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U4200 High Precision Tactical Grade MEMS IMU AHRS Sensor for UAV Robot Navigation

U4200 High Precision Tactical Grade MEMS IMU AHRS Sensor for UAV Robot Navigation

U4200 series is an IMU/VRU/AHRS sensor composed of tactical-grade MEMS-IMU and magnetometer. It is equipped with independently developed adaptive extended Kalman filtering, IMU noise dynamic analysis algorithm, and carrier motion state analysis algorithm, which can meet the accuracy of attitude angles under high dynamics and reduce the drift of heading angles.

Each sensor undergoes precise compensation before leaving the factory, including temperature, zero bias, scale factor, and cross-axis.

U4200 series sensors perform data transmission through various interfaces such as RS232, RS422, and CAN, and have rich user configurations.

U4200 series can be synchronized with the system through external triggering, and can also achieve time alignment with external systems such as radars and cameras through the synchronous output function.

The multifunctional upper computer (GUI) can help quickly evaluate the product, and these functions include but are not limited to module configuration, data display, firmware upgrade, data recording, etc.

  • Part No, :

    U4200
  • Order(MOQ) :

    1
  • Description

Product Series and Parameters

Attitude Precision Condition U4200-A U4200-B Unit
Pitch (±90°) /Roll (±180°) (static)   0.05(nom), 0.07(max) °
Pitch (±90°) /Roll (±180°) (dynamic)   0.05(nom) 0.07(max)  
Yaw (±180°) static drift 2hrs (6DOF) ①   0.1  
Magnetic assist (AHRS) ②   2(nom), 3(max)  
Yaw rotation error (6DOF) (rotation under 100°/s) ③   <0.5(nom), 1(max)  
Note:
① Module horizontally stationary for 2 hours.
② After geomagnetic calibration, the product needs to be configured in AHRS mode when there is no magnetic field interference in the surrounding area.
③ The turntable rotates continuously for 10 turns, and the heading angle accumulates error.
Gyroscope Condition U4200-A U4200-B Unit
Measurement range   ±300 °/s
Resolution   16 bit
Linear error① 300°/s -40℃-110℃ ±0.15(nom), ±0.3(max) °/s
100°/s -40℃-110℃ ±0.01(nom), ±0.04(max)  
Cross-axis error   ±0.15 %
3dB Bandwidth   235(nom), 250(max) Hz
Sampling Rate   1000 Hz
Noise density   XY: 0.0004
Z: 0.0006
°/s/√Hz
Zero bias instability② Allan, 1σ 0.3 °/h
Zero bias stability  10s, 1σ 0.5 °/h
Zero bias repeatability  0.8 °/h
Angle random walk③ Allan 1σ XY: 0.015
Z: 0.025
°/√h
Full temperature zero bias -40-85℃ XY: 0.25
Z: 0.03
°/s
Accelerometer sensitivity (All 3 axis) For constant gravity input 0.00075 °/s/g
Notes:
①: Linear error is the maximum deviation at a specified range from the best-fit line determined by the measured values. The best-fit linear model uses the least squares method for linear fitting.
②: The value obtained by dividing the minimum value of the Allan variance by 0.664. During measurement, a 13 Hz low-pass filter setting and a 200 Hz sampling rate are used, and there should be a 15-minute stabilization time before starting data collection to ensure complete thermal stability.
③: Angular random walk is a white noise term estimated from the Allan deviation at a time constant τ = 1 second.
Accelerometer Condition U4200-A U4200-B Unit
Measurement range   16 g
Resolution   16 bit
Zero bias   2 mg
Linear error① 300°/s -40℃-110℃ ±3(nom), ±15(max) mg
  100°/s -40℃-110℃ ±0.5(nom), ±1(max)  
Cross-axis error   ±0.15 %
3dB Bandwidth   210(nom), 235(max) Hz
Sampling Rate   1000 Hz
Noise density   0.0008 m/s2√Hz
Zero bias instability② Allan, 1σ 10 ug
Zero bias stability  10s, 1σ 30 ug
Zero bias repeatability  40 ug
Angle random walk③ Allan 1σ 0.03 m/s/√h
Full temperature zero bias -40-85℃ 0.5(nom), 2(max) mg
Notes:
①: Linear error is the maximum deviation at a specified range from the best-fit line determined by the measured values. The best-fit linear model uses the least squares method for linear fitting.
②: The value obtained by dividing the minimum value of the Allan variance by 0.664. During measurement, a 13 Hz low-pass filter setting and a 200 Hz sampling rate are used, and there should be a 15-minute stabilization time before starting data collection to ensure complete thermal stability.
③: Angular random walk is a white noise term estimated from the Allan deviation at a time constant τ = 1 second.
Magnetometer Condition U4200-A U4200-B Unit
Range     ±20 Gauss
Sampling rate     200 HZ
Linearity (Best fitting straight line Fs=2G)     0.1 Fs%
Temperature Sensor Condition U4200-A U4200-B Unit
Range   -40 ~ +85
Offset error   ±1 K
Mechanical/Environment U4200-A / U4200-B Unit
Power supply 4.8 ~ 36 V
Power consumption 400 mW
Working temperature -125
Starting time① 2 s
Size 44.8*38.6*18.5 mm
Weight 55 g
Shell material and process Aluminum alloy CNC  
Assembling screws M3  
Anti-Vibration  1.0mm(10Hz-58Hz) &≤20g(58Hz-600Hz)  
Shock (duration <1ms) 2000 g
IP grade IP68 Anti-water  
Drop test Free fall 3 times on a 75cm high experimental platform  
Temperature shock Raise the temperature from -40 to 85 ℃ within 1h, 5 times  
Notes:
① Startup time refers to the time it takes for the system to shut down and output valid data. During this period, the module should be kept stationary
Interface Parameters Condition Min Normal Max Unit
RS232 Baud-rate①   9600 115200 921600 bps
Starting bits     1   bit
Data length     8   bits
Stop bit     1   bit
Checksum     None   bit
Output framerate②   0 100 1000 Hz
Input impedance RS-232 3 5 7
Output impedance 300 10M   Ω
CAN Baud-rate③   125 500 1000 kbps
Output framerate④   5 100 200 Hz
Input impedance⑤ with 120 Ω resistor   120   Ω
  without 120 Ω resistor 19 30 52
RS422 Baud-rate   9600 115200 921600 bps
Starting bits     1   bit
Data length     8   bits
Stop bit     1   bit
Checksum     None   bit
Output Frame Rate   0 100   Hz
Input impedance⑤ with 120 Ω resistor   120   Ω
  without 120 Ω resistor 48    
Trigger Pin Logic Voltage⑥ High 2     V
Low     0.6 V
Delay From trigger to data transmission     800 us
Notes:
① If modifications are required, please refer to the instruction and programming manual. 
② The sensor supports data output at 1, 5, 10, 50, 200, 250, 500, and 1000 Hz. 
③ If modifications are required, please refer to the instruction and programming manual. 
④ The sensor supports 5, 10, 50, 100, and 200 Hz data output. 
⑤ By default, there is no 120 Ω resistor connected
⑥ Please refer to the synchronization function chapter and instruction and programming manual for triggering timing and configuration.

 


Production process


Product dimension

U4200 Dimensions


Application Scenarios

Inertial Measurement Unit application
The U4200 high-precision six-axis MEMS IMU is suitable for navigation and control scenarios such as UAV flight control, vehicle/ship attitude measurement and integrated navigation, antenna stabilization platform and mobile mapping.
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FAQ

Q1. What is the U4200 used for?
U4200 is a high precision MEMS IMU / VRU / AHRS sensor designed for attitude reference, trajectory control, platform stabilization, underground instruments, low-speed unmanned robots, precision instruments, and construction machinery.

Q2. What interfaces does the U4200 support?
The U4200 supports RS232, RS422, and CAN communication interfaces, with rich user configuration options for different system integrations.

Q3. What communication protocols are available?
The sensor supports multiple protocols including binary protocol, CANopen, Modbus, and the CAN interface also supports J1939.

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