The LORD Sensing 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 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. The computed outputs vary between models and can include pitch, roll, yaw, a complete attitude and heading reference solution (AHRS), or a complete position, as well as integrated GNSS outputs. All sensors are fully temperature-compensated and calibrated over the operating temperature. The use of Micro-Electro-Mechanical System (MEMS) technology allows for highly accurate, small, light-weight devices.

The LORD Sensing MIP Monitor  software can be used for device configuration, live data monitoring, and recording. Alternatively, the  MIP Data Communications Protocol is available for development of custom interfaces and easy OEM integration.

Product Highlights

  • Triaxial accelerometer, gyroscope, magnetometer, and temperature sensors achieve the optimal combination of measurement qualities
  • Dual on-board processors run a new Auto-Adaptive Extended Kalman Filter (EKF) for outstanding dynamic attitude estimates
Datasheet Manual
Where to Buy?
U.S. International OEM

List Price:

Best in Class Performance

  • Bias tracking, error estimation, threshold flags, and adaptive noise modeling allow for fine tuning to conditions in each application
  • Smallest and lightest industrial AHRS with Adaptive Kalman Filter available
  • High-performance, low-cost solution
  • Direct PCB mount or chassis mount with ribbon cable
  • Precision mounting alignment features

Ease of Use

  • User-defined sensor-to-vehicle frame transformation
  • Easy integration via comprehensive and fully backwards-compatible communication protocol
  • Common protocol between 3DM-GX3, GX4, RQ1, GQ4, GX5, and CV5

Cost Effective

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



Integrated sensors

Triaxial accelerometer, triaxial gyroscope, pressure altimeter,temperature sensors

Data outputs

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


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


Inertial Measurement Unit (IMU) Sensor Outputs





Measurement range

±8 g (standard)
±2 g, ±4 g, ±20 g, ±40 g (optional)


±250°, ±1000°/sec (optional)

±2.5 Gauss


±0.04% fs

±0.06% fs

±0.3% fs


0.05 mg (+/- 8 g)

<0.003°/sec (500 dps)


Bias instability

±0.04 mg



Initial bias error

±0.004 g


±0.003 Gauss

Scale factor stability




Noise density

100 µg/√Hz

0.0075°/sec/√Hz (300°/sec)

100 µGauss/√Hz

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)

±0.0015 Gauss

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

50 Hz

IMU data output rate

1 Hz to 1000 Hz (sensor direct mode)

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, ±1° RMS heading (typ)

CF outputs: ±0.8° RMS roll and pitch, ±2° RMS heading (typ)

Attitude heading range

360° about all axes

Attitude resolution


Attitude repeatability


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

350 mW (typical)         

350 mW (typ)

Operating temperature

-40 °C to +85 °C

Mechanical shock limit

500 g

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, MIP Hard and Soft Iron Calibration, 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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If you would like to speak to someone directly call 802-862-6629.