MSU102 MEMS IMU

 

 

 

Antenna stabilization platforms

Flight control systems

Vehicle & ship attitude measurement

Port measurement systems

Mobile mapping systems

Automated driving test systems

Personal navigation systems

 

 

The MSU102 MEMS Inertial Measurement Module is a high-reliability, cost-effective six-axis MEMS inertial measurement unit, widely applied in navigation, control and measurement fields represented by vehicles, ships and UAVs. The MSU102 series inertial measurement module integrates high-performance MEMS gyroscopes and MEMS accelerometers within an independent structural housing. The gyroscopes and accelerometers adopted in the system represent the cutting-edge level of inertial devices based on MEMS manufacturing technology.

 

 

Company is a high-tech enterprise with full closed-loop capabilities from fiber winding to FOGs, fiber/MEMS inertial products, IMU circuits, software, and test equipment. End-to-end process control improves quality and reduces costs. Operating under ISO9001, it ensures reliability and consistency. INS plays a critical role in intelligent coal mining, with FOG as the key component. Custom hardware and software configurations of the MSU102 series inertial measurement modules are available to meet diverse user requirements.

 

Parameter	Technical Index
Gyroscope
Measurement Range (°/s)	±500
Full-Temperature Bias (°/h, 3σ)	≤180
Bias Stability (°/h, 10s smoothing)	≤10
Bias Instability (°/h, Allan variance, typical)	≤2
Bias Repeatability (°/h)	≤10
Angular Random Walk (°/√h)	≤0.2
Scale Factor Nonlinearity (ppm)	≤100
Cross-Coupling Error (rad)	≤0.001
Bandwidth (Hz)	≥200 Hz
Accelerometer
Measurement Range (g)	±16
Full-Temperature Bias (mg, 3σ)	≤5
Bias Stability (μg, 10s smoothing)	≤300
Bias Instability (μg, Allan variance, typical)	≤40
Bias Repeatability (μg)	≤300
Velocity Random Walk (m/s/√h)	≤0.04
Scale Factor Nonlinearity (ppm, ±1g)	≤200
Cross-Coupling Error (rad)	≤0.001
Bandwidth (Hz)	≥200 Hz
Physical Characteristics
Maximum Output Update Rate (Hz)	1000
Dimension (mm×mm×mm)	22.4×23×9
Weight (g)	18±3
Operating Environment
Operating Temperature (℃)	-40 ~ 80
Storage Temperature (℃)	-55 ~ 85
Vibration (g, RMS)	20~2000 Hz, 6.06
Shock (g)	1000 / 1 ms

 

 

 

 

Product Overview

The MSU102 MEMS Inertial Measurement Module is a high-reliability, cost-effective six-axis MEMS inertial measurement unit, widely applied in navigation, control and measurement fields represented by vehicles, ships and UAVs. The MSU102 series inertial measurement module integrates high-performance MEMS gyroscopes and MEMS accelerometers within an independent structural housing. The gyroscopes and accelerometers adopted in the system represent the cutting-edge level of inertial devices based on MEMS manufacturing technology. The three-axis MEMS gyroscope senses the angular motion of the carrier, while the three-axis MEMS accelerometer captures the linear acceleration of the carrier. Built-in full-temperature compensation is implemented for Bias, scale factor, non-orthogonality error and acceleration-dependent terms, enabling sustained high measurement accuracy over long-duration operation. Custom hardware and software configurations of the MSU102 series inertial measurement modules are available to meet diverse user requirements.

 

Product Features

• Multi-sensor redundancy and fault-tolerant design
• High performance, compact size, light weight and low power consumption
• Full-temperature calibration and compensation ranging from -40℃ to +80℃
• High-speed sampling at 1 kHz
• Resistance to harsh mechanical environments
• Support for online software upgrade

 

Application Fields

• Antenna stabilization platforms
• UAV attitude reference & trajectory control
• Flight control systems
• Vehicle & ship attitude measurement
• Port measurement systems
• Mobile Satellite Communication (Mobile SATCOM)
• Mobile mapping systems
• Automated driving test systems
• Personal navigation systems

 

 

Table 1 Performance Parameters of MSU102 Inertial Measurement Module

Parameter	Technical Index
Gyroscope
Measurement Range (°/s)	±500
Full-Temperature Bias (°/h, 3σ)	≤180
Bias Stability (°/h, 10s smoothing)	≤10
Bias Instability (°/h, Allan variance, typical)	≤2
Bias Repeatability (°/h)	≤10
Angular Random Walk (°/√h)	≤0.2
Scale Factor Nonlinearity (ppm)	≤100
Cross-Coupling Error (rad)	≤0.001
Bandwidth (Hz)	≥200 Hz
Accelerometer
Measurement Range (g)	±16
Full-Temperature Bias (mg, 3σ)	≤5
Bias Stability (μg, 10s smoothing)	≤300
Bias Instability (μg, Allan variance, typical)	≤40
Bias Repeatability (μg)	≤300
Velocity Random Walk (m/s/√h)	≤0.04
Scale Factor Nonlinearity (ppm, ±1g)	≤200
Cross-Coupling Error (rad)	≤0.001
Bandwidth (Hz)	≥200 Hz
Physical Characteristics
Power Supply (V)	5±0.2 (ripple ≤100 mV)
Steady-State Power Consumption (W)	≤0.5
Startup Time (s)	≤2
Maximum Output Update Rate (Hz)	1000
Dimension (mm×mm×mm)	22.4×23×9
Weight (g)	18±3
Operating Environment
Operating Temperature (℃)	-40 ~ 80
Storage Temperature (℃)	-55 ~ 85
Vibration (g, RMS)	20~2000 Hz, 6.06
Shock (g)	1000 / 1 ms

 

Technical Specifications

Structural Characteristics

The MSU102 inertial measurement module adopts an aluminum alloy structure, featuring light weight, high structural strength, and excellent resistance to vibration and shock. The outline dimensions of the module are shown in Figure 1.

Figure 1 Outline Dimensions

 

Product Marking and Polarity

During product installation, the carrier coordinate system of the module must maintain a fixed positional relationship with that of the host equipment. The carrier coordinate system definition of the MSU102 MEMS inertial measurement module is specified as follows.

Figure 2 Product Coordinate System

 

Pin Definition

The external connector of the MSU102 inertial measurement module is Molex 5015680607. The pinout of the output interface is illustrated in Figure 3, and pin definitions are listed in Table 2.

Figure 3 Output Interface Pinout Diagram

 

 

Table 2 External Pin Definition of MSU102 Inertial Measurement Module Connector

Pin No.	Definition	Remarks
1	TOV	Sampling Synchronization Pulse (LVTTL)
2	PPS_IN	PPS Input (LVTTL)
3	UART_RX	UART Receive (LVTTL)
4	UART_TX	UART Transmit (LVTTL)
5	GND	Power Ground
6	VCC (+5V)	Positive Power Supply

After the supply voltage drops below the device operating threshold, the power-off holding time tOFF before re-powering shall not be less than 3 seconds. Insufficient power-off interval may cause abnormal startup, latch-up or initialization failure of the module.

External Communication

 

3.4.1 XDIMU-55AA Protocol

The XDIMU-55AA protocol transmits 40 bytes per frame via periodic broadcast. The default output frequency is 200 Hz, and the default baud rate is 115200 bps. Both the baud rate and output frequency can be configured via upper computer software. Each data frame consists of 1 start bit, 8 data bits, 1 stop bit and no parity bit. Bytes are transmitted little-endian (Intel format), with the low byte sent prior to the high byte.

The module supports TOV synchronization pulses output at the same frequency as IMU sampling by default, which can serve as external timestamp synchronization signals. Internal timestamp output is available when external GNSS time data and PPS pulse signals are connected. GNSS time data is input via UART_RX with a default baud rate of 115200 bps (consistent with transmit baud rate; the receive baud rate will change synchronously if the transmit baud rate is modified). The UART_RX port receives GPRMC sentences (compatible with GNRMC/GBRMC) from GNSS receivers, while the PPS_IN pin receives LVTTL PPS pulses synchronized on falling edges with a 1-second period.

Table 2 XDIMU-55AA Frame Format of MSU102 MEMS Inertial Measurement Module

Byte Offset	Definition	Remarks
1	Frame Header	0x55
2	Frame Header	0xAA
3	Data Length	N-4
4 ~ N-1	Payload Data	-
N	Checksum	Sum check byte
Note: The checksum is the lower 8 bits of the cumulative sum of the data length and all bytes in the data payload.

 

Table 3 XDIMU-55AA Communication Payload of MSU102 MEMS Inertial Measurement Module

Index	Start Byte Offset	Byte Count	Content	Scale Factor	Range	Unit	Remarks
1	0	1	0x55	1	-	-	Frame Header
2	1	1	0xAA	1	-	-	Frame Header
3	2	1	36	1	-	-	Data Length
4	3	4	PCnum	1	-	-	1ms counter value
5	7	4	X Angular Rate	0.000001	[-1000, 1000]	°/s	-
6	11	4	Y Angular Rate	0.000001	[-1000, 1000]	°/s	-
7	15	4	Z Angular Rate	0.000001	[-1000, 1000]	°/s	-
8	19	4	X Acceleration	0.000001	[-40g, 40g]	m/s²	-
9	23	4	Y Acceleration	0.000001	[-40g, 40g]	m/s²	-
10	27	4	Z Acceleration	0.000001	[-40g, 40g]	m/s²	-
11	31	2	Temperature	0.008	[-120, 120]	℃	-
12	33	2	Date (Year-Month-Day)	-	-	-	Bit0~Bit4: Day (0-31)Bit5~Bit8: Month (0-12)Bit9~Bit15: Year (0-99)Example: 1100011110011111 = 31 Dec, 2099
13	35	4	Timestamp	0.1	-	ms	Calculated as (h×3600 + m×60 + s) × 10000Example: 00110011011101110101101010011111 = 23h59min59.9999s
14	39	1	Checksum	1	[0, 255]	-	Lower 8 bits of cumulative sum of bytes offset 2 ~ 38

 

Product Precautions

• Refer strictly to the electrical pin definition of the module; wire according to the pin sequence to avoid misconnection.
• This product is a precision measuring device. Avoid shocks, collisions and other loads exceeding its mechanical tolerance during handling.
• Installation flatness greatly affects angular velocity measurement. A high-flatness mounting surface is required to eliminate installation errors.
• Secure the module firmly during installation to prevent measurement errors induced by looseness.
• Take anti-static protection during installation and operation; anti-static wrist strap is recommended.
• Operate in full compliance with this manual and verify the ambient conditions match the operating requirements. Do not disassemble the housing or modify internal structures if faults occur. Contact our technical support team promptly for troubleshooting.

 

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