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PRODUCT DISCONTINUED

The 3DM-GX4-15™  is a miniature industrial-grade inertial measurement unit (IMU) and vertical reference unit (VRU) with high noise immunity, and exceptional performance.

Product Highlights

  • High performance integrated MEMS sensor technology provide direct and computed IMU and VRU outputs in a small package.
  • Triaxial accelerometer, gyroscope, temperature sensors, and a pressure altimeter achieve the best combination of measurement qualities.
  • Dual on-board processors run a sophisticated Adaptive Kalman Filter (AKF) for excellent static and dynamic inclination estimates and inertial measurements.
Datasheet Manual
Large Quantity & OEM Orders

Best in Class Performance

  • Fully calibrated, temperature compensated, and mathematically aligned to an orthogonal coordinate system for highly accurate outputs
  • Bias tracking, error estimation, threshold flags, and adaptive noise, magnetic, and gravitational field modeling allow for fine tuning to conditions in each application.
  • High performance, low drift gyros with noise density of 0.005°/sec/√Hz and VRE of 0.001°/s/g2RMS
  • Smallest and lightest industrial AHRS available

Ease of Use

  • User-defined sensor-to-vehicle frame transformation
  • Easy integration via comprehensive SDK
  • Common protocol with the 3DM-GX3® and 3DM-RQ1- 45™ sensor families for easy migration

Cost Effective

  • Out-of-the box solution reduces development time.
  • Volume discounts

General

Integrated sensors

Triaxial accelerometer, triaxial gyroscope, temperature sensors, and pressure altimeter

Data outputs

Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, ambient pressure, deltaTheta, deltaVelocity

Computed outputs: Adaptive Kalman Filter (AKF): filter status, GPS timestamp, attitude estimates (Euler angles, quaternion, orientation matrix), bias compensated angular rate, pressure altitude, gravity-free linear acceleration, attitude uncertainties, gyroscope and accelerometer bias, scale factors and uncertainties, gravity models, and more.

Complementary Filter (CF): attitude estimates (Euler angles, quaternion, orientation matrix), stabilized gravity vector, GPS correlation timestamp

Inertial Measurement Unit (IMU) Sensor Outputs

 

Accelerometer

Gyroscope

 

Measurement range

±5 g (standard)

±16 g (option)

300°/sec (standard)

±75, ±150, ±900°/sec (options)

Non-linearity

±0.03 % fs

±0.03 % fs

Resolution

<0.1 mg

<0.008°/sec

Bias instability

±0.04 mg

10°/hr

Initial bias error

±0.002 g

±0.05°/sec

Scale factor stability

±0.05 %

±0.05 %

Noise density

100 µg/Hz

0.005°/sec/Hz

Alignment error

±0.05°

±0.05°

Adjustable bandwidth

225 Hz (max)

250 Hz (max)

Offset error over temperature

0.06% (typ)

0.05% (typ)

Gain error over temperature

0.05% (typ)

0.05% (typ)

Scale factor non-linearity (@ 25° C)

0.02% (typ)

0.06% (max)

0.02% (typ)

0.06% (max)

Vibration induced noise

--

0.072°/s

RMS/g RMS

Vibration rectification error (VRE)

--

0.001°/s/g2

RMS

IMU filtering

4 stage filtering: analog bandwidth filter to digital sigma- delta wide band anti-aliasing filter to (user adjustable) digital averaging filter sampled at 4 kHz and scaled into physical units; coning and sculling integrals computed at 1 kHz

Sampling rate

4 kHz

4 kHz

 

IMU data output rate

1 Hz to 1000 Hz

Pressure Altimeter

Range

-1800 m to 10,000 m

Resolution

< 0.1 m

Noise density

0.01 hPa RMS

Sampling rate

25 Hz

Computed Outputs

Roll and pitch accuracy

AKF outputs: ±0.25° RMS (typical)

CF outputs: ±0.5° static (typical), ±2.0° dynamic (typical)

Roll and pitch range

360° about all axes

Roll and pitch resolution

< 0.01°

Roll and pitch repeatability

0.3° (typ)

Calculation update rate

500 Hz

Computed data output rate

AKF outputs: 1 Hz to 500 Hz

CF outputs: 1 Hz to 1000 Hz

Operating Parameters

Communication

USB 2.0 (full speed) RS232 (9,600 bps to 921,600 bps, default 115,200)

Power source

+ 3.2 to + 36 V dc

Power consumption

100 mA (typ),120 mA (max) with Vpri = 3.2 V dc to

5.5 V dc

550 mW (typ), 800 mW (max) with Vaux = 5.2 V dc to 36 V dc

Operating temperature

-40 °C to +85 °C

Mechanical shock limit

500 g (calibration unaffected)

1000 g (bias may change)

5000 g (survivability)

MTBF

1.2 million hours (Telcordia method I, GL/35C)

0.45 million hours (Telcordia method I, GM/35C)

Physical Specifications

Dimensions

36.0 mm x 24.4 mm x 11.1 mm (excluding mounting tabs), 36.6 mm (width across tabs)

Weight

16.5 grams

Enclosure material

Aluminum

Regulatory compliance

ROHS, CE

Integration

Connectors

Data/power output: micro-DB9

Software

MIPMonitor, MIPHard and Soft Iron

Calibration, Windows XP/Vista/7/8 compatible

Compatibility

Protocol compatibility with 3DM-GX3® and 3DM- RQ1-45sensor families.

Software development kit (SDK)

MIPdata communications protocol with sample code available (OS and computing platform independent)

 

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