MSU304D High-Performance MEMS Inertial Measurement Module
Harsh-environment resistant
Online firmware upgrade
Drop-in replacement for HG4930
Description
Key Features
- High performance & reliability
- Full-temp calibration -40 to +80°C
- High-speed gyro sampling & sync
- Harsh-environment resistant
- Online firmware upgrade
- Drop-in replacement for HG4930
Applications
- Mobile mapping
- Track inspection
- Underwater high-precision Nav
- UAV attitude/path control
- Flight control
- Vehicle/vessel attitude
- Port survey
- SATCOM on the move
- Commercial vehicle IMU
Product Introduction
Company's MSU304D series is a high-reliability, cost-effective six-axis MEMS inertial measurement module widely used in navigation, control, and measurement for vehicles, vessels, and UAVs. It employs domestically sourced gyroscopes and accelerometers in a rugged structure suited to long-duration vibration environments such as aerial surveying. The system applies full-temperature compensation for bias, scale factor, non-orthogonality errors, and acceleration-related terms, maintaining high measurement accuracy over extended operation. Both hardware and software configurations can be customized to meet specific user requirements.
Unique Technology
Company is a high-tech enterprise with full closed-loop capabilities from fiber winding equipment and coils 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 with strict processes, it ensures product reliability and consistency.
MSU304D High Performance MEMS Inertial Measurement Module Performance Specifications
|
Parameter |
MSU304D |
|
Gyroscope |
|
|
Range (°/s) |
±400 |
|
Full-Temperature Bias (°/h, 3σ) |
≤1 |
|
Bias Stability (°/h, 10s avg.) |
≤0.15 |
|
Bias Instability (°/h, Allan, typ.) |
≤0.05 |
|
Bias Repeatability (°/h, constant temp.) |
≤0.15 |
|
Angular Random Walk (°/√h) |
≤0.01 |
|
Scale Factor Nonlinearity (ppm) |
≤50 |
|
Cross-Coupling (rad) |
≤0.001 |
|
Bandwidth (Hz) |
≥100Hz |
|
Accelerometer |
|
|
Range (g) |
±30 |
|
Full-Temperature Bias (mg, 3σ) |
≤0.6 |
|
Bias Stability (μg, 10s avg.) |
≤10 |
|
Bias Instability (μg, allan, typ) |
≤3 |
|
Bias Repeatability (μg, constant temp.) |
≤10 |
|
Velocity Random Walk (m/s/√h) |
≤0.01 |
|
Scale Factor Nonlinearity (ppm, ±1g) |
≤100 |
|
Cross-Coupling (rad) |
≤0.001 |
|
Bandwidth (Hz) |
≥100Hz |
|
Physical Characteristics |
|
|
Power Supply (V) |
5~12 |
|
Steady-State Power (W) |
≤2 |
|
Start-Up Time (s) |
≤2 |
|
Update Rate (Hz, max) |
2000 |
|
Dimensions (mm × mm × mm) |
64.8×47×35.3 |
|
Weight (g) |
130±10 |
|
Operating Environment |
|
|
Operating Temperature (°C) |
-40~80 |
|
Storage Temperature (°C) |
-55~85 |
|
Vibration (g, RMS) |
20~2000HZ, 6.06 |
|
Shock (g) |
500/1ms |
Mechanical Dimensions Diagram
Product Introduction
Product Overview
The MSU304D MEMS IMU is a high-reliability, cost-effective six-axis MEMS inertial measurement module widely used in navigation, control, and measurement for vehicles, vessels, and UAVs. The MSU304D series features domestically sourced gyroscopes and accelerometers with a rugged structural design suitable for precision measurement in prolonged vibration environments such as aerial surveying. The system incorporates full-temperature compensation for bias, scale factor, non-orthogonality, and acceleration-dependent errors, maintaining high measurement accuracy over extended periods.
The MSU304D series IMU supports different software and hardware configurations based on user requirements.
Key Features
- High-Performance,high reliability
- -40°C to +80°C full-temperature calibration
- Gyro high-speed sampling and synchronous processing
- resistant to harsh mechanical environments
- in-system software upgrade capability
- Drop-in replacement for HG4930 with superior performance
Applications
- Mobile mapping
- Track inspection
- Underwater high-precision navigation
- UAV attitude reference/path control
- Flight control
- Vehicle/vessel attitude measurement
- Port survey systems
- SATCOM on the move
- Commercial vehicle reference IMU
Technical Specifications
Table 1 MSU304D IMU Performance Specifications
|
Parameter |
Specifications |
|
Gyroscope |
|
|
Range (°/s) |
±400 |
|
Full-Temperature Bias (°/h, 3σ) |
≤1 |
|
Bias Stability (°/h,10savg.) |
≤0.15 |
|
Bias Instability (°/h,allan, typ) |
≤0.05 |
|
Bias Repeatability (°/h, constant temp.) |
≤0.15 |
|
Angular Random Walk (°/√h) |
≤0.01 |
|
Scale Factor Nonlinearity (ppm) |
≤50 |
|
Cross-Coupling (rad) |
≤0.001 |
|
Bandwidth (Hz) |
≥100Hz |
|
Accelerometer |
|
|
Range (g) |
±30 |
|
Full-Temperature Bias (mg, 3σ) |
≤0.6 |
|
Bias Stability (μg, 10s avg.) |
≤10 |
|
Bias Instability (μg, allan, typ) |
≤3 |
|
Bias Repeatability (μg, constant temp.) |
≤10 |
|
Velocity Random Walk (m/s/√h) |
≤0.01 |
|
Scale Factor Nonlinearity (ppm, ±1g) |
≤100 |
|
Cross-Coupling (rad) |
≤0.001 |
|
Bandwidth (Hz) |
≥100Hz |
|
Physical Characteristics |
|
|
Power Supply (V) |
5~12 |
|
Steady-State Power (W) |
≤2 |
|
Start-Up Time (s) |
≤2 |
|
Update Rate (Hz, max) |
2000 |
|
Dimensions (mm × mm × mm) |
64.8×47×35.3 |
|
Weight (g) |
130±10 |
|
Operating Environment |
|
|
Operating Temperature (°C) |
-40~80 |
|
Storage Temperature (°C) |
-55~85 |
|
Vibration (g, RMS) |
20~2000HZ, 6.06 |
|
Shock (g) |
500/1ms |
Technical Specifications
Mechanical Characteristics
The MSU304D IMU features an aluminum alloy structure offering light weight, high structural strength, and resistance to vibration and shock. External dimensions are shown in Figure 1. The unit is secured with six M4 screws.
Fig.Fig. 1 Dimensions
Product Identification and Polarity
The product must be installed such that the carrier coordinate system maintains a fixed relationship with the target platform. The MSU304D High-Performance MEMS IMU carrier coordinate system is defined as follows.
Fig. 2 Product Coordinate System
Interface Definition
The MG-404 IMU uses a custom CH-26A-10TJ dual-row pin header connector (mating: CH-26A-10ZJ) with 2.54 mm pin pitch for power and communication. The connector pinout is defined in Table 2.
Table 2 MSU304D IMU Connector Pinout
|
Pin |
Definition |
Remarks |
|
1 |
VSUP |
Power positive, +5~＋12V |
|
2 |
COM1_Rx+ |
RS422-1 Receive + |
|
3 |
COM1_Tx+ |
RS422-1 Transmit + |
|
4 |
PPS IN+ |
GPS sync pulse receive + |
|
5 |
TOV+ |
Differential sync signal output + |
|
6 |
GND |
Power ground |
|
7 |
COM1_Rx- |
RS422-1 Receive - |
|
8 |
COM1_Tx- |
RS422-1 Transmit - |
|
9 |
PPS IN- |
GPS sync pulse receive - |
|
10 |
TOV- |
Differential sync output - |
External Communication
3.4.1 XDIMU-55AA Protocol
The XDIMU-55AA protocol outputs 40 bytes per frame in timed broadcast mode at a default 200 Hz and 460800 bps. Both baud rate and output rate are configurable via host software. Frame format: 1 start bit, 8 data bits, 1 stop bit, no parity, LSB first (little-endian/Intel format).
The system outputs a TOV sync pulse at the IMU sampling frequency. The TOV pulse is differential, compatible with RS422 levels, usable as an external timestamp sync signal.
The system supports internal timestamp output requiring external GNSS time data and PPS. GNSS data enters via COM1-RX± in RS422 differential format at 460800 bps (sync with output baud rate). COM1-RX± receives GPRMC sentence (GNRMC/GBRMC compatible), PPS_IN± interface for PPS signal reception, PPS supports differential signal input,defaulting to falling-edge sync with 1 s period, as shown in the following table4.
Table 3 Communication Protocol Format
|
Pin |
Definition |
Remarks |
|
1 |
Header |
55H |
|
2 |
Header |
AAH |
|
3 |
Data Length |
N-4 |
|
4～N-1 |
Data |
|
|
N |
Checksum |
checksum |
|
Note: Checksum (checksum) is the lower 8 bits. |
||
Table 4 General IMU Protocol
|
No. |
Byte Index |
Byte Count |
Content |
Scale |
Range |
Unit |
Remarks |
|
1 |
0 |
1 |
0x55 |
1 |
Header |
||
|
2 |
1 |
1 |
0xAA |
1 |
Header |
||
|
3 |
2 |
1 |
36 |
1 |
Data Length |
||
|
4 |
3 |
4 |
PCnum |
1 |
1msCounter |
||
|
5 |
7 |
4 |
Angular RateX |
0.000001 |
[-2000,2000] |
°/s |
|
|
6 |
11 |
4 |
Angular RateY |
0.000001 |
[-2000,2000] |
°/s |
|
|
7 |
15 |
4 |
Angular RateZ |
0.000001 |
[-2000,2000] |
°/s |
|
|
8 |
19 |
4 |
AccelerationX |
0.000001 |
[-40g,40g] |
m/s2 |
|
|
9 |
23 |
4 |
AccelerationY |
0.000001 |
[-40g,40g] |
m/s2 |
|
|
10 |
27 |
4 |
AccelerationZ |
0.000001 |
[-40g,40g] |
m/s2 |
|
|
11 |
31 |
2 |
System Temperature |
0.008 |
[-120,120] |
℃ |
|
|
12 |
33 |
2 |
Date (YYYYMMDD) |
- |
- |
- |
Bit0~bit4day:0-31 Bit5~bit8month,0~12 Bit9~bit15year,0~99 e.g.1100011110011111 =2099year12month31day |
|
13 |
35 |
4 |
Timestamp |
0.1 |
- |
ms |
(h*3600+m*60+s*60)*10000 e.g.:00110011011101110101101010011111 =:23h59min59.9999s |
|
14 |
39 |
1 |
Checksum |
1 |
[0,255] |
Index (2～38) of lower8bits |
Precautions
- Observe product electrical interface definitions. Strictly follow the terminal arrangement to avoid incorrect connections.
- This product is a precision measurement device. Avoid impacts, collisions, and conditions beyond rated tolerances during handling.
- Installation significantly affects angular rate measurement. To avoid mounting errors, ensure the mounting surface has good flatness.
- To ensure measurement accuracy, the product must be mounted securely to avoid measurement errors caused by looseness.
- Observe ESD protection during installation and use. Wearing an anti-static wrist strap is recommended.
- Operate strictly per this manual and verify external conditions meet requirements. Do not open the enclosure or modify internal structure. Contact our technical support for assistance.
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