NEW VERSION
There is a new version of this product available. The product on this page has been discontinued and the datasheet and manual are provided for informational purposes.
Product no longer stocked – limited availability
Contact for pricing and lead time--a minimum order quantity may apply
Contact for pricing and lead time--a minimum order quantity may apply
The 3DM-GX4-15™ is a miniature industrial-grade inertial measurement unit (IMU) and vertical reference unit (VRU) with high noise immunity, and exceptional performance.
Product Highlights
- High performance integrated MEMS sensor technology provide direct and computed IMU and VRU outputs in a small package.
- Triaxial accelerometer, gyroscope, temperature sensors, and a pressure altimeter achieve the best combination of measurement qualities.
- Dual on-board processors run a sophisticated Adaptive Kalman Filter (AKF) for excellent static and dynamic inclination estimates and inertial measurements.
Best in Class Performance
- Fully calibrated, temperature compensated, and mathematically aligned to an orthogonal coordinate system for highly accurate outputs
- Bias tracking, error estimation, threshold flags, and adaptive noise, magnetic, and gravitational field modeling allow for fine tuning to conditions in each application.
- High performance, low drift gyros with noise density of 0.005°/sec/√Hz and VRE of 0.001°/s/g2RMS
- Smallest and lightest industrial AHRS available
Ease of Use
- User-defined sensor-to-vehicle frame transformation
- Easy integration via comprehensive SDK
- Common protocol with the 3DM-GX3® and 3DM-RQ1- 45™ sensor families for easy migration
Cost Effective
- Out-of-the box solution reduces development time.
- Volume discounts
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General |
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Integrated sensors |
Triaxial accelerometer, triaxial gyroscope, temperature sensors, and pressure altimeter |
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Data outputs |
Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, ambient pressure, deltaTheta, deltaVelocity Computed outputs: Adaptive Kalman Filter (AKF): filter status, GPS timestamp, attitude estimates (Euler angles, quaternion, orientation matrix), bias compensated angular rate, pressure altitude, gravity-free linear acceleration, attitude uncertainties, gyroscope and accelerometer bias, scale factors and uncertainties, gravity models, and more. Complementary Filter (CF): attitude estimates (Euler angles, quaternion, orientation matrix), stabilized gravity vector, GPS correlation timestamp |
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Inertial Measurement Unit (IMU) Sensor Outputs |
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Accelerometer |
Gyroscope
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Measurement range |
±5 g (standard) ±16 g (option) |
300°/sec (standard) ±75, ±150, ±900°/sec (options) |
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Non-linearity |
±0.03 % fs |
±0.03 % fs |
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Resolution |
<0.1 mg |
<0.008°/sec |
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Bias instability |
±0.04 mg |
10°/hr |
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Initial bias error |
±0.002 g |
±0.05°/sec |
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Scale factor stability |
±0.05 % |
±0.05 % |
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Noise density |
100 µg/√Hz |
0.005°/sec/√Hz |
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Alignment error |
±0.05° |
±0.05° |
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Adjustable bandwidth |
225 Hz (max) |
250 Hz (max) |
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Offset error over temperature |
0.06% (typ) |
0.05% (typ) |
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Gain error over temperature |
0.05% (typ) |
0.05% (typ) |
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Scale factor non-linearity (@ 25° C) |
0.02% (typ) 0.06% (max) |
0.02% (typ) 0.06% (max) |
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Vibration induced noise |
-- |
0.072°/s RMS/g RMS |
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Vibration rectification error (VRE) |
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0.001°/s/g2 RMS |
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IMU filtering |
4 stage filtering: analog bandwidth filter to digital sigma- delta wide band anti-aliasing filter to (user adjustable) digital averaging filter sampled at 4 kHz and scaled into physical units; coning and sculling integrals computed at 1 kHz |
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Sampling rate |
4 kHz |
4 kHz
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IMU data output rate |
1 Hz to 1000 Hz |
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Pressure Altimeter |
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Range |
-1800 m to 10,000 m |
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Resolution |
< 0.1 m |
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Noise density |
0.01 hPa RMS |
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Sampling rate |
25 Hz |
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Computed Outputs |
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Roll and pitch accuracy |
AKF outputs: ±0.25° RMS (typical) CF outputs: ±0.5° static (typical), ±2.0° dynamic (typical) |
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Roll and pitch range |
360° about all axes |
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Roll and pitch resolution |
< 0.01° |
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Roll and pitch repeatability |
0.3° (typ) |
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Calculation update rate |
500 Hz |
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Computed data output rate |
AKF outputs: 1 Hz to 500 Hz CF outputs: 1 Hz to 1000 Hz |
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Operating Parameters |
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Communication |
USB 2.0 (full speed) RS232 (9,600 bps to 921,600 bps, default 115,200) |
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Power source |
+ 3.2 to + 36 V dc |
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Power consumption |
100 mA (typ),120 mA (max) with Vpri = 3.2 V dc to 5.5 V dc 550 mW (typ), 800 mW (max) with Vaux = 5.2 V dc to 36 V dc |
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Operating temperature |
-40 °C to +85 °C |
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Mechanical shock limit |
500 g (calibration unaffected) 1000 g (bias may change) 5000 g (survivability) |
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MTBF |
1.2 million hours (Telcordia method I, GL/35C) 0.45 million hours (Telcordia method I, GM/35C) |
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Physical Specifications |
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Dimensions |
36.0 mm x 24.4 mm x 11.1 mm (excluding mounting tabs), 36.6 mm (width across tabs) |
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Weight |
16.5 grams |
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Enclosure material |
Aluminum |
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Regulatory compliance |
ROHS, CE |
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Integration |
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Connectors |
Data/power output: micro-DB9 |
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Software |
MIP™ Monitor, MIP™ Hard and Soft Iron Calibration, Windows XP/Vista/7/8 compatible |
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Compatibility |
Protocol compatibility with 3DM-GX3® and 3DM- RQ1-45™ sensor families. |
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Software development kit (SDK) |
MIP™ data communications protocol with sample code available (OS and computing platform independent) |
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General Documentation
- 3DM-GX4-15™ Datasheet
- 3DM-GX4-15™ Quick Start Guide
- 3DM-GX4-15™ User Manual
- 3DM-GX4-15™ Data Communications Protocol
- Inertial Product Comparison
- 3DM-GX4™ Products Declaration of Conformity
Technical Notes
- Migrating From a 3DM-GX3® Series Sensor to a 3DM-GX4™
- Using a Hardware Datalogger with a 3DM-GX4™
- 3DM-GX4-15™ Communication and Power Connector
Mechanical Prints (Uncontrolled)
- 6224-0100 Craft Cable with Micro DB9 and 9 flying leads
- 6212-1040 Micro D-to-USB Communication and Power Cable
- 6212-1000 Micro D-to-RS232 Communication and Power Cable
Video
- Hard & Soft Iron Calibration
- Enabling Robotic Attitude Sensing and Autonomous Navigation Through Inertial Sensor Technology
- 3DM-GX4™ inertial sensor family overview video
