: What is the purpose of the double mounting holes on the 3DM-GX3 standard enclosure?

The 3DM-GX3 standard enclosure has been designed with precision alignment holes on the ‘ears’ of the enclosure to allow the user to install the unit with precise alignment to the rest of the components in the user’s application.

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#594: Does the 3DM-GX3 require calibration during use?

The 3DM-GX3 is calibrated at the factory.  The user is also provided with Hard and Soft Iron Calibration software to field calibrate the GX3 in situ.  This video further describes the function: http://www.microstrain.com/video/hard-soft-iron-calibration

Important note: Hard and soft iron calibration is not required for the 3DM-GX3-15 and the 3DM-GX315 OEM.  These units do not contain magnetometers.

From time to time the 3DM-GX3 may need recalibration. For example, as a result of coming in contact with magnetic influences (magnets, motors, etc.), residual magnetism may be picked up by the on-board components which will alter the calibration.  Another example: the 3DM-GX3 receives a severe shock, slightly altering the position of the circuit boards in relation to the enclosure, again altering the calibration.  In these cases the unit should be returned to the factory for recalibration.

 

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#593: Does the 3DM-GX3 have an analog out option?

No.

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#592: Can I use multiple 3DM-GX3 at the same time?

Yes. Any number of units can be operated by a host at the same time. Several considerations surround this implementation (primarily computing power) and we suggest that you discuss your requirements with LORD MicroStrain® sales or a support engineer.

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#591: What are the power requirements of the 3DM-GX3?

For the standard units, here is a link to a detailed technical note: http://files.microstrain.com/TN-I0023_Inertia-Link_3DM-GX2_3DM-GX3_Pin-Outs.pdf

For the OEM units, here is a link to a detailed technical note: http://files.microstrain.com/3DM-GX3-25_OEM_Footprint_and_Connector.pdf

 

 

 

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#590: Can the 3DM-GX3 be installed in any orientation?

Yes, there are no limitations.  However, if a user requires a ‘zeroing’ of the axes, this must be done in the user’s external application.  Good practice dictates that the orientation matrix be used to calculate such zeroing.  Please also be aware of the mathematical singularity in Euler angles.

The user should be aware that the Euler angle formulation in general contains a mathematical singularity at Pitch = +90 or –90 degrees. In practice, poor numerical results will be present if the Pitch angle exceeds +/-70 degrees. In applications where the Pitch angle cannot be guaranteed to exceed these values, it is recommended that the orientation matrix output be utilized instead.

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#588: Are the 3DM-GX3 sampling rates adjustable?

Yes. The sampling rates are user adjustable.

For the -15 and -25, the user may set the sampling rate at up to 1000 Hz depending on the data quantity.

For the -35, the user may set the AHRS sampling rate up to 1000 Hz depending on the data quantity and the GPS sampling rate up to 4 Hz.

For the -45, the user may set the Navigation sampling rate up to 100 Hz.

 

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#587: At what baud rates can the 3DM-GX3 be operated?

The baud rate is user adjustable and may be set to 9600, 19200, 115200 (default), 230400, 460800, and 921600.

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#585: Can distortions of Earth’s magnetic field degrade the system accuracy of the 3DM-GX3?

Yes.  The presence of strong magnetic fields or large magnetic materials will distort Earth’s weak local magnetic field and this will influence the on-board magnetometers.  A hard and soft iron calibration software utility is provided to field calibrate the 3DM-GX3-25, 3DM-GX3-25 OEM, 3DM-GX3-35 and 3DM-GX3-45.

The 3DM-GX3-15 and 3DM-GX3-15 OEM do not contain magnetometers and are not affected by hard and/or soft iron interference.

 

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#584: What orientation output formats are available with the 3DM-GX3?

The following orientation outputs formats are available:

  • Acceleration
  • Angular Rate
  • Magnetic Vector
  • DeltaAngle and DeltaVelocity
  • Orientation Matrix
  • Quaternion
  • Euler Angles (pitch, roll and yaw)
  • ...and more.

A detailed description of these outputs can be found in the Data Communications Protocol manual of each product.

 

 

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#583: What communication interfaces are available for the 3DM-GX3?

The standard units support both USB and RS-232 interface.

The OEM units support both USB and TTL.

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#581: May I write my own software application for the 3DM-GX3?

Yes. We provide a complete data communications protocol manual which describes in detail each and every command and response that is available with the device.  Applications may be developed in any programming environment (C, VB, LabVIEW, Linux, Matlab, etc.) which supports serial communication.

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#580: What software do you provide for 3DM-GX3?

We provide a general application for Microsoft XP/Vista/Win 7 operating systems that configures, reads, displays and saves data generated by the device.  This application (MIP Monitor) supports both the USB and RS-232 communication interfaces.

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#579: How is the 3DM-GX3 packaged?

When you initially purchase a 3DM-GX3, a starter kit (SK) provides you with everything you need to get started! SKs include a 3DM-GX3 module, communication and power cables, software, manuals and GPS antenna if applicable.  In subsequent purchases you may only require additional modules or other individual components. Several communication interfaces are available creating several starter kit variations.

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#578: What is the 3DM-GX3-25 and 3DM-GX3-25 OEM accuracy?

Static accuracy

±0.5° pitch, roll, heading typical for static test conditions

Dynamic accuracy

±2.0° pitch, roll, heading for dynamic (cyclic) test conditions and for arbitrary angles

 

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Related products:

#538: Can my 3DM-GX3-15 or 3DM-GX3-25 be upgraded to a 3DM-GX3-35 or 3DM-GX3-45?

No.  There is no upgrade path.

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Buy

3DM-GX3-25 USB Starter Kit
3DM-GX3-25 USB Starter Kit

3DM-GX3-25-USB-SK1
Includes (1) 3DM-GX3-25-RS232/USB-M inertial measurement unit, (1) USB communication cable and software

Part Number: 6305-0011
Part Number: 6305-1042
3DM-GX3-25 RS-232 Starter Kit
3DM-GX3-25 RS-232 Starter Kit

3DM-GX3-25-RS232-SK1
Includes (1) 3DM-GX3-25-RS232/USB-M inertial measurement unit, (1)RS-232 communication cable, (1) power supply and software

Part Number: 6305-0011
Part Number: 6305-1042

Applications

Accurate guidance, orientation, and positioning under dynamic conditions such as:

  • Inertial Aiding of GPS
  • Unmanned Vehicle Navigation
  • Platform Stabilization, Artificial Horizon
  • Antenna and Camera Pointing
  • Health and Usage Monitoring of Vehicles
  • Reconnaissance, Surveillance, and Target Acquisition
  • Robotic Control
  • Personnel Tracking

Related Products

  • 3DM-GX3-153DM-GX3® -15 - Miniature Inertial Measurement Unit And Vertical Gyro
  • 3DM-GX3-25-OEM3DM-GX3® -25-OEM - Miniature Attitude Heading Reference System
  • 3DM-GX3-453DM-GX3® -45 - Miniature GPS-Aided Inertial Navigation System