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IMU200-BL Bluetooth Motion Sensor with Kalman Filtering for Human posture and angle measurement
◆ APPLICATIONS
The IMU200-BL Bluetooth AHRS sensor is suitable for applications requiring motion tracking and real-time posture measurement, including:
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Medical rehabilitation equipment monitoring
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Limb movement and rehabilitation monitoring
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Human motion capture systems
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Human posture and angle measurement
◆ PRODUCT INTRODUCTION
The IMU200-BL is a high-performance Bluetooth AHRS (Attitude and Heading Reference System) designed for real-time motion sensing and attitude monitoring. It is suitable for a wide range of applications, including aircraft models, robotics, agricultural machinery, construction vehicles, and forklifts.
Equipped with a three-axis gyroscope, three-axis accelerometer, and three-axis magnetic sensor, the IMU200-BL combines sensor fusion technology, Kalman filtering, and temperature compensation to deliver stable and responsive attitude measurements under dynamic operating conditions.
In addition to attitude information, the sensor provides complete nine-axis measurement data, including three-axis acceleration, three-axis angular velocity, and three-axis magnetic field outputs. Its configurable system parameters allow adaptation to different equipment platforms and application requirements.
For convenient wireless integration, the IMU200-BL features Bluetooth 5.1 communication with BLE protocol support. Its 2.4GHz adaptive frequency-hopping technology enables transmission distances of up to 40 meters in unobstructed line-of-sight environments. The device also supports BLE DFU wireless firmware updates, providing greater flexibility for installation, configuration, and maintenance in industrial applications.
◆ KEY FEATURES
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Compact, lightweight design
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Low-noise measurement performance
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100Hz data update rate
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Bluetooth 5.1 wireless communication
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2.4GHz adaptive frequency-hopping technology
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Up to 40m wireless transmission distance (unobstructed line of sight)
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Integrated nine-axis sensing and temperature sensor
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Kalman filtering and temperature compensation
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Supports VRU and AHRS modes
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High drift stability
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Excellent vibration performance
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Real-time 3D dynamic attitude measurement
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BLE wireless firmware update (DFU)
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Wide operating temperature range
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DC 4.5–5.5V power supply
◆ PERFORMANCE PARAMETERS
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IMU200-BL
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Condition
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Parameter
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Measurement range
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-
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Roll ±180°, pitch ±90°, azimuth ±180° (initial value for Bluetooth disconnection and reconnection in VRU mode is 0 °, output as magnetic heading angle in AHRS mode)
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Measurement axis
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-
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X / Y / Z
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Static accuracy of roll and pitch1)
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@25℃
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±0.1°
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Dynamic accuracy of roll and pitch(RMS)
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@25℃
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±0.25°
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Magnetic heading accuracy(AHRS)
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@25℃
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±1.5°
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Gyroscope
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Gyroscope range
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Can be set
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±125°/s, ±250°/s, ±500°/s,
±1000°/s, ±2000°/s
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Zero bias stability (10s smooth)
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-
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10°/h
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Zero bias instability (Allan)
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5°/h
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Angle random walk coefficient (Allan)
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-
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0.25°/sqrt(h)
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Acceleration
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Acceleration range
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Can be set
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±2g, ±4g, ±8g, ±16g
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Zero bias stability (10s mean)
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-
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0.1mg
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Zero bias instability (Allan)
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-
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0.05mg
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Speed random walk coefficient (Allan)
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-
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0.005m/s/sqrt(h)
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Magnetometer
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Range of magnetometer
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-
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±8Gauss
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Resolution
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-
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<2.5mgauss
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Bandwidth
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-
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<100Hz
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Zero temp coefficient2)
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-20~65℃
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±0.01°/℃
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Sensitivity temp coefficient3)
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-20~65℃
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≤100ppm/℃
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Power on start-up time
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≤3.5S
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Response time
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0.01S
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Electromagnetic compatibility
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According to EN61000 and GBT17626
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Reception sensitivity
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-96dBm
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Transmit power
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8dBm
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Bluetooth transmission distance
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40m (in an open and unobstructed state)
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Usage time (battery fully charged)
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Continuous operation for 6 hours,
standby time for 83 days
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Insulation resistance
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≥100 megaohm
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Impact-resistant
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100g@11ms Triaxial (half sine wave)
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Anti-vibration
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10grms / 10~1000Hz
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Shell material
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ABS plastic shell
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Weight
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≤20g
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1) Accuracy: Refers to the root mean square difference between the measured value and the actual angle error obtained by measuring the angle multiple times (>16 times) at room temperature.
2) Zero temperature coefficient: refers to the rate of change in the displayed value of a sensor relative to normal temperature within its rated operating temperature range when it is in a zero state.
3) Sensitivity temperature coefficient: refers to the percentage of full-scale indication of a sensor relative to full-scale indication at room temperature within its rated operating temperature range, and the rate of change with temperature.
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◆ ELECTRICAL PARAMETERS
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PARAMETER
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CONDITION
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MIN
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TYP
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MAX
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UNIT
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Charging voltage
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standard
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4.5V
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5V
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5.5
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V
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charging current
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0.1
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A
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Charging Temp
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0~+55℃ (Note: Charging temperatures that are too high or too low can damage the battery)
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charging port
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Type-C interface
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Charging time
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2.5 hours(25℃)
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operating current
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|
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18
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mA
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Shutdown and sleep current
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50
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uA
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Operating Temp
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-20
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+70
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℃
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Storage temp
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-20
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+70
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℃
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◆ CALIBRATION METHOD
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Calibration prerequisite:
1) The accuracy of the test sensor does not meet the requirements;
2) The installation environment of the sensor is subject to magnetic field interference, which is fixed. Once the sensor is installed, the distance between the sensor and the interfering magnetic field will no longer change (for example, i the sensor is installed on a carrier (iron) with magnetic interference, it cannot be separated from the carrier. When fixed, it should be rotated for calibration. If it is not fixed and causes separation, it needs to be recalibrated. If the distance between the sensor and the installation carrier cannot be fixed, try to choose the installation location as far away from the interference source as possible, and control the safe distance above 30CM.
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Horizontal installation calibration mode:
1)Plane rotation - more than 360 ° circumference: As shown in Figure A
Horizontal start calibration command
TX: 54 4D 0F 16 00 00 E2 D0
RX: 54 4D 0F 16 00 00 E2 D0
Data domain(0byte)
Rotate horizontally at a constant speed for more than 1 revolution, ensuring a time of at least 20 seconds for the saved value to be valid. Save values below 20 seconds are invalid.
Horizontal calibration stop command
TX: 54 4D 0F 17 00 00 B3 10
RX: 54 4D 0F 17 00 00 B3 10
Data domain(0byte)
Command without data domain
2)Rotate 360 ° vertically upwards
As shown in Figure B
Start calibration command vertically upwards
TX: 54 4D 0F 0B 00 00 72 D6
RX: 54 4D 0F 0B 00 00 72 D6
Data domain(0byte)
Rotate vertically at a constant speed for more than 1 revolution from north to north, ensuring a time of at least 20 seconds. Save values for more than 20 seconds are valid, and save values for less than 20 seconds are invalid.
Vertical upward calibration stop command
TX: 54 4D 0F 0C 00 00 C3 17
RX: 54 4D 0F 0C 00 00 C3 17
Data domain(0byte)
Command without data domain
FAQ
1. Does the IMU200-BL support wireless firmware updates?
Yes. It supports BLE DFU (Device Firmware Update), allowing firmware upgrades through a Bluetooth wireless connection.
2. Can the IMU200-BL be used in robotics and mobile machinery?
Yes. Its compact design, wireless data transmission, and multi-axis measurement capabilities make it suitable for robots, agricultural machinery, construction vehicles, forklifts, and other mobile equipment.
3. Can the IMU200-BL operating parameters be configured?
Yes. The system operating parameters can be modified and expanded to accommodate different application requirements and integration platforms.
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