https://my.ebook5.net/tamagawa-seiki/1721/ # MEMS IMU (E) ## IMU（E)_01 ![IMU（E)_01の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000001.jpg) 【ページ内のテキスト情報】 Compact&High-accuracyIMUInertialMeasurementUnitFOG&MEMScombinedIMUTAG300AU7684 ## IMU（E)_02 ![IMU（E)_02の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000002.jpg) 【ページ内のテキスト情報】 MEMSIMUi-FOGInertialMeasurementUnit(IMU)isanelectronicdevicethatmeasuresvariouskindsofmotionsinvehicledynamics,attitude(roll&pitch)orheading(yaw)angle.Inaddition,itisanessentialtechnologyinautonomousdrivingforlocalizationanddead-reckoning.TamagawaSeikiCo.,Ltd.offerswiderangeofproduct,suchasMEMSGyro,FOGorAHRS.Weprovidethebestoptionforyourapplication.01AutomobileIMUmeasuresvehicledynamics,attitude(roll&pitch)orheading(yaw)angle.Inaddition,itisusedforautonomousdrivingbycombiningGNSS.02UnmannedConstructionMachineIMUoffersstableoutputunderlargevibrationbyutilizinggyroscopeandaccelerometer.02NavigationforLargeDumpTruck02AttitudeControlforExcavatorUnderGroundNavigatorMotionSensingforAmusementEquipmentStabilizationforCeilingCraneNavigationforAGV03UnmannedAgriculturalMachineIMUdetectsattitude(roll&pitch)andheading(yaw)angleofagriculturaltractor.Inaddition,itisusedforautonomousdrivingbycombiningGNSS.03AttitudeControlforUnmannedAgriculturalTractor04SecurityRobotIMUisusedforattitudecontrolinsecurityrobot.03AttitudeControlforPesticideSprayingHelicopter06NavigationforUnmannedForklift ## IMU（E)_03 ![IMU（E)_03の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000003.jpg) 【ページ内のテキスト情報】 ShipIMUisusedforinertialnavigationandmotiondetectionofships.TrainIMUdetectsangularvelocityandaccelerationtomeasurethecomfortlevelofatrainwithGPSlocationinformation.AutomatedGuidedVehicle(AGV)GyroscopeisusedforAGVMagneticGuidancetosecurehighrunningstability.BridgeDeckDeflectionVehicleDynamicsTestingNavigationSystemforShipMotionSensingonDeckStabilizationforMonitoringCameraNavigationforAGVinHarborMotionSensingforTrainInertialNavigationSystem(INS)forLightAircraftAttitudeControlforDroneAttitudecontrolofmicrosatelliteTiltmeasurementofsecurityrobotsAttitudeControlinRehabilitationDrone05IMUisusedforattitudecontrolindrone.0607080105080704 ## IMU（E)_04 ![IMU（E)_04の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000004.jpg) 【ページ内のテキスト情報】 FOG＆MEMScombinedIMUFOG&MEMScombinedIMUAccuracyforfullautonomousdrivingFOG&MEMScombinedIMUincorporates3-axisgyro(i-FOGforZaxis,MEMSgyroforXandYaxis)andaccelerometers,whichmeasureangularvelocityandacceleration.Inaddition,attitude(roll&pitch)andheading(yaw)iscalculated.AnexternalGNSSmoduleisconnectedtoIMU;withpositionandspeeddata,IMUcanbeusedasGNSS/INS/VSnavigation.NewSynergycreatedincombinationwithMEMS&FOGFiberOpticGyroi-FOGMEMSIMUHeading0.1°/hAttitude0.1°FOG&MEMScombinedIMU03 ## IMU（E)_05 ![IMU（E)_05の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000005.jpg) 【ページ内のテキスト情報】 NewIMU:BridgingtheGapbetweencostandaccuracyTheaccuracyofGyroscopeisclassifiedbyprincipleofoperation.Thecustomerneedstochoosethesuitablegyroscopedependingonapplicationorenvironment.FOG&MEMScombinedIMUisanewlydevelopedIMUwiththeconceptoffillinginthegapofcostandaccuracy.HMRLG▶UnmannedAirplane▶MilitaryApplicationPriceFOG&MEMScombinedIMUAttitude：0.1°Heading：0.1°/hFOGIMU▶NavigationSystem▶MappingsystemforUndergroundvehicleL▶NewtechnologyforfullyautonomousdrivingMEMSIMU▶Stabledeadreckoningforalongperiodoftime▶VehicleDynamicsTesting▶Highaccuracyandreasonableprice▶Self-drivingsupport▶DeadreckoningwithsensorfusionLAccuracyHAccuracyofSelf-localizationThroughtheuseofGNSSwithcentimeter-levelpositioningaccuracy,fullyautonomousdrivingwillcomeclosertorealization.However,theaccuracyoflocalizationisworsenedinTunnelorMultipathpropagation.Gyroscopeisusedinthoseconditions.Indeadreckoning,positiondataisestimatedbyintegralofgyroscope,odometerandaccelerometer.Dependingontheaccuracyofgyroscope,errorsofheadingisaccumulated.Therefore,highaccuracygyroscopeisneededfordeadreckoning.VariationofpositionerrorofgyroswithdifferentaccuracyAmountofpositionerror(m)403020[20°/h][10°/h]ErrorΔdegDistanceΔLPositionError10[1°/h]Gyrobias0.1°/h0010002000300040005000VehicleSpeed:50km/hDistance(m)04 ## IMU（E)_06 ![IMU（E)_06の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000006.jpg) 【ページ内のテキスト情報】 PARTNUMBERFOG&MEMScombinedIMUTAG350N2Calculation※12：GNSS/INS/VScombinedNavigationAccelerometer0：Accelerometer±3G1：Accelerometer±6GCustom00：StandardOthers:Exclusive※1Pleaserefertopage15,16forthedetailsofoperationmode.FOG＆MEMScombinedIMUPERFORMANCEItemSpecificationRemarkDimension85×85×78.5mmMass600gMaxPowersupplyvoltage9～28VDCInterface/BaudrateRS232C：115.2kbps（fixed）CAN：500kbps（Initialsetting）OutputCycleRS232C：50HzCAN：50HzGyroRange±200deg/secGyroBiasZaxis：0.1deg/hrmsX,Yaxis：0.2deg/srmsGyroScaleFactorErrorZaxis：50ppmFSrmsX,Yaxis：0.2%FSrmsSF:ScaleFactorFS:FullScaleItemSpecificationRemarkAccelerationRange±3G/±6GAccelerationBias5mGrmsAccelerationScaleFactorErrorStaticAccuracy(Roll&Pitch)In-runDrift(Yaw)0.2%FSrmsOperationtemp.range-20～+60℃VibrationShock0.1degrmsRoomtemp.0.2degrmsAmbienttemp.0.0001deg/srms29.4m/sec²rms（5Hz～2kHz）(3Grms)20G10msFOG&MEMScombinedIMURandomvibrationFUNCTIONFOG&MEMScombinedIMUUSERCONFIGURABLECOMMANDSFOG&MEMScombinedIMUItemVehicleSpeed(VS)InputI/FPowerProtectionCircuitGNSSInputI/FCANcableterminationprocessRemarkRS232C/CAN/Pulse✓✓－FunctionAlignmentCompensationCANFormat,CANIDallocationExplanationIfmountingsurfaceistilting,itsattitudeanglecanberecognizedasazero(horizontal).CANformat(standard/extended)andCANIDallocationcanbechanged.Therearealotofothercommandsexceptfortheabove-mentioned.Thecustomercanchangevarioussettings.Pleaserefertothespecificationforthedetails.■FunctionalblockdiagramTAG350RollPitchYawGyroDetectAngularVelocityRS-232,1PPSExternalGNSSModule※2XYZAccelerometerDetectAccelerationThermalSensorDetectTemperatureCPUSensordataAcquisition/CompensationInertialCalculationInput/outputGenerateSerialSignalRS-232,CANUpperSystemINSdataVehicleSpeedAngularvelocity/Acceleration/AttitudeHeading/GNSSposition/GNSSvelocityVehicleSpeedOperationSensor/CPUetc.DC/DCConverterGenerateRequiredVoltagePowersource9～28VDC※2ExternalGNSSModuleincludingcableandantennaisnotattachedtotheproduct.Ifrequired,GNSSmoduleshouldbepreparedbycustomer.■ConnectableGNSSModule:KGM-810GRB1_PS_917/PositionRegardingtheinquiriesorpurchases,pleasecontacttooursalesrepresentative.05 ## IMU（E)_07 ![IMU（E)_07の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000007.jpg) 【ページ内のテキスト情報】 OUTLINEDRAWINGDimension：mmFOG&MEMScombinedIMU■TAG35085±165±0.2J1ConnectorD02-M15PG-N-F0(JAE）（86）78.5±13±0.2X85±165±0.2ZYTYPETAG350N2NO.******MASS0.6kgDATEYYYY.MMTAMAGAWASEIKICO.,LTD.MADEINJAPAN615000102N404×φ3.6±0.2（φ98）（φ85）■InterfaceCableEU8953N1001（soldseparately）1000±100155±10TJ-560-R（SATOPARTS）TJ-560-B（SATOPARTS）DE-C8N-J9-F1-1RN（JAE）D02-M15SG-N-F0（JAE）17JE-09H-1A(DDK)DE-9SF-N(JAE)EU8953N1001145±10SMP-05V-NC(JST)06 ## IMU（E)_08 ![IMU（E)_08の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000008.jpg) 【ページ内のテキスト情報】 MEMSIMUAU7684TAG300TAG289Weoffer2typesofMEMSIMU(3axisinertialsensorunit).Theoneislowcost,butGNSSinterfacemodel.TheotherisGNSS/INSmodelwithextendedKalmanFilter.MEMSIMUFEATURES010203AttitudeAngle<0.1°User-configurableSettingDefinitionofAxis,CANIDAllocation,OffsetCancel,Alignment,etc.WaterproofCase（TAG300Series）IP65,M6MountingConfiguration,0.5sqWireDiameterPowerProtectionCircuitVehicleSpeed(VS)InputI/FOutputCycle:1kHzExternalGNSSInputI/FExtendedKalmanFilter+DeadreckoningMEMSIMU■FunctionalblockdiagramAU7684/TAG300/TAG289RollPitchYawGyroDetectAngularVelocityRS-232,1PPSExternalGNSSModule※1XYZAccelerometerDetectAccelerationThermalSensorDetectTemperatureMagnetometer（Option）CPUSensordataAcquisition/CompensationInertialCalculationInput/outputGenerateSerialSignalRS-232,CANUpperSystemINSdataVehicleSpeedAngularvelocity/Acceleration/AttitudeHeading/GNSSposition/GNSSvelocityVehicleSpeedOperationSensor/CPUetc.DC/DCConverterGenerateRequiredVoltagePowersource8～28VDC※1ExternalGNSSModuleincludingcableandantennaisnotattachedtotheproduct.Ifrequired,GNSSmoduleshouldbepreparedbycustomer.■ConnectableGNSSModule:KGM-810GRB1_PS_917/PositionRegardingtheinquiriesorpurchases,pleasecontacttooursalesrepresentative.07 ## IMU（E)_09 ![IMU（E)_09の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000009.jpg) 【ページ内のテキスト情報】 PARTNUMBERMEMSIMU■AU7684（PCBType）AU7684N□□□□Calculation※21:Leveling2:GNSS/INS/VScombinedNavigation■TAG300（WaterproofCaseType）Accelerometer/Magnetometer0:Accelerometer±3G1:Accelerometer±6G2:Accelerometer±3G/Magnetometer(underdevelopment)3:Accelerometer±6G/Magnetometer(underdevelopment)TAG300N□□□□Custom00:StandardOthers:ExclusiveCalculation※21:Leveling2:GNSS/INS/VScombinedNavigationAccelerometer/Magnetometer0:Accelerometer±3G1:Accelerometer±6G2:Accelerometer±3G/Magnetometer(underdevelopment)3:Accelerometer±6G/Magnetometer(underdevelopment)Custom00:StandardOthers:Exclusive■TAG289（CaseType）TAG289N□□□□Calculation※2Accelerometer/MagnetometerCustom1:Leveling2:GNSS/INS/VScombinedNavigation0:Accelerometer±3G1:Accelerometer±6G00:StandardOthers:Exclusive※2Pleaserefertopage15,16forthedetailsofoperationmode.PERFORMANCEMEMSIMUItemSpecificationRemarkP/N:AU768435×35×16.1mmDimensionP/N:TAG300100×59.8×49.5mmP/N:TAG28964×45×33mmPCBTypeWaterproofCaseType（IP65)CaseTypeP/N:AU768430gMaxPCBTypeMassP/N:TAG300250gMaxP/N:TAG289WaterproofCaseType（IP65)CaseTypePowersupplyvoltage8～28VDCInterface/BaudrateRS232:115.2kbpsCAN：500kbpsUsercanchangeCANbaudrateOutputCycleRS232C：200Hz、CAN：1000HzGyroRange±200deg/secGyroBias0.2deg/secrmsRoomtemp.±0.2deg/secAmbienttemp.ItemSpecificationRemarkGyroScaleFactorError0.2%FSrmsAccelerationRange±3G/±6GFactorysettingAccelerationBias0.0196m/sec2rms（2mG）Roomtemp.0.049m/sec2rms（5mG）Ambienttemp.AccelerationScaleFactorError0.2%FSrmsStaticAccuracy(Roll&Pitch)0.1degrms(Range3G)Roomtemp.0.2degrms(Range3G)Ambienttemp.In-runDrift(Yaw)0.01deg/srmsOffset-cancelappliedOperationtemp.range－40～＋85℃Vibration29.4m/sec2rms5Hz～2kHzRandomvibrationShock20G10msFUNCTIONMEMSIMUUSERCONFIGURABLECOMMANDSMEMSIMUItemFunctionRemarkWaterproofCase✓IP65：TAG300Magnetometer✓UnderdevelopmentVehicleSpeed(VS)InputI/FPowerProtectionCircuitGNSSInputI/FCANcableterminationprocessRS232/CAN/Pulse✓✓－Recommendation/CustomizationFunctionAlignmentCompensationDefinitionofAxisUpdateCycle&OutputCycleCANFormat,CANIDallocationExplanationIfmountingsurfaceistilting,itsattitudeanglecanberecognizedasazero(horizontal).YoucanselectnotonlyZaxisbutalsoXandYaxisasverticalaxis.Thecalculationupdatecycle&outputcyclecanbechanged.CANformat(standard/extended)andCANIDallocationcanbechanged.Therearealotofothercommandsexceptfortheabove-mentioned.Thecustomercanchangevarioussettings.Pleaserefertothespecificationforthedetails.08 ## IMU（E)_10 ![IMU（E)_10の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000010.jpg) 【ページ内のテキスト情報】 OUTLINEDRAWINGDimension：mmMEMSIMU■AU7684（PCBType）4×φ2.2±0.235±0.512以下1.630±0.23.5以下35±0.580±0.5100±359.8±2（14.9）49.5±25±51（30）30±0.2MEMSIMU■TAG300（WaterproofCaseType）2×φ7±0.5UTS71412P（SOURIAU)■TAG289（CaseType）※InterfacecableisattachedtoTAG289series.45±225±0.5ZXY900+1000155±10TJ-560-R（SATOPARTS）TJ-560-B（SATOPARTS）17JE-09H-1A(DDK)64±233±250±2TAG289N****No.****57±0.54×φ3.4145±10DE-9SF-N(JAE)SMP-05V-NC(JST)09 ## IMU（E)_11 ![IMU（E)_11の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000011.jpg) 【ページ内のテキスト情報】 OUTLINEDRAWINGDimension：mmMEMSIMU■AU7684InterfaceCableEU8937N1000（soldseparately）1000±100TJ-560-R（SATOPARTS）35±10155±10TJ-560-B（SATOPARTS）17JE-09H-1AEquivalentDE-9SF-NEquivalent145±10■AU7684InterfaceCable・InterfaceCablewithGNSSconnectorEU8937N1001（soldseparately）35±101000±100155±10TJ-560-R（SATOPARTS）TJ-560-B（SATOPARTS）17JE-09H-1AEquivalentDE-9SF-NEquivalentKVC-36KURAMOSMP-05V-NC（JST）145±10■TAG300InterfaceCableEU8940N1000（soldseparately）30±101000±100155±15TJ-560-R（SATOPARTS）TJ-560-B（SATOPARTS）17JE-09H-1AEquivalentDE-9S-NREquivalentUTS6GN1412S（SOURIAU）145±15■TAG300InterfaceCable・InterfaceCablewithGNSSconnectorEU8940N1001（soldseparately）30±101000±100155±15TJ-560-R（SATOPARTS）TJ-560-B（SATOPARTS）17JE-09H-1AEquivalentDE-9SF-NEquivalentUTS6GN1412S（SOURIAU）145±10SMP-05V-NC（JST）10 ## IMU（E)_12 ![IMU（E)_12の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000012.jpg) 【ページ内のテキスト情報】 MEMSGyroSensorTAG206N5000TAG204N5000Whenanoscillatingobjectisrotated,CoriolisForceworksinthedirectionperpendiculartothevibration,andtheothervibrationoccurs.Thisinducedvibrationisdetectedandconvertedintovoltageproportionaltotheamplitudeofthevibration.WidespreadMEMSGyroTAG206N5000DETECTIONMEMSGyroSensor2.6±0.3RotationAxisMEMSGyroSensor5.4±0.35.95±0.3VdWhenexcitedWhendetectedθAngularRate：Ω0Tiltangleθ＝0゜～20゜（mm）CoriolisForce：F0=2mvΩ0Mass：mVelocity：vInclinedtothedirectionofPin1ELECTRICALSPECIFICATIONMEMSGyroSensorDigitalOutputAnalogOutputItemsMINTYPMAXUnitMINTYPMAXUnitSupplyVoltage5V±5%V5V±5%VRemarkConsumptionCurrent9mAMax.mA9mAMax.mAMeasurementRange±60deg/secdeg/sec±60deg/secdeg/secSamplingRate1000HzHz--MaximumOutput16383d-3.9VMinimumOutput0d-0.3VZeroRateOutput-12+12deg/sec-12+12deg/secZeroRateOutputwithtemperaturevarianceTa=-40～+85℃DigitalOutput：8192disastandardAnalogOutput：2.1Visastandard-3+3deg/sec-3+3deg/secTa=-40～+85℃ScaleFactor748290LSB/deg/sec16.21819.8mV/deg/secTa=-40～+85℃Linearity-0.5+0.5%FS-0.5+0.5%FSScaleFactorVariationwithTemperature-2+2％-2+2％TemperatureOutput8102d8192d8282d2.082.12.12V25℃11ScaleFactorofTemperatureSensor-16-18-20LSB/℃-3.8-4-4.2mV/℃Ta=-40～+85℃ ## IMU（E)_13 ![IMU（E)_13の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000013.jpg) 【ページ内のテキスト情報】 HighAccuracyMEMSGyroTAG204N50008.74.359（mm）ELECTRICALSPECIFICATIONMEMSGyroSensorItemsDigitalOutputMINTYPMAXUnitRemarkSupplyVoltageConsumptionCurrent5V±5%9mAMax.VmAMeasurementRange±60deg/secdeg/secSamplingRate1000HzHzMaximumOutputMinimumOutputZeroRateOutputZeroRateOutputwithtemperaturevarianceScaleFactorLinearityScaleFactorVariationwithTemperatureTemperatureOutputScaleFactorofTemperatureSensor16383d-0d--6+6deg/sec-2+2deg/secTa=-40～+85℃748290LSB/deg/secTa=-40～+85℃-0.5+0.5%FS-2+2％8102d8192d8282d25℃-16-18-20LSB/℃Ta=-40～+85℃Ta=-40～+85℃DigitalOutput：8192disastandardIMUSimulatorsoftwareIndedicatedsoftwareisabletographmonitoranddataoutputsoftheIMU'soutput.*TherearetwotypesofsoftwarewithGNSSorwithoutGNSS.Pleasecheckatthetimeofyourorder.SoftwarecanbedownloadedfreefromourHP.〈MEMSIMUHP〉https://mems.tamagawa-seiki.com/download/■Simulatorsoftware2DmonitorGraphmonitorGraphmonitor→Dataoutput12 ## IMU（E)_14 ![IMU（E)_14の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000014.jpg) 【ページ内のテキスト情報】 InterferometricFiberOpticGyroi-FOGTA7774Highaccuracy[0.1°/h]Gyro(1-axis),whichisakeytechnologytorealizefullyautonomousdriving.FEATURES010203High-accuracyAchieved[0.1°/h]whichisrequiredforfullyautonomousdriving.Low-priceOuruniquetechnologyforwindingandFiberOpticalICrealizescostreduction.Closed-loopType■i-FOGPromotionalVideoSeethedemonstrationofi-FOGlocalization.i-FOGhttps://www.tamagawa-seiki.co.jp/products/gyro/1-axis-gyro-TA7774.htmli-FOGCENTIMETERCLASSLOCALIZATIONTheaccuracyoflocalizationofvehiclesisincreasedtocentimeterclassbyusingi-FOG.ItisnecessarytomaintaintheaccuracyoflocalizationatcentimeterclassunderGNSS-deniedenvironment.RouteMapLatitudeLocalizationbyi-FOGGNSSLongitudeVehicleSpeed(VS)IMURedlineisthetrackoflocalizationbyi-FOGPOSITIONACCURACYBYGYROERROR&VEHICLESPEEDi-FOGTheaccuracyofi-FOG(TA7774)is0.1°/h,whichisabletokeephighaccuracylocalizationforacertainperiodoftime.PositionAccuracyat10km/hPositionAccuracyat100km/hPositionerror(m)1098765432GeneraltypeMEMSGyroGeneraltypeFOGGyroAccuracyX（0.1°/ｈ）X（1°/ｈ）X（10°/ｈ）X（20°/ｈ）Positionerror(m)1098765432GyroAccuracyX（0.1°/ｈ）X（1°/ｈ）X（10°/ｈ）X（20°/ｈ）13100200TA7774040060080010000200400600Distance(m)Distance(m)18001000 ## IMU（E)_15 ![IMU（E)_15の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000015.jpg) 【ページ内のテキスト情報】 SPECIFICATIONi-FOGCONFIGURATIONi-FOGPartNumberTA7774DynamicRange±200°/secBiasRepeatability0.1°/h（1δ）（25℃static）BiasInstability0.1°/hMax.RandomWalk0.01°/√hMax.ScaleFactorAccuracy±100ppmScaleFactorLinearity±100ppmFSMass400gMax.Power-supplyvoltage±5V,±15V±5V：1.5AMax.PowerConsumption±15V：0.2AMax.Interface/BaudrateRS232：115.2kbps（fixed）OutputCycle50HzOperatingTemperature－20～＋60℃Non-operatingTemperature－30～＋70℃LIGHTSOURCEMODULELIGHTSOURCECIRCUITCOUPLEROPTICALDETECTORMODULEDETECTORCIRCUITOPTICALICOSCILLATIONCIRCUITFIBEROPTICCOILPhasedifferencetobedetectedbecomes0.FEEDBACKSIGNALGENERATINGCIRCUITOUTPUTALLANVARIANCEi-FOGSCALEFACTOR&LINEARITYi-FOG10Randomwalk：0.01°/√h2500.01200ALLANDEVIATION［°/h］10.10.010.0010.010.1110100100010000100000INTEGRATIONPERIOD［s］FOGOUTPUT（°/s）1501005000-300-200-1000100200300-50-100-150-200-250INPUTRATE（°/s）0.005-0.005-0.01*Formoredetails,contacttoourtechnicalsupportwritteninthelastpage.LINEARITY（％FS)OUTLINEDRAWINGDimension：mmi-FOG■TA7774150±5085±165±0.245±13±0.2i-FOGTA7774SERIALNO.65±0.285±1＋D-Sub15pin(JAE：DA-15PF－NEquivalent)4×φ3.6±0.2（φ98）（φ85）■InterfaceCableEU8954N1000（soldseparately）1000±100155±10TJ-560-R（SATOPARTS）17JE-15H-1A2-CF(DDK)DA-15SF-T-N(JAE)+5VGND-5V+15VGND-15VEU8954N1000TJ-560-B（SATOPARTS）TJ-560-BL（SATOPARTS）17JE-09H-1A(DDK)DE-9SF-N(JAE)TJ-560-R（SATOPARTS）TJ-560-B（SATOPARTS）155±10TJ-560-BL（SATOPARTS）14 ## IMU（E)_16 ![IMU（E)_16の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000016.jpg) 【ページ内のテキスト情報】 TechnologyAboutOperationMode1,LevelingModeThefeatureofLevelingmodeisstableoutputofattitudeangle(roll&pitch)byacombinationofaccelerometersandgyroscopes.Ifthedeviceisaffectedbyaccelerationorcentrifugalforceforlonghours,theerrorsofattitudeanglemaybeincreased.However,itcanbesuppressedbyacompensationofGNSSandvehiclespeedsignalinput.Overview,ConfigurationMEMSGyroscopeAccelerometerSensorCPUInterfaceOutputAngularvelocitySerialRS232、CANCalculationSignalAccelerationGenerationAttitudeHeadingGNSSsignalVehicleSpeedCorrectionofAttitude2,GNSS/INS/VSModeTechnologyGNSS/INS/VSisperformedbycombininggyroscopesangularvelocityandaccelerometers(INSdata),externalGNSSdataandvehiclespeed.InadditiontoGNSSandvehiclespeeddata,algorithm(Kalmanfilter)isusedtoestimatetheerrorofINSdata,andimproveaccuracy.ItisalsopossibletooutputthepositiondataeveninGNSS-deniedenvironment.Overview,ConfigurationMEMSGyroscopeAccelerometerSensorCPUInterfaceOutputAngularvelocityAccelerationCalculationSerialSignalGenerationVelocityAttitudeRS232、CANPositionHeadingBiasestimationforgyroscopes&accelerometersKalmanFilterBiasestimationforposition,speed,attitudeandheadingHeadingPositionVelocityGNSSsignalVehicleSpeed15 ## IMU（E)_17 ![IMU（E)_17の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000017.jpg) 【ページ内のテキスト情報】 CaseStudyforGNSS/INSNavigationDeadReckoning,amethodofcalculatingpositionwithGNSS/INScombinednavigationinGNSS-deniedenvironmentsuchasatunnel.Pleasetakealookatthedemonstrationfromhere.https://mems.tamagawa-seiki.com/product/multisensor.html3,LevelingVSGNSS/INS/VSOperationModeLevelingGNSS/INS/VSGNSSDisconnectedConnectedConnected*necessaryOutputFormatInertialSensor・Angularvelocity・AccelerationAttitude・Heading・Roll・Pitch・YawGNSS・Latitude・Longitude・Altitude・Velocity・Time・SatelliteDead-reckoning・Latitude・Longitude・AltitudeEstimatedSensorBias・Angularvelocity・AccelerationApplication✓✓✓✓✓✓－✓✓－－✓－－✓●MeasurementofAttitude,Heading●MotionSensing●Vibration●MonitoringSystem●Roll-overpreventionControl●PowerAssist●LocalizationinGNSS-deniedenvironment(Autonomous-driving,Self-driving)●High-accuracymeasurementofAttitude&Heading16 ## IMU（E)_18 ![IMU（E)_18の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000018.jpg) 【ページ内のテキスト情報】 KEYWORDSPleasecheckfordetails.TypePerformance/TermTermInertialMeasurementUnit（IMU）MEMSGyroFiberOpticGyro（FOG）RingLaserGyro（RLG）AngularVelocityAccelerationAttitudeangleHeadingangleExplanationInertialmeasurementunit(IMU)isusednotonlyformeasuringdynamics,posture,andorientationofvariousmovements,butalsoformeasuringposition.TamagawaSeikimanufacturesvariouskindsofproductssuchasMEMSGyro,FiberOpticGyros(FOG)andInertialMeasurementUnit(IMU).Thereforecustomerscanselectthesensorforawiderangeofapplications.SensormakinguseofMEMStechnologywhichdetectstheaccelerationbyusinginertialforce(Coriolisforce)comingfromvibrationorrotation.TurntheopticalfiberslikeacoilinCWandCCWandinputlighttobothdirections.Bytheinterferenceoftheoutput,thewavelengthischangedduetoDopplereffectaccordingtothemotion(redandblueshift).Agyroscopewhichdetectsandoutputsthechangeamount.RingLaserGyroscope(RLG)consistsofaringlaserhavingtwoindependentcounterpropagatingresonantmodesoverthesamepath.Thedifferenceinthefrequenciesisusedtodetectrotation.ItoperatesontheprincipleoftheSagnaceffectwhichisalsousdforFiberOpticGyro(FOG).Changeratioofangle(rotationspeed,rotationangle)perunittime.Changeratioofspeedperunittime.Thegravityisakindoftheacceleration.Theanglebetweentheplaneofobjectandthehorizontalground.Inclinationtowardsfront-backiscalled"pitch"whiletowardsright-leftiscalled"roll".Headingangleiscompassdirectioninwhichtheobject'snoseispointed.Withoutcompassdirection,itiscalled"yaw"angle.DynamicRangeMeasurablerangeofasensorfromminimumtomaximumofamotion.Thereciprocalofadynamicrangeisascalefactor.BiasDeviationfromidealcenter.Differencebetweenoutputinastationarystateandidealzero.Itisalsocalledzeropointbiasoroffset.Itbecomesanelementoftheerror(integrationerror)incaseofanglecalculation.TechnologyDriftRandomWalkDriftistheindicationofbiasvariationsizeundertheinfluenceofenvironmentalconditionsuchastemperature(riseorfall),powersupplyvariationorvibration.Thereisalsoasuccessivechangeshiftingslowly.Digitalizedvalueofdegreeofvariation(whitenoise).Itisconsideredtobethenoisewhichasensorhas.ScaleFactorRatioofsensoroutputchangedbyinput.Itisalsocalledsensitivity(SensitivityisdistinguishedfromscaleintheIECstandard).LinerityLinearityisthepropertyofamathematicalrelationship(function)thatcanberepresentedasa/A×100(％).ResolutionCrossCouplingTheresolutionistheminimuminputofangularvelocitythatthegyrocanidentify.Tomeasuretheresolution,inputtheminuteangularvelocitytothegyroontheprecisionrateturntableandseethesignificantchangeinthegyrooutput.Insomecases,quantizationerrorisinterpretedasresolution.Sensitivityagainstthedetectionaxisbyanotheraxisinput.Misalignmentwhichindicatesdirectionaccuracyisakindofthecrosscoupling.17 ## IMU（E)_19 ![IMU（E)_19の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000019.jpg) 【ページ内のテキスト情報】 Performance/TermCommunicationCalculationFunctionTermAllanVarianceBiasinstabilityCalibrationWarmUpRS232CANGNSS/INSHybridNavigationSystemLevelingCalculationInertiacalculationInertialNavigationKalmanFilterOffsetCancelAlignmentDeadzone(Yaw)ExplanationPlotofquotientwhentheintegratedvalueofgyrooutputisdividedbyintegraltime.Itshowsaclustertime(averagingtime)inahorizontalaxisandanAllandeviation(σ)inaverticalaxis.Wecanreadtherandomwalk,biasstabilityetc.fromtheplotandalsorepresentthenoisecomponentofgyroinagraph.BiasinstabilityisoneofindicatorsofgyroscopewhichismeasuredbyAlanvariancemethod.Thesmallerthenumber,thehighertheperformanceofthegyroscope.Calibrationisthecomparisonofmeasurementvaluesacquiredfromadevicewiththoseofacalibrationstandardequipment.Warmingupoperationafterturningonthepower.RS-232isaserialportinterfacestandardstandardizedbytheElectronicIndustriesAlliance(EIA).Itiswidelyusedasacommunicationstandardforpersonalcomputersandcommunicationdevices.CANisacommunicationstandardstandardizedbyISO-11898.Originallyusedasacommunicationstandardinsideautomobiles,itisnowwidelyusedinthefieldsofconstructionmachinery,agriculturalmachineryandfactoryequipment.CompoundnavigationofGNSSandINS(InertialNavigationSystem).Technologyforhighaccuracyandstablenavigation.TheerrorestimationofinertialsensorbyKalmanfilterimprovestheaccuracy.InertialoperatingalgorithmofMEMS-IMU(IMUconsistsofMEMSgyrosandMEMSaccelerometers)madebyTamagawa.Itenablesahighprecisiondynamicposturemeasurementtoalowcost(lowaccuracy)gyro.※LevelingCalculationvsGNSS/INS/VSCalculationsareperformedonlywiththebuilt-ingyroandaccelerometerwithoutreferringtoGNSSorexternalspeed.ThismethodcanbeusedonlyinFOGIMUandRLGinwhichhigh-precisiongyrosareused.Amethodofcalculatingthepositionanddirectionusingonlyinertialsensor.However,thereisacharacteristicthattheerroraccumulatesandincreaseswhenmovingalongdistance.Thisisacalculationmethodthatimprovestheaccuracyofdatabyestimatingtheerrorforaquantity(position,velocity)thatchangesovertime.Thisfunctioncalculatestheaveragevalueofbias(zeropointerror)atacertaintime.Theaveragevalueofthebiasisoffsetinthesubsequentoperations.IfthereisamountingerrorortiltontheIMUinstallationsurface,thetiltisnormallyoutputbasedonthehorizontalplane,butwhenusingthisfunction,theinstallationsurfacecanbesettozero.Inordertosuppresstheyawangledrift,theZ-axisofangularvelocityinthedeadzoneisconvertedtozeroandisnotreflectedintheyawanglecalculation.DeadReckoningSensorFusionTechnologyofpositionmeasurementwithhighaccuracyeveninatunnelwithoutGPSsignalbythecompoundarithmeticprocessionoftheinformationfromgyrosensor,accelerometeretc.Bycompoundingdatafromseveralsensors,improvethemeasurementreliabilityoftheunitorcomplementdefectsofeachsensor.18 ## IMU（E)_20 ![IMU（E)_20の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000020.jpg) 【ページ内のテキスト情報】 WARRANTYWhenordering,pleasecontactourSalesDepartmentasthecontentsofthiscatalogaresubjecttochangewithoutnotice.Theoutlineofoperationandtheexamplesofanapplicationcircuitindicatedinthiscatalogareonlyshowingstandardoperationandusageofelectroniccomponentsanddonotguaranteetheoperationbyactuallyusedequipment.Therefore,pleasedesignequipmentatyourownriskincaseyouuseourproducts.Wecannottakeresponsibilityfordamagesresultingfromtheuseofourproducts.Thetechnicalinformationcontainingtheoutlineofoperationandcircuitdiagramindicatedinthiscatalogdoesnotmeanconsentofintellectualpropertyrights,suchaspatentrightofourcompanyorathirdparty,andcopyright.Moreover,itdoesnotguaranteethatenforcementofathirdparty’sintellectualpropertyrightsorotherrightscanbeperformed.Therefore,wedonottakeresponsibilityfortheinfringementofathirdparty’sintellectualpropertyrightsorotherrightsresultingfromtheuseofourtechnicalinformation.Productsshowninthiscatalogaredesignedandmanufacturedwithanobjectforgeneraluse,suchastheordinaryindustrialuse,generalofficework,andpersonal/homeuse.Theyarenotdesignedandmanufacturedfortheusewhichrequireshighreliability（under-waterstationsandspacesatellites）,andtheusewhichrequireshighsafetyandifthesafetyisnotsecured,ithasseriousinfluencesociallyanddirectlyontolifeandbody（nuclearreactioncontrolinnuclearfacilities,airplaneautomaticflightcontrol,airtrafficcontrol,trafficcontrolinamasstransportationsystem,medicalequipmentforlifemaintenance,andmissilelaunchcontrolinanarmssystem）.ThereforethosewhoareconsideringuseofourproductsinthesefieldsareadvisedtoconsultourSalesDepartmentinadvance.Wecannottakeresponsibilityfordamagesresultingfromthefailureintheconsultation.Failureofelectroniccomponentsoccursinacertainprobability.Sowerequestyoutoestablishsafetydesigns,suchasaredundantdesignofequipment,adesigntopreventspreadofafire,anover-currentpreventiondesign,andamalfunctionpreventiondesign,eveniftheelectroniccomponentsshouldbreakdownsothatanaccidentresultingininjuryordeath,afireaccident,andsocialdamagemaynottakeplace.Incaseourproductinthiscatalogcorrespondstoacargoortechnologyregulatedbasedon“aforeignexchangeandaforeigntradelaw”,thepermissionbasedonthelawisrequiredinexportingtheproduct.ACOMPANYOFTAMAGAWASEIKICO.,LTD.■InternationalMarketingSalesDepartmentHeadquarters:1-3-1Haba-cho,Iida,NaganoPref.395-0063JapanPHONE:+81-265-56-5423FAX:+81-265-56-5427Ideasmaketechnologyfunhttps://mems.tamagawa-seiki.com/en/'21.01T12-1721N3ThiscatalogueiscurrentasofJan.2021.ALLspecificationsaresubjecttochangewithoutnotice ## IMU（E)_21 ![IMU（E)_21の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000021.jpg) 【ページ内のテキスト情報】 ## IMU（E)_22 ![IMU（E)_22の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000022.jpg) 【ページ内のテキスト情報】 ## IMU（E)_23 ![IMU（E)_23の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000023.jpg) 【ページ内のテキスト情報】 ## IMU（E)_24 ![IMU（E)_24の画像](https://img01.ebook5.net/tamagawa-seiki/1721/contents/image/book/medium/image-000024.jpg) 【ページ内のテキスト情報】