x-IMU3 User Manual v0.11
April 6, 2022
1
Overview
The x-IMU3 is x-io Technologies’ third generation
Inertial
Measurement
Unit
It
is
a
high-performance
and
versatile
measurement
device designed to accommodate a wide range of
data logging and real-time applications including
biomechanics, motion-capture, virtual reality, drones,
robotics, and industrial.
Wi-Fi and Bluetooth provide connectivity
for
mobile
and
desktop
devices
while
serial
communication supports embedded and industrial
systems.
An on-board micro SD card allows the
x-IMU3 to function as a stand-alone data logger
with the ability to download files by USB and Wi-Fi.
Multiple x-IMU3s operating together on the same
wireless network will automatically synchronise to
stream or log synchronised measurements.
Sensors
·
Gyroscope, ±2000°/s, 400 Hz
·
Accelerometer, ±24 g, 400 Hz
·
Magnetometer, ±2.5 uT, 20 Hz
·
High-g accelerometer, ±200 g, 1600 Hz
·
Temperature sensor
Calibration
·
15-parameter calibration for: axis sensitivity,
axis
offset,
inter-axis
misalignment,
and
package misalignment.
·
Hard-iron and soft-iron calibration
·
On-board gyroscope bias correction algorithm
·
Algorithm outputs:
- Quaternion
- Rotation matrix
- Euler angles
- Linear acceleration
- Earth acceleration
·
Linear acceleration rejection
·
Magnetic distortion rejection
·
400 Hz update rate
·
Static accuracy:
- 1° RMS inclination
- 2° RMS heading
Communication
·
·
Serial, 3.3V UART
·
TCP (Wi-Fi)
·
UDP (Wi-Fi)
·
Wi-Fi
·
Client and AP mode
·
Dual band (2.4 GHz, 5 GHz)
·
WPA/WPA2-Personal
·
WPA/WPA2-Enterprise
Data logging
·
Supports micro SD cards up to 32 GB
·
Start/stop logging remotely
·
USB download
·
Wi-Fi download
·
CSV output
Serial accessories
·
Receive data from external sensors and user
electronics, e.g. GPS, analogue/digital inputs,
application-specific sensors.
·
3.3 V output to power external electronics
Battery
·
Internal battery charged by USB
·
20 hours data logging
·
15 hours Bluetooth
·
12 hours Wi-Fi client 2.4 GHz
·
8 hours Wi-Fi client 5 GHz
Housing
·
·
Wearable strap or chassis mount
Software GUI
·
Real-time data plots and 3D view
·
Log real-time data to CSV
·
Forward real-time data to other applications
·
Windows and macOS
Software API
·
Rust, C, C++, C#, Python
·
Code examples for other languages available
1
The temperature sensor is used for calibration and is not intended to provide an accurate measurement of ambient temperature.
2
Bluetooth support is currently in development and not yet supported.
3
WPA/WPA2-Enterprise security is currently in development and not yet supported. Will only be supported in client mode.
4
The product is supplied with an 8 GB micro SD card that can be upgraded by the user.
IP67 is currently unconfirmed. Third-party testing to complete in 2022.
6
