WiT WTGAHRS2 Manuel utilisateur

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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USER MANUAL

WTGAHRS2

GPS IMU

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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Tutorial Link

Google Drive

Link to instructions DEMO:

WITMOTION Youtube Channel

WTGAHRS2 Playlist

If you have technical problems or cannot find the information that 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 Satellite Antenna Equipment

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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Contents

Tutorial Link................................................................................................................... - 2 -

Contact............................................................................................................................ - 2 -

Application......................................................................................................................- 2 -

Contents..........................................................................................................................- 3 -

1 Introduction............................................................................................................... - 5 -

1.1 Warning Statement......................................................................................- 6 -

2 Use Instructions with PC...................................................................................... - 7 -

2.1 Connection Method...................................................................................... - 7 -

2.1.1 Serial Connection............................................................................. - 7 -

2.2 Software 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.......................................................... - 16 -

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 GPS Positioning...............................................................................- 20 -

2.4.2 Return Content............................................................................... - 23 -

2.4.3 Output Rate......................................................................................- 24 -

2.4.4 Baud Rate..........................................................................................- 25 -

2.4.5 Data Recording............................................................................... - 26 -

2.4.6 Data Playback..................................................................................- 28 -

2.4.7 Standby and Wake Up................................................................. - 30 -

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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2.4.8 Placement Direction......................................................................- 31 -

2.4.9 Bandwidth......................................................................................... - 32 -

3 Use Instructions with Android Phone............................................................- 34 -

3.1 APP Installation...........................................................................................- 34 -

3.2 Hardware Preparation.............................................................................. - 35 -

3.3 Connection....................................................................................................- 36 -

3.4 Calibration.....................................................................................................- 40 -

3.4.1 Acceleration Calibration...............................................................- 40 -

3.4.2 Magnetic Field Calibration.......................................................... - 41 -

4 MCU Connection.................................................................................................... - 42 -

4.1 Arduino...........................................................................................................- 42 -

4.2 STM32.............................................................................................................- 42 -

4.3 Raspberry pi.................................................................................................- 42 -

4.4 C#.................................................................................................................... - 43 -

4.5 C++................................................................................................................. - 43 -

4.6 Matlab............................................................................................................. - 43 -

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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1 Introduction

The WTGAHRS2 is a multi-sensor device detecting acceleration, angular

velocity, angle, magnetic filed as well as GPS. The robust housing and the

small outline makes it perfectly suitable for industrial retrofit applications

such as condition monitoring and predictive maintenance. Configuring the

device enables the customer to address a broad variety of use cases by

interpreting the sensor data by smart algorithms.

WTGAHRS2’s scientific name is GPS IMU sensor. A sensor measures 3-axis

angle, angular velocity, acceleration, magnetic field and GPS data. Its strength

lies in the algorithm which can calculate three-axis angle accurately.

WTGAHRS2 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+GPS data

• Low cost of ownership: remote diagnostics and lifetime technical support by

WITMOTION service team

• Developed tutorial: providing manual, datasheet, Demo video, free software

for Windows computer, APP for Android smartphones , and sample code for

MCU integration including 51 serial, STM32, Arduino, Matlab, Raspberry Pi,

communication protocol for project development

• WITMOTION sensors have been praised by thousands of engineers as a

recommended attitude measurement solution

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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1.1 Warning Statement

Putting more than 5 Volt across the sensor wiring of

the main power supply can lead to permanent damage

to the sensor.

GPS positioning requires to be operated outdoors.

For proper instrument grounding: use WITMOTION

with its original factory-made cable or accessories.

Do not access the I2C interface.

For secondary developing project or integration:

use WITMOTION with its compiled sample code.

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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2 Use Instructions with PC

2.1 Connection Method

PC software is only compatible with Windows system.

Link to WTGAHRS2’s demo video

2.1.1 Serial Connection

Step 1. Connect the sensor with a serial converter

PIN Connection:

VCC - 5V

TX - RX

RX - TX

GND - GND

(When connecting with computer, VCC-5V is recommended.)

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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Recommended tools:

3-in-1 serial converter 6-in-1 serial converter

Link to tutorial of 3-in-1 serial converter(CH340 driver)

Link to tutorial of 6-in-1 serial converter (CP2102 driver)

Step 1. Unzip the software and install the driver CH340 or CP2102

(Depending on which accessory for usage.)

Step 2. Insert the converter to computer and confirm the “com port” in device

manager

Step 3. 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 will be shown on the software.

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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2.2 Software Introduction

Link to download software

2.2.1 Main Menu

Main Menu of software

Button

Function

File

Launch recorded HEX file (Bin format)

Tools

Hide or display tools box on left side

Record

Record function

3D DEMO

Config

Configuration setting

Help

Language

English or Chinese

Bluetooth Set

Binding device/ unbind, only for Bluetooth

sensor series

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

Open

Open com port

Close com port

WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english

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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

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