MSU206 MEMS Inertial Measurement Unit

 

 

 

Navigation, guidance and control systems

Attitude control

Automatic control systems

 Robot control

Gimbal stabilization and control

Vehicle positioning and orientation systems

 

 

The MSU206 MEMS Inertial Measurement Unit (IMU) is a high-reliability, cost-effective 6-axis inertial measurement module. It is widely applied to navigation, control and dynamic measurement systems for vehicles, vessels, UAVs and other carriers. The gyroscope and accelerometer integrated in MSU206 series adopt cutting-edge MEMS inertial manufacturing technology, delivering outstanding vibration resistance and temperature performance. Full-temperature error compensation is implemented for zero bias, scale factor and non-orthogonality error, enabling sustained high measurement precision over long-term operation.

 

 

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. The MSU206 inertial measurement module adopts an aluminum alloy housing, which features light weight, high structural strength, and excellent resistance to vibration and shock.

 

 

The MSU206 MEMS Inertial Measurement Unit (IMU) is a high-reliability, cost-effective 6-axis inertial measurement module. It is widely applied to navigation, control and dynamic measurement systems for vehicles, vessels, UAVs and other carriers. The gyroscope and accelerometer integrated in MSU206 series adopt cutting-edge MEMS inertial manufacturing technology, delivering outstanding vibration resistance and temperature performance. Full-temperature error compensation is implemented for zero bias, scale factor and non-orthogonality error, enabling sustained high measurement precision over long-term operation.

 

Key Features

• Core sensors domestically manufactured
• 3-axis digital gyroscope, measurement range ±400 °/s
• 3-axis digital accelerometer, measurement range ±40 g
• Full-temperature calibration and compensation from -40 ℃ to +80 ℃ (for gyroscopes and accelerometers)
• Compatible with UART / SPI serial communication interfaces
• Built-in temperature sensor
• Compact dimension and lightweight design
• Pin-to-pin compatible with ADIS16575

 

Application Fields

• Navigation, guidance and control systems
• Attitude control
• Automatic control systems
• Robot control
• Gimbal stabilization and control
• Precision instruments and meters
• Attitude reference for UAVs, ground vehicles, ships and boats
• Mobile mapping data acquisition
• Vehicle positioning and orientation systems

 

 

Table 1 Performance Parameters of MSU206 Inertial Measurement Module

Parameter	Technical Index
Gyroscope
Measurement Range (°/s)	±500
Full-Temperature Bias (°/h, 3σ)	≤60
Bias Stability (°/h, 10s averaging window)	≤5
Bias Instability (°/h, Allan variance, typical)	≤0.5
Bias Repeatability (°/h)	≤5
Angular Random Walk (°/√h)	≤0.2
Scale Factor Nonlinearity (ppm)	≤100
Bandwidth (Hz)	≥200Hz
Cross-Coupling Error (rad)	≤0.001
Bias Variation Under Vibration (°/h, 20~2000 Hz, 6.06 g)	≤10
Accelerometer
Measurement Range (g)	±40
Full-Temperature Bias (mg, 3σ)	≤3(XY)≤5(Z)
Bias Stability (μg, 10s averaging window)	≤100
Bias Instability (μg, Allan variance, typical)	≤30
Bias Repeatability (μg)	≤100
Velocity Random Walk (m/s/√h)	≤0.03
Scale Factor Nonlinearity (ppm, ±1g input)	≤200
Cross-Coupling Error (rad)	≤0.001
Bandwidth (Hz)	≥200Hz
Magnetometer
Measurement Range (Gs)	±8
Resolution (μGs)	≤200
Noise Density (μGs/√Hz)	≤50
Bandwidth (Hz)	≥200
Physical Characteristics
Supply Voltage (V)	3.3±0.3(Ripple≤100mV)
Steady-State Power Consumption (W)	≤1
Startup Time (s)	≤2
Maximum Data Update Rate (Hz)	One SPI channel and one UART channel
Overall Dimension (mm×mm×mm)	2000
Weight (g)	22.4×22.3×13.7
Supply Voltage (V)	12±2
Operating Environment
Operating Temperature (℃)	-40~80
Storage Temperature (℃)	-55~85
Vibration (g, RMS, 20~2000 Hz)	20~2000HZ,6.06
Shock (g, 1 ms half-sine pulse)	1000/1ms

 

Technical Specifications

Mechanical Characteristics

The MSU206 inertial measurement module adopts an aluminum alloy housing, which features light weight, high structural strength, and excellent resistance to vibration and shock. The outline dimension of the module is shown in Figure 1, and the unit is fastened with three M4 screws.

Figure 1 Outline Dimension Drawing

 

Product Marking & Axis Polarity

During installation, the carrier coordinate system of the module must maintain a fixed relative positional relationship with the carrier coordinate system of the target equipment. The carrier coordinate system definition of the MSU206 MEMS inertial measurement module is provided as follows.

Figure 2 Product Coordinate System

Interface Definition

The MSU206 miniature inertial measurement assembly uses a double-row pin header with 1.0 mm pitch for external signal output, model: 2×7 double-row pin header (1.0 mm pitch). It serves power supply and external communication functions for the module.

The pin assignment definition of the connector is listed in Table 2.

Table 2 Connector Pin Definition of MSU206 Inertial Measurement Module

Pin No.	Name	Type	Description
1	DR	Output	Data Ready Indicator
2	SYNC	Input / Output	External Synchronization Input & Output
3	SPI1_SCK	Input / Output	SPI Serial Clock
4	SPI1_MISO	Output	SPI Data Output. The DOUT pin clocks out output data on the falling edge of SCLK
5	SPI1_MISI	Input	SPI Data Input. The DIN pin clocks in input data on the rising edge of SCLK
6	SPI_SS0	Input	SPI Chip Select
7	UART_RX	Input	UART Receive Port
8	NRST	Input	Hardware Reset
9	WM	Output	Watermark Interrupt Signal, used to monitor the fill level of the FIFO queue
10	UART_TX	Output	UART Transmit Signal
11	VDD	Positive Power Rail	Positive Power Supply
12	SWCLK	Input	SWD Clock Signal
13	GND	Negative Power Rail	Power Ground
14	SWD	Input / Output	Bidirectional SWD Data Signal

Figure 3 Connector Pinout Diagram

 

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

External Communication

The SPI protocol specifications are shown in Table 3.

Table 3 SPI Protocol Definition

Name	R/W	Flash Backup	Address	Default Value	Register Description
X_GYRO_LWR	R	No	0x04, 0x05	N/A	Output: X-axis Gyroscope (Low Word)
X_GYRO_UPR	R	No	0x06, 0x07	N/A	Output: X-axis Gyroscope (High Word)
Y_GYRO_LWR	R	No	0x08, 0x09	N/A	Output: Y-axis Gyroscope (Low Word)
Y_GYRO_UPR	R	No	0x0A, 0x0B	N/A	Output: Y-axis Gyroscope (High Word)
Z_GYRO_LWR	R	No	0x0C, 0x0D	N/A	Output: Z-axis Gyroscope (Low Word)
Z_GYRO_UPR	R	No	0x0E, 0x0F	N/A	Output: Z-axis Gyroscope (High Word)
X_ACCL_LWR	R	No	0x10, 0x11	N/A	Output: X-axis Accelerometer (Low Word)
X_ACCL_UPR	R	No	0x12, 0x13	N/A	Output: X-axis Accelerometer (High Word)
Y_ACCL_LWR	R	No	0x14, 0x15	N/A	Output: Y-axis Accelerometer (Low Word)
Y_ACCL_UPR	R	No	0x16, 0x17	N/A	Output: Y-axis Accelerometer (High Word)
Z_ACCL_LWR	R	No	0x18, 0x19	N/A	Output: Z-axis Accelerometer (Low Word)
Z_ACCL_UPR	R	No	0x1A, 0x1B	N/A	Output: Z-axis Accelerometer (High Word)
TEMP	R	No	0x1C, 0x1D	N/A	Output: Temperature Value
TIME_STAMP_LWR	R	No	0x1E, 0x1F	N/A	Output: Timestamp (Low Word)
TIME_STAMP_UPR	R	No	0x20, 0x21	N/A	Output: Timestamp (High Word)
DATA_CNTR	R	No	0x22, 0x23	N/A	New Data Counter
SPI_CHKSUM	R	No	0x3E, 0x3F	N/A	Output: SPI Checksum of Current Sample
XG_BIAS_LWR	R/W	Yes	0x40, 0x41	0x0000	Calibration: X-axis Gyro Bias (Low Word)
XG_BIAS_UPR	R/W	Yes	0x42, 0x43	0x0000	Calibration: X-axis Gyro Bias (High Word)
YG_BIAS_LWR	R/W	Yes	0x44, 0x45	0x0000	Calibration: Y-axis Gyro Bias (Low Word)
YG_BIAS_UPR	R/W	Yes	0x46, 0x47	0x0000	Calibration: Y-axis Gyro Bias (High Word)
ZG_BIAS_LWR	R/W	Yes	0x48, 0x49	0x0000	Calibration: Z-axis Gyro Bias (Low Word)
ZG_BIAS_UPR	R/W	Yes	0x4A, 0x4B	0x0000	Calibration: Z-axis Gyro Bias (High Word)
XA_BIAS_LWR	R/W	Yes	0x4C, 0x4D	0x0000	Calibration: X-axis Accelerometer Bias (Low Word)
XA_BIAS_UPR	R/W	Yes	0x4E, 0x4F	0x0000	Calibration: X-axis Accelerometer Bias (High Word)
YA_BIAS_LWR	R/W	Yes	0x50, 0x51	0x0000	Calibration: Y-axis Accelerometer Bias (Low Word)
YA_BIAS_UPR	R/W	Yes	0x52, 0x53	0x0000	Calibration: Y-axis Accelerometer Bias (High Word)
ZA_BIAS_LWR	R/W	Yes	0x54, 0x55	0x0000	Calibration: Z-axis Accelerometer Bias (Low Word)
ZA_BIAS_UPR	R/W	Yes	0x56, 0x57	0x0000	Calibration: Z-axis Accelerometer Bias (High Word)
RNG_MDL	R	No	0x5E, 0x5F	N/A	Measurement Range Identifier
MSC_CTRL	R/W	Yes	0x60, 0x61	0x00C1	Control: I/O and Miscellaneous Functions
DEC_RATE	R/W	No	0x64, 0x65	0x0000	Control: Output Data Rate (ODR)
NULL_CTRL	R/W	No	0x66, 0x67	0x070A	Control: Bias Estimation Period
GLOB_CMD	W	No	0x68, 0x69	N/A	Control: Global Command Register
FW_REV	R	No	0x6C, 0x6D	N/A	Identifier: Firmware Revision
DAY_MONTH	R	No	0x6E, 0x6F	N/A	Identifier: Date Code (Day / Month)
YARE	R	No	0x70, 0x71	N/A	Identifier: Date Code (Year)
PROD_ID	R	No	0x72, 0x73	0x40BF	Identifier: Part Number
SERIAL_NUM	R	No	0x74, 0x75	N/A	Identifier: Serial Number

UART outputs data in default periodic broadcast mode at 200 Hz. Each data frame contains 44 bytes. The default baud rate is 460800 bps (configurable), with communication format: 1 start bit, 8 data bits, 1 stop bit, no parity check. For multi-byte variables, the low byte is transmitted first, followed by the high byte. The standard communication protocol is listed in the table below.

 

Table 4 Communication Frame Content of XDIMU-55AA MEMS Inertial Measurement Module

No.	Starting Byte Index	Byte Count	Content	Scale Factor	Range	Unit	Remark
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-axis Angular Rate	0.000001	[-1000, 1000]	°/s
6	11	4	Y-axis Angular Rate	0.000001	[-1000, 1000]	°/s
7	15	4	Z-axis Angular Rate	0.000001	[-1000, 1000]	°/s
8	19	4	X-axis Acceleration	0.000001	[-40g, 40g]	m/s²
9	23	4	Y-axis Acceleration	0.000001	[-40g, 40g]	m/s²
10	27	4	Z-axis Acceleration	0.000001	[-40g, 40g]	m/s²
11	31	2	Temperature	0.008	[-120, 120]	℃
12	33	2	Reserved
13	35	4	Reserved
14	39	1	Checksum	1	[0, 255]		Lower 8 bits of cumulative sum of bytes from index 2 to 38

 

Product Operation Precautions

• Confirm the electrical pin definition strictly; follow the pinout arrangement during wiring to avoid misconnection.
• This product is precision measuring equipment. Avoid impact, collision or mechanical overload exceeding the rated limit during handling.
• Mounting flatness significantly affects angular rate measurement. Ensure the mounting surface has high flatness to eliminate installation-induced error.
• Fix the module firmly and reliably to prevent measurement drift caused by loose assembly.
• Take anti-static protection measures during installation and operation; wearing an anti-static wristband is recommended.
• Operate the device strictly in accordance with this manual and verify the external environment meets operating requirements. Do not disassemble the housing or modify internal hardware if any fault occurs; contact our technical support team for troubleshooting.

 

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