3DM-GV7-AR

Overview

3DM-GV7-AR is a ruggedized IP68 tactical-grade Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU) that is individually calibrated for optimum performance. AR stands for "Attitude Reference" and the unit provides precise attitude measurements with relative yaw output without an integrated magnetometer. The sensor set uses tactical-grade solid-state MEMS accelerometer and gyroscope technology with gyro bias instability of 1.5 °/hr and accelerometer bias instability of 20 µg. Random walk is specified as Accel: 31 µg/√Hz and Gyro: 0.2 °/√hr, and hysteresis values include Accel bias: 0.9 mg, Accel gain: 318 PPM, Gyro bias: 0.066 °/s, and Gyro gain: 1000 PPM. Sensing ranges are Accelerometer: 4 g, Gyroscope: 250 °/s, Magnetometer: 8 Gauss, and Pressure: 1260 mbar, with roll/pitch accuracy of 0.25° static and 0.5° dynamic. Onboard Auto-Adaptive Extended Kalman Filter provides attitude estimation with EKF update rate 1000 Hz, and the IMU update rate is 1000 Hz with adjustable sampling rates up to 1 KHz and user-selectable accelerometer and gyroscope ranges. Electrical and I/O features include a Micro D9 communication port with RS-232 and USB interfaces, 2xGPIO, input voltage 4.6 V to 36.0 V, and power consumption of 0.32 W. Mechanical and reliability data: compact size 36.2 mm x 36.6 mm x 10.2 mm, weight 17.7 g / 0.624 oz, precision-machined anodized aluminum housing with precision alignment features, mounting style Screw Down, Precision Alignment, operating temperature range −40 °C to 85 °C, and MTBF 2058917 h. Software and tooling support includes MSCL, factory-supported ROS1 and ROS2 drivers, and SensorConnect. The tabular specifications also list Ingress Protection Rating: Not Rated. Explicitly stated application areas include outdoor robotics (agricultural equipment, construction machinery, field robots), unmanned aerial vehicles (drones operating in adverse weather), unmanned ground vehicles (off-road autonomous vehicles and mobile robots), industrial automation in harsh environments, defense and tactical systems (military vehicles and equipment), environmental monitoring (weather stations, oceanographic instruments, remote sensors), and mining and construction equipment operating in dusty, wet, or contaminated environments. Factory-supported ROS1 and ROS2 drivers plus software tools MSCL and SensorConnect are provided for configuring, controlling, displaying, and logging sensor data for these applications.