The LORD Sensing-MicroStrain 3DM-CV5 family of lower cost miniature industrial-grade board-level inertial sensors provides a wide range of triaxial inertial measurements and computed attitude and navigation solutions.

In all models, the Inertial Measurement Unit (IMU) includes direct measurement of acceleration and angular rate. In models that include computed outputs, sensor measurements are for each miniature vertical reference unit and are processed through an auto-adaptive estimation filter algorithm to produce high accuracy computed outputs under dynamic conditions. Compensation options include automatic compensation for magnetic anomalies, gyro and accelerometer noise, and noise effects.

Datasheet Manual
Where to Buy?
U.S. International OEM

List Price:

Features for Our Lower Cost Vertical Reference Units

Expect a Best in Class Performance with Each Miniature Vertical Reference Unit

  • Fully calibrated, temperature-compensated, and mathematically-aligned to an orthogonal coordinate system for highly accurate outputs
  • High-performance, low-cost solution
  • Precision mounting alignment features
  • Bias tracking, error estimation, threshold flags, and adaptive noise modeling
  • Bias tracking, error estimation, threshold flags, and adaptive noise modeling allow for fine tuning to conditions in each application

Ease of Use for These 3DM® -CV5-15 Units

  • Easy integration via comprehensive and fully backwards-compatible communication protocol
  • Robust, forward compatible MIP packet protocol
  • Common protocol between 3DM-GX3, GX4, RQ1, GQ4, GX5, and CV5

Cost Effectiveness

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

Specifications for the Inertial Measurement Unit Model 3DM-CV5-15



Integrated sensors

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

Data outputs

Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, ambient pressure, delta theta, delta velocity


Computed outputs:
Extended Kalman Filter (EKF):filter status, 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.

Inertial Measurement Unit (IMU) Sensor Outputs




Measurement range

±8 g (standard)
±2 g, ±4 g (optional)

±500°/sec (standard)

±250°, ±1000°/sec (optional)


±0.04% fs

0.06% fs


0.05 mg (+/- 8 g)


Bias instability

±0.04 mg


Initial bias error

±0.004 g


Scale factor stability



Noise density

100 µg/√Hz

0.0075°/sec/√Hz (300°/sec)

Alignment error



Adjustable bandwidth

500 Hz (max)

500 Hz (max)

Offset error over

0.2% (typ)

0.1% (typ)

Gain error over temperature

0.05% (typ)

0.06% (typ)

Scale factor non-linearity
(@ 25° C)

0.04% (typ)

0.2% (max)

0.04% (typ)

0.15% (max)

IMU filtering

Digital averaging filter (user adjustable) sampled at 2 kHz and scaled into physical units; coning and sculling integrals computed at 1 kHz

Sampling rate

2 kHz

2 kHz

IMU data output rate

1 Hz to 1000 Hz

Pressure Altimeter


-1800 m to 10,000 m


< 0.1 m

Noise density

0.01 hPa RMS

Sampling rate

25 Hz

Computed Outputs

Attitude accuracy

EKF outputs: ±0.5° RMS roll and pitch (typ)

CF outputs: ±0.8° RMS roll & pitch (typ)

Attitude heading range

360° about all axes

Attitude resolution


Attitude repeatability

0.2° (typ)

Calculation update rate

500 Hz

Computed data output rate

EKF outputs: 1 Hz to 500 Hz
CF outputs: 1 Hz to 500 Hz

Operating Parameters


USB 2.0 (full speed) TTL serial (3.0 V dc, 9,600 bps to 921,600 bps, default 115,200)

Power source

+ 3.2 to 5.2 V dc

Power consumption

200 mW (typ)

Operating temperature

-40 °C to +85 °C

Mechanical shock limit

500 g (calibration unaffected)
1000 g (bias may change), 5000 g (survivability)

Physical Specifications


38 mm x 24 mm x 9.7 mm


8 grams

Enclosure material


Regulatory compliance




Data/power output: Samtec FTSH Series



MIP Monitor, Windows XP/Vista/7/8/10 compatible


Common protocol between 3DM-GX3, GX4, RQ1, GQ4, GX5, and CV5

Software development kit (SDK)

MIP data communications protocol with sample code available (OS and platform independent)

Product Video Tutorials

Visit our YouTube channel to view the full Sensing Tutorials playlist HERE.

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