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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

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


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





Measurement range

±5 g (standard)

±16 g (option)

300°/sec (standard)

±75, ±150, ±900°/sec (options)


±0.03 % fs

±0.03 % fs


<0.1 mg


Bias instability

±0.04 mg


Initial bias error

±0.002 g


Scale factor stability

±0.05 %

±0.05 %

Noise density

100 µg/Hz


Alignment error



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




Vibration rectification error (VRE)




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


-1800 m to 10,000 m


< 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


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)


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

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

Physical Specifications


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


16.5 grams

Enclosure material


Regulatory compliance




Data/power output: micro-DB9


MIPMonitor, MIPHard and Soft Iron

Calibration, Windows XP/Vista/7/8 compatible


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)


Contact Sales

Please use the form below to contact us or call 802 862 6629.

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