品牌
其他厂商性质
所在地
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| 型号 | CH010 | CH010M | CH020 | CH020M | CH040 | CH040MP |
| IMU阵列 | 1 | 2 | 4 | |||
| 地磁 | x | ✓ | x | ✓ | x | ✓ |
| 气压 | x | x | x | x | x | ✓ |
| 典型应用 | 服务机器人,AR/VR,电子罗盘 | 巡检机器人,智慧农机,工程机械,电子罗盘 | AGV/AMR,工程机械,电子罗盘,组合导航,动中通 | |||
| 精度 | ||||||
| Pitch/Roll(static) | 0.5° | 0.3° | 0.3° | |||
| Pitch/Roll(dynamic) | 0.8° | 0.5° | 0.3° | |||
| Yaw(VRU)① | 1° | 0.5° | 0.5° | |||
| Yaw(VRU)② | 0.5° | 0.3° | 0.3° | |||
| Yaw(Magnetic)③ | - | 2° | - | 2° | - | 2° |
| ①静止1h航向角漂移数值 ②转台转10圈取每圈平均值 ③无磁场干扰下测得磁场辅助航向角 | ||||||
| 陀螺仪参数 | ||||||
| 量程 | ±2000 °/s | ±2000 °/s | ±2000 °/s | |||
| 运动零偏稳定性 | 5° | 3.57° | 2.5° | |||
| 比例因子 | 1400ppm | 800ppm | 550ppm | |||
| 随机游走 | 0.6°/√h | 0.42°/√h | 0.3°/√h | |||
| 零偏温度特性 | ±0.015°/s/℃ | ±0.01°/s/℃ | ±0.01°/s/℃ | |||
| 加速度计参数 | ||||||
| 量程 | ±8G | ±8G | ±8G | |||
| 运动零偏稳定性 | 60ug | 42ug | 30ug | |||
| 比例因子 | 1% | 0.3% | 0.3% | |||
| 随机游走 | 0.08m/s/√h | 0.05m/s/√h | 0.04m/s/√h | |||
| 零偏温度特性 | ±0.45mg/℃ | ±0.45mg/℃ | ±0.45mg/℃ | |||
| 接口参数 | ||||||
| USB2.0① | ✓ | ✓ | ✓ | |||
| TTL UART | ✓ | ✓ | ✓ | |||
| CAN2.0② | ✓ | ✓ | ✓ | |||
| ①USB输出需要搭配调试板，调试板板载USB转串口芯片 ②表贴系列姿态传感器支持标准CAN2.0输出，但是需要用户自行搭配CAN收发器 | ||||||
| 输出频率 | ||||||
| USB2.0 | 0-400Hz | 0-400Hz | 0-400Hz | |||
| TTL UART | 0-400Hz | 0-400Hz | 0-400Hz | |||
| CAN2.0 | 200Hz | 200Hz | 200Hz | |||
| 机械和电气参数 | ||||||
| 尺寸 | 15.24X17.78X3mm | 15.24X17.78X3mm | 20X25X3mm | |||
| 重量 | 1.4g | 1.5g | 2.6g | |||
| 电压 | 3.3-5.5V | 3.3-5.5V | 3.3-5.5V | 功耗 | 152mW | 204mW | 242mW |
| 操作和存储温度 | -40-85℃ | |||||
| 振动 | 1mm（0-100Hz）&<18g(100hz-2khz)> | |||||
| 冲击 | 2000g | |||||
| ESD | HBM 2KV CDM 1KV | |||||
| MTBF | 50000h | |||||
