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WT901C RS232| manual v0707 | http://wiki.wit-motion.com/english

- 18 -

2.3.3 Gyroscope Automatic Calibration

The gyroscope calibration is to calibrate the angular velocity, and the sensor
will calibrate automatically.

It is recommended that the automatic calibration of gyroscopes can be
inactivated only if the module rotates at a constant speed.

Summary of Contents for WT901C

Page 1: ...WT901C RS232 manual v0707 http wiki wit motion com english 1 USER MANUAL WT901C RS232 Inclinometer Sensor ...

Page 2: ...t you need in the provided documents please contact our support team Our engineering team is committed to providing the required support necessary to ensure that you are successful with the operation of our AHRS sensors Contact Technical Support Contact Info Application AGV Truck Platform Stability Auto Safety System 3D Virtual Reality Industrial Control Robot Car Navigation UAV Truck mounted Sate...

Page 3: ...oftware Introduction 9 2 2 1 Main Menu 9 2 2 2 Menu of Configuration 10 2 3 Calibration 14 2 3 1 Accelerometer Calibration 14 2 3 2 Magnetic Field Calibration 15 2 3 3 Gyroscope Automatic Calibration 18 2 3 4 Reset Z axis Angle 19 2 3 5 Reset Height to 0 19 2 4 Configuration 20 2 4 1 Return Content 20 2 4 2 Output Rate 21 2 4 3 Baud Rate 22 2 4 4 Data Recording 23 2 4 5 Data Playback 25 2 4 6 Stan...

Page 4: ...axis 9 axis Algorithm 32 3 Use Instructions with Android Phone 33 3 1 APP Installation 33 3 2 Hardware Preparation 34 3 3 Connection 35 3 4 Calibration 39 3 4 1 Acceleration Calibration 39 3 4 2 Magnetic Field Calibration 40 4 MCU Connection 41 4 1 Arduino 41 4 2 STM32 41 4 3 Raspberry pi 41 4 4 C 41 4 5 C 42 4 6 Matlab 42 ...

Page 5: ...e accurately WT901C is employed where the highest measurement accuracy is required It offers several advantages over competing sensor Heated for best data availability new WITMOTION patented zero bias automatic detection calibration algorithm outperforms traditional accelerometer sensor High precision Roll Pitch Yaw X Y Z axis Acceleration Angular Velocity Angle Magnetic Field output Low cost of o...

Page 6: ...in power supply can lead to permanent damage to the sensor VCC cannot connect with GND directly otherwise it will lead to the burning of the circuit board For proper instrument grounding use WITMOTION with its original factory made cable or accessories For secondary developing project or integration use WITMOTION with its compiled sample code ...

Page 7: ...ns with PC 2 1 Connection Method PC software is only compatible with Windows system WT901C Playlist 2 1 1 Serial Connection Step 1 Connect the sensor with a serial converter PIN Connection VCC 3 3 5V TX Yellow RX Green GND GND When connecting with computer VCC 5V is recommended ...

Page 8: ...or usage Link to tutorial of 3 in 1 serial converter RS232 serial cable CH340 driver Link to tutorial of 6 in 1 serial converter CP2102 driver Step 3 Plugin the converter to computer and confirm the com port in device manager Step 4 Open the software Minimu exe Data will appear after auto search finishes Notice If not successful please operate manually Choose the com port and baud rate 9600 data w...

Page 9: ...on left side Record Record function 3D 3D DEMO Config Configuration setting Help Language English or Chinese Bluetooth Set Binding device or unbind Firmware update Option for firmware update About Minimu Info about Minimu exe Factory test For manufacturer internal test only Auto search Auto searching the sensor Port Com port selection Baud Baud rate selection Type Fixed setting as Normal for WT901...

Page 10: ...on com english 10 2 2 2 Menu of Configuration Menu of Configuration Button Function Read Config Reading the current configuration Lock Lock the sensor Unlock Unlock the sensor Calibrate Time Calibration time of chip Save Config Save configuration ...

Page 11: ... computer to conflict with the mouse causing the mouse to jump After checking this function the function will take effect the next time the module is used or it can take effect when the module is powered on again Menu of Calibrate Button Function Acceleration Accelerometer calibration Magnetic Field Magnetometer calibration Reset Height Reset height data to 0 only for sensor built in barometer inc...

Page 12: ...eleration Acceleration data output Velocity Angular velocity data output Angle Angle data output Magnetism Magnetic field data output Port Port data output Pressure Pressure output only available with the sensor built in barometer like HWT901B WTGAHRS2 WT901B etc Location Latitude Longitude data output only for GPS IMU series such as WTGAHRS1 WTGAHRS2 PDOP Ground velocity data output only for GPS ...

Page 13: ...h 13 GPS Original Only output GPS raw data only for GPS IMU series such as WTGAHRS1 WTGAHRS2 Menu of Port D0 Model Extended port D0 D1 Model Extended port D1 D2 Model Extended port D2 D3 Model Extended port D3 Pulse width Pulse width of PWM Cycle Cycle of PWM ...

Page 14: ...ometer Calibration Purpose The accelerometer calibration is used to remove the zero bias of the accelerometer Before calibration there will be different degrees of bias error After calibration the measurement will be accurate Methods Step 1 Keep the module horizontally stationary Step 2 Click the accelerometer calibration Step 3 Click the Start calibration and wait for 3 seconds Step 4 Click Compl...

Page 15: ...s Angle is accurate Note When putting the module horizontal there is 1g of gravitational acceleration on the Z axis 2 3 2 Magnetic Field Calibration Purpose Magnetic calibration is used to remove the zero bias of the magnetic field sensor Usually the magnetic field sensor will have a large zero error when it is manufactured If it is not calibrated it will bring a large measurement error which will...

Page 16: ...reparation Sensors should be 20CM away from magnetic and iron and other materials Methods Step 1 Open the Config menu Step 2 Click the magnetic field calibration button click the Start calibration Step 3 Slowly rotate the module 360 around X Y Z 3 axis accordingly ...

Page 17: ...iki wit motion com english 17 Step 4 After rotation click End calibration Successful result Most of data dots will be within the ellipse If not successful please stay away from the objective that can create magnetic field interference ...

Page 18: ... Gyroscope Automatic Calibration The gyroscope calibration is to calibrate the angular velocity and the sensor will calibrate automatically It is recommended that the automatic calibration of gyroscopes can be inactivated only if the module rotates at a constant speed ...

Page 19: ... is to make the initial angle of the z axis angle is relative 0 degree When the module is used before and z axis drift is large the z axis can be calibrated When the module is powered on the Z axis will automatically return to 0 Calibration methods as follow firstly keep the module static click the Config open the configuration bar and then click Reset Z axis Angle option you will see the the angl...

Page 20: ...ntent of the data return can be set according to user needs click the configuration option bar and check the data content to be output Taking WT901C as an example the default output of the module is acceleration angular velocity angle and magnetic field Notice If choosing the GPS Original there will be no other data output ...

Page 21: ... 10 data packets in 1S 1 data packet is 33 bytes by default Note If there are more backhaul contents and the communication baud rate is lower it may not be possible to transmit so much data Then the module will automatically reduce the frequency and output at the maximum allowable output rate To put it simply if the return rate is high the baud rate should also be set higher generally 115200 ...

Page 22: ... module you need to select the baud rate to be changed in the communication rate drop down box in the configuration bar based on the correct connection between the software and the module Note After the change the module will no longer output data at the original baud rate The data will be output only when the baud rate that has been changed is selected on the PC software again ...

Page 23: ...WT901C RS232 manual v0707 http wiki wit motion com english 23 2 4 4 Data Recording Method are as follows Step 1 Click Record and Begin Step 2 Click Stop ...

Page 24: ...ract the data as txt file Notice If there is repeated TIME of data that s caused by low resolution of the Windows system s time The changes in other data is correct It is highly recommended that data can be pasted to an Excel file In this way all data will be shown in order ...

Page 25: ...ng recorded file each time there will a BIN file created in the folder of record file in path of installed software meanwhile Recorded data playback method Step 1 Disconnect the sensor Step 2 Click File Button and then click Load Step 3 Choose the original path of software installation and load the Bin file ...

Page 26: ...WT901C RS232 manual v0707 http wiki wit motion com english 26 Step 4 Click Run and the Binary file will be playback When playback the rate can be editable ...

Page 27: ...e paused working and entered the standby mode Power consumption is reduced after sleeping Wake Up The module enters the working state from the standby state The module defaults to a working state in the Config of the software click Sleep option to enter the sleep state click Sleep again to release sleep ...

Page 28: ...lt installation direction of the module is horizontal When the module needs to be installed vertically the vertical installation can be set Step 1 Rotate the module 90 degrees around the X axis Step 2 Place the sensor 90 degrees vertically Step 3 Click Vertical as install directions on Config menu ...

Page 29: ...dth Default bandwidth is 20Hz Function 1 The higher rate of bandwidth setting will lead to the higher fluctuation in data waveform Conversely the lower rate of bandwidth data will become more fluent For example Bandwidth as 20Hz Output rate as 10Hz The waveform is very steady ...

Page 30: ...e waveform will show more fluctuation 2 The higher rate of bandwidth will solve the data repeating problem For example if the bandwidth setting is 20Hz retrieval rate as 100Hz there will be 5 repeating data If you prefer there is no repeating data it is required to increase the bandwidth more than 100Hz ...

Page 31: ...e computer through the USB TTL module click the setting tab and click to restore the default After restoring the factory settings power on the module again This method needs to know the baud rate of the module in advance if the baud rate does not match the instruction will not take effect please try to use the short circuit method to recover ...

Page 32: ...ly calculated and analyzed based on the magnetic field Z axis angle will have few drift The default algorithm of WT901C is 9 axis If there is magnetic field interference around installed environment it is recommended to switch to 6 axis algorithm to detect the angle Method Step 1 Switch to the 6 axis algorithm on Config menu Step 2 Proceed the Accelerometer calibration and Reset Z axis angle calib...

Page 33: ...motion com english 33 3 Use Instructions with Android Phone For APP configuration introduction please referring to the Chapter 2 2 3 1 APP Installation Install the APK file give permission of Location and Storage Link to download Android APP ...

Page 34: ...RS232 manual v0707 http wiki wit motion com english 34 3 2 Hardware Preparation Connecting with Android smartphone requires a serial cable and a Type C converter or OTG converter according to phone s interface ...

Page 35: ...TL cable Then connect the cable with type c converter Plug in the device type c converter to the phone Notice 1 After successful connection there will be a notification reminding that Choose an APP for the USB device which means that the device has been detected Choose WitMotion JUST ONCE or ALWAYS is optional 2 Only CH340 driver can be detected via WitMotion APP ...

Page 36: ...WT901C RS232 manual v0707 http wiki wit motion com english 36 Step 3 Open APP and choose 9 axis Series as sensor series ...

Page 37: ...WT901C RS232 manual v0707 http wiki wit motion com english 37 Step 4 Select the baud rate 9600 After selection and wait for a few seconds the data will show automatically ...

Page 38: ...WT901C RS232 manual v0707 http wiki wit motion com english 38 ...

Page 39: ...ration WT901C 232 Playlist 3 4 1 Acceleration Calibration Step 1 Keep the module horizontally stationary Step 2 Click the Calibration menu Step 3 Click the Acceleration Calibration and wait for 3 seconds Step 5 Judge the result confirm if there is 1g on Z axis acceleration ...

Page 40: ...Click the Magnetic calibration button Step 3 Slowly rotate the module 360 around X Y Z 3 axis accordingly Step 4 After rotation click Magnetic Calibration Finish Check the result The Z axis angle will have fewer drift than before Notice If not successful please stay away from the objective that can create magnetic field interference ...

Page 41: ...ction Link to download all sample code Link to sample code instructions demo Notice There is no sample code provided for Linux or Python system at present 4 1 Arduino Download link Arduino UNO3 Demo Link 4 2 STM32 Download link 4 3 Raspberry pi Tutorial link 4 4 C DEMO link ...

Page 42: ...WT901C RS232 manual v0707 http wiki wit motion com english 42 4 5 C DEMO link 4 6 Matlab Receive Sample Code Dataplot DEMO ...

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