Mot-X1
Data Sheet
v.1.0
DISCLAIMER
221e srl makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product
descriptions at any time without notice. 221e srl assumes no liability for damages or otherwise due to use of the information in this document or application of any device described in
this document. 221e srl reserves all rights to this document and the information contained herein.
Copyright © 2012, 221e srl
Mot-X1 – datasheet v1.0
1.
SYSTEM OVERVIEW
1.1.
Product description
The Mot-X1 is a miniaturized, wireless, low-power, high-performance Inertial Measurement Unit (IMU) and Attitude Heading Reference
System (AHRS) with onboard data logging capabilities.
Incorporating state-of-the-art sensing technology, the Mot-X1 integrates a System-in-Package with a 3-axis accelerometer, a 3-axis
gyroscope and a 3-axis magnetometer, a high resolution barometric pressure sensor, a temperature sensor and a 16-bit Ultra-low-power
microprocessor. With non-volatile storage on board (micro SD), wireless connectivity (Bluetooth V3 Class 2), power battery control and
regulated rechargeable power, the Mot-X1 is a versatile platform for data acquisition in a multipurpose fashion.
1.2.
Measurement output
The Mot-X1 performs embedded sensor fusion algorithms capable of computing the device orientation in the three-dimensional space
with low latency. The system is able to measure the orientation in 360 degrees about all axes. Output data are both in the form of Euler
angles and quaternions, where the latter use a four-dimensional vector abstraction to represent orientation without being subject to
singularities (e.g. gimbal lock).
Output from the Mot-X1 include:
•
•
•
Orientation
₋
Euler angles (Yaw, Pitch and Roll convention);
₋
Quaternions.
Linear acceleration
₋
Calibrated XYZ measurement up to ± 16g;
₋
Calibration parameters (transformation matrix and offset vector).
Gyroscope
₋
•
•
Magnetic field
₋
Calibrated XYZ measurement up to ± 1200uT
₋
Calibration parameters (transformation matrix and offset vector).
Atmospheric pressure
₋
1.3.
Calibrated XYZ measurement up to ± 2000 °/sec
Barometric measurement with an absolute measurement range from 50 kPa up to 110 kPar
Factory settings
All Mot-X1 systems are calibrated at the 221e srl facility in order to compensate MEMS inertial sensors non-idealities such as bias, scale
factor, axes misalignments.
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Mot-X1 – datasheet v1.0
2.
HARDWARE SPECIFICATIONS
2.1.
MCU
Processor
Model #
Manufacturer
Architecture
Max. Frequency
Memory size
RAM
Operating Voltage
2.2.
MSP430F5528
Texas Instruments
16-Bit Ultra-Low-Power Microcontroller
25 MHz
128kB Flash
8KB SRAM
1.8 V – 3.6 V
Power Characteristics
Power Supply
Type
LiPo
Over-current regulator
Yes
Over-temperature regulator
Yes
Capacity
110 mAh
Power Consumption
System power consumption
Battery life
22 mA at 3.7V with SD log enabled
> 4 hours
The Mot-X1 uses a rechargeable lithium-polymer battery and includes circuitry for both thermal and electrical protections against overvoltage and over-current conditions. However, most battery issues arise from improper handling and/or from the continued use of
damaged batteries. As with any lithium-polymer battery-powered device, the following should be observed:
•
Do not disassemble, crush, puncture, shred the battery;
•
Do not let the battery to get in contact with water or other liquids;
•
Do not short the battery contacts to metal objects;
•
Do not place the battery near thermal heat sources.
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Mot-X1 – datasheet v1.0
2.3.
Sensors
Accelerometer
Measurement range
Interface
Temperature range
Sensitivity change vs. temperature
Zero-g level offset accuracy
Gyroscope
Measurement range
Interface
Temperature range
Sensitivity change vs. temperature
Zero angular rate level offset accuracy
Magnetometer
Measurement range
Interface
Temperature range
Sensitivity change vs. temperature
Maximum exposed field
Magnetic disturbing field
Barometer
Measurement range
Interface
Temperature range
Accuracy over temperature
Thermometer
Absolute accuracy
1 x three-axes digital accelerometers on-board
±2 g/±4 g/ ±6 g/ ±8 g/±16 g dynamically selectable full scale
I2C (16-bit data output)
-40 to +85 °C
±0.02 %
±80 mg (X-Y axes), ±150 mg (Z axis)
1 x three-axes digital gyroscope on-board
±250/±500/±1000/±2000 deg/sec dynamically selectable full scale
I2C (16-bit data output)
-40 to +85 °C
±0.4 %/°C
Max. ±25 at 25°C
1 x three-axes digital magnetometer on-board
±1200 uT magnetic field
I2C (13-bit data output)
-40 to +85 °C
0.3uT
10000 gauss
20 gauss
1 x high resolution digital pressure sensor on-board
50 to 110 kPa absolute pressure range
I2C (20-bit data output)
-40 to +85 °C
±0.4 kPa (T = -10 ∼ +70 °C)
1 x 16 bit digital temperature sensor on-board
±3 °C (T = -40 ∼ +85 °C)
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Mot-X1 – datasheet v1.0
2.4.
Connectivity & Storage
Bluetooth
Standard
Communication range
Micro-Sized Bluetooth Module with integrated Antenna
Class 2, Bluetooth 3.0
Up to 10 m LOS
Temperature range
-40 to +85 °C
Multipoint capability
Up to 7 slaves
USB
Standard
Connector
SD Cards
Type
File system supported
1 x USB port
USB 2.0
Mini USB, Type B
1 x micro SD
Integrated
FAT 16/32 and SDHC
The Mot-X1 can stream data via USB, Bluetooth and the SD card for non-volatile storage, allowing the system to perform as a standalone
logger. Each time the system is switched on, resets or wakes up a new file is generated. The file is then closed and saved onto the SD card
when the system powers off or enters stand-by mode. The files created are in ASCII format Tab Delimited.
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Mot-X1 – datasheet v1.0
3.
EMBEDDED ALGORITHMS
3.1.
Orientation estimation
The Mot-X1 uses a sensor fusion algorithm (9-axis MotionFusion) in order to compute an estimation of the attitude (IMU mode) and
heading (AHRS mode) of the device in the three-dimensional space.
The IMU algorithm 9-Axis MotionFusion via on-chip Digital Motion Processor (DMP) is based on the accelerometer, the gyroscope and the
magnetometer in order to detect the Earth magnetic North and provide a reference vector for the calculation of the heading component
for a 3D orientation measurement (yaw, pitch & roll). However, magnetic distortions or interference (proximity to metal objects or electromagnetic fields) can affect the accuracy of the heading estimation. When running the Mot-X1 in AHRS mode, it is therefore recommended
to perform a preliminary hard & soft iron calibration in order to adapt the algorithm coefficients to the environmental conditions of use.
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Mot-X1 – datasheet v1.0
4.
PHYSICAL SPECIFICATIONS
4.1.
Dimensions (mm)
Dimensions
Length
Width
Thickness
Weight
36.4 mm
32.0 mm (without band support) – 46.0 mm (with band support)
12.5 mm
15.8 g (without band support)
Product version without band
Product version with band
support
support
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