WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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WitMotion Shenzhen Co., Ltd | Datasheet
Bluetooth AHRS IMU sensor |
WT9011DCL-BT5.0
The Robust Acceleration, Angular velocity, Angle & Magnetic
filed Detector
The WT9011DCL-BTL5.0 is a Bluetooth 5.0 multi-sensor device,
detecting acceleration, angular velocity, angle as well as magnetic
filed. The robust housing and the small outline makes it perfectly
suitable for industrial applications such as condition monitoring
and predictive maintenance. Configuring the device enables the
customer to address a broad variety of application by interpreting
the sensor data by smart algorithms and Kalman filtering.
BUILT-IN SENSORS
Accelerometer Gyroscope Magnetometer
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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Tutorial Link
Google Drive
Link to instructions DEMO:
WITMOTION Youtube Channel
WT9011DCL-BT5.0 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
● Unmanned/Assisted Driving
● Large-scale farming automated farming
● Safety monitoring for working at heights
● Unmanned aerial vehicle
● Industrial attitude monitoring
● Human motion tracking/capture
● Robot, Automated Guided Transporter
● Pedestrian Navigation
● Truck-mounted Satellite Antenna Equipment
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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Contents
Tutorial Link ........................................................................ - 2 -
Contact .............................................................................. - 2 -
Application ......................................................................... - 2 -
Contents ............................................................................ - 3 -
1 Overview ......................................................................... - 4 -
2 Features .......................................................................... - 5 -
3 Specification .................................................................... - 6 -
3.1 Parameter ................................................................ - 6 -
3.2 Size......................................................................... - 8 -
3.3 Axial Direction .......................................................... - 9 -
4 Port Definition ................................................................ - 10 -
5 Casing Specification ........................................................ - 11 -
6 Communication Protocol .................................................. - 12 -
6.1 Data Format ........................................................... - 12 -
6.1.1 Data Packet(Default) ....................................... - 12 -
6.1.2 Single Return Register Data Packet .................... - 15 -
6.2 Commands ............................................................. - 19 -
6.2.1 Read Register Value ......................................... - 19 -
6.2.2 Calibration ...................................................... - 19 -
6.2.3 Save Settings ................................................. - 20 -
6.2.4 Return Rate .................................................... - 20 -
6.3 Register Address ..................................................... - 21 -
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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1 Overview
WT9011DCL-BT5.0’s scientific name is AHRS IMU sensor. A sensor measures
3-axis angle, angular velocity, acceleration, magnetic field. Its strength lies in
the algorithm which can calculate three-axis angle accurately.
WT9011DCL-BT5.0 is an CE certified accelerometer. It is employed where the
highest measurement accuracy is required. WT9011DCL-BT5.0 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
• 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, iOS APP for iPhone,
communication protocol for project development
• WITMOTION sensors have been praised by thousands of engineers as a
recommended attitude measurement solution
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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2 Features
The sensor integrates high-precision gyroscope, accelerometer and
geomagnetic field sensor, and adopts high-performance microprocessor
and advanced dynamic calculation and Kalman dynamic filtering algorithm,
which can quickly solve the current real-time motion attitude of the sensor.
The advanced digital filtering technology can effectively reduce the
measurement noise and improve the measurement accuracy.
The sensor is integrated with the attitude solver and the dynamic Kalman
filter algorithm, which can accurately output the current attitude of the
sensor in the dynamic environment. The attitude measurement accuracy is
0.2 degree, the stability is extremely high, and the performance is even
better than some professional inclination meter.
The Z-axis heading angle is added to the filter fusion of the geomagnetic
sensor, which solves the cumulative error caused by the drift of the
gyroscope integral in the 6-axis algorithm, and can output the heading
angle data stably for a long time. Note: Due to the magnetic field detection,
it needs to be calibrated before use, and it needs to be at least 20cm away
from magnetic interference areas, electronic equipment, magnets,
speakers and other hard magnetic objects.
Working current: ≈ 14mA, standby current 14uA-30uA.
Data interface: baud rate 115200.
The output content can be selected arbitrarily, data output frequency:
0.2Hz~200Hz, ,default 10HZ.
Bluetooth 5.0 wireless transmission, transmission stability, the longest
distance up to 90 meters.
Bluetooth 5.0: Support Android /IOS operating system (the actual use
depends on the final device)
battery: working time: 8 hours, charging time: 2 hours, capacity: 130mAh
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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3 Specification
3.1 Parameter
Parameter
Specification
Voltage
3.3-5V
Current
Working current:14mA
Broadcast current:21mA
Stand-by current:14uA-30uA
Range
Acceleration: ±16g
Angular Velocity: ±2000°/s
Magnetic field: ±2Gauss
Angle:X/Z±180°,Y±90°
Resolution
Acceleration:0.5mg/LSB(2048LSB/g)
Angular Velocity:0.061(°/s)/LSB
Magnetic field:0.0667mG/LSB
Angle:0.0055 °/LSB
Accuracy
acceleration: 0.01g, angular speed 0.2°/s
Output content
Acceleration, Angular Velocity, Angle
(Magnetic is not output by default)
Distance
up to 90 meters (open area)
Battery
working time: 8 hours, charging time: 2 hours,
capacity: 130mAh
Duration
8 hours
Size
23.5mm x 32.5mm x 11.4mm
Weight
9g
Data
Angle: X Y Z, 3-axis
Acceleration: X Y Z, 3-axis
Angular Velocity: X Y Z, 3-axis
Magnetic Field : X Y Z, 3-axis
Time, Quaternion
Output frequency
0.2Hz--200Hz, default 10HZ
Interface
Bluetooth5.0/Type-C
Bluetooth
Bluetooth Coverage range: ≤90m
Built-in Chip: nRF52832
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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Measurement Range & Accuracy
Sensor
Measurement Range
Accuracy/ Remark
Accelerometer
X, Y, Z, 3-axis
±16g
Accuracy: 0.01g
Resolution: 16bit
Stability: 0.005g
Gyroscope
X, Y, Z, 3-axis
±2000°/s
Resolution: 16bit
Stability: 0.05°/s
Magnetometer
X, Y, Z, 3-axis
±4900µT
0.15µT/LSB typ.
(16-bit)
Angle/ Inclinometer
X, Y, Z, 3-axis
X, Z-axis: ±180°
Y ±90°
(Y-axis 90° is singular
point)
Accuracy:X, Y-axis: 0.05°
Z-axis: 1°(after magnetic
calibration)
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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3.3 Axial Direction
As shown in the product size drawing.The direction of rotation is defined by the
rule of the right hand, that is, the thumb of the right hand points to the axis, and
the direction of the four fingers bending is the direction of rotation around the
axis.
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6 Communication Protocol
6.1 Data Format
Sensor upload Flag=0x61 (Angle, Angular velocity, Acceleration) data
default.
Flag=0x71(Magnetic field) need to send the corresponding register
instruction.
Upload data format of Bluetooth: uploads up to 20 bytes per data
6.1.1 Data Packet(Default)
Packet
heading 1Byte
Flag bit
1Byte
axL
axH
……
YawL
YawH
0x55
Flag
0xNN
0xNN
……
0xNN
0xNN
Note: 0xNN is an accurate value received. Data return sequence:
Acceleration X Y Z, Angular velocity X Y Z, Angle X Y Z, low byte first, high byte
last.
Flag = 0x61 Data content: 18Byte is Acceleration, Angular velocity, Angle.
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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0x55
Packet header
0x61
Mark bit
axL
X Acceleration low 8 byte
axH
X Acceleration high 8 byte
ayL
Y Acceleration low 8 byte
ayH
Y Acceleration high 8 byte
azL
Z Acceleration low 8 byte
azH
Z Acceleration high 8 byte
wxL
X Angular velocity low 8 byte
wxH
X Angular velocity high 8 byte
wyL
Y Angular velocity low 8 byte
wyH
Y Angular velocity high 8 byte
wzL
Z Angular velocity low 8 byte
wzH
Z Angular velocity high 8 byte
RollL
X Angle low 8 byte
RollH
X Angle high 8 byte
PitchL
Y Angle low 8 byte
PitchH
Y Angle high 8 byte
YawL
Z Angle low 8 byte
YawH
Z Angle high 8 byte
Acceleration calculation method: Unit: g
a
x
=((axH<<8)|axL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
a
y
=((ayH<<8)|ayL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
a
z
=((azH<<8)|azL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
Angular Calculation method: Unit:°/s
w
x
=((wxH<<8)|wxL)/32768*2000(°/s)
wy=((wyH<<8)|wyL)/32768*2000(°/s)
wz=((wzH<<8)|wzL)/32768*2000(°/s)
Angle Calculation method: Unit: °
Roll(X axis)Roll=((RollH<<8)|RollL)/32768*180(°)
Pitch(Y axis)Pitch=((PitchH<<8)|PitchL)/32768*180(°)
Yaw angle(Z axis)Yaw=((YawH<<8)|YawL)/32768*180(°)
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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Note:
1. The coordinate system used in the settlement of attitude Angle is the
northeast sky coordinate system, and the sensor is placed in the positive
direction. As shown in "4 pin Description", the left axis is the X axis, the
forward axis is the Y axis, and the upward axis is the Z axis.When Euler
Angle represents the attitude, the rotation order of the coordinate system is
defined as Z-Y-x, that is, first rotate around the Z axis, then rotate around
the Y axis, then rotate around the X axis.
2. Although the range of the roll Angle is ±180 degrees, in fact, because
the coordinate rotation order is Z-Y-X, the range of the pitch Angle (Y-axis)
is only ±90 degrees when the attitude is expressed. When it exceeds 90
degrees, it will be changed to less than 90 degrees, and the Angle of the
X-axis will be greater than 180 degrees.The detailed principle please Baidu
Euler Angle and attitude of the relevant information.
3. Since the three axes are coupled, they only exhibit independent
changes when the Angle is small, and the attitude Angle will change coupled
when the Angle is large. For example, when the Y-axis is close to 90 degrees,
even if the attitude only rotates around the Y-axis, the Angle of the X-axis
will also change greatly, which is the inherent characteristic of the attitude
represented by Euler Angle.
Description:
1. The data is sent in hexadecimal not ASCII code.
2. Each data is transmitted in order of low byte and high byte, and the two
are combined into a signed short type data. For example, the X-axis
acceleration data Ax, where AxL is the low byte and AxH is the high byte.
The conversion method is as follows:
For example:
Assuming that Data is actual data, DataH is the high byte part, and DataL is
the low byte part, then: Data = ((short) DataH << 8) | DataL. It must be
noted here that DataH needs to be converted to a signed short data first and
then shifted, and the data type of Data is also a signed short type, so that it
can represent negative numbers.
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6.1.2 Single Return Register Data Packet
Single return data packet needs to send register instruction first:
FF AA 27 XX 00
--XX is register number. The register number please refer to 7.3. Example
as below:
Function
Instruction
Read Magnetic Field
FF AA 27 3A 00
Read Quaternion
FF AA 27 51 00
Read Temperature
FF AA 27 40 00
Read the amount of electricity
FF AA 27 64 00
Read the version number
FF AA 27 2E 00
FF AA 27 2F 00
After sending the instructions, the sensor will turn back a data packet 0x55
0x71. There are register addresses and 7 registers data (Fixed upload 8
registers). Return data format as below:
Start register(2 byte) + register data(16 byte, 8 registers)
Note: 0xNN is the specific value received, with the low byte first and the
high byte second.
Packet
header
Sign
Start
register
low byte
Start
register
high
byte
Start
(No.1)
register
data
low byte
Start
(No.1)
register
data
high byte
......
No.8
register
data
low
byte
No.8
register
data
high
byte
0x55
0x71
RegL
RegH
0xNN
0xNN
......
0xNN
0xNN
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6.1.2.1 Magnetic Field Output
Note: The unit of magnetic field data calculated from raw data is milligauss,
which is different from the unit displayed on the computer. If you need to
convert the unit to the same as the computer, you need to calculate it according
to the following method.
https://drive.google.com/file/d/1YW5FI9lPqjwAbpBS1bPPzixDOEWZZ7yW
/view?usp=drive_link
0x55
0x71
0x3A
0x00
HxL
HxH
HyL
HyH
HzL
HzH
......
Calculated formular：Unit: mG
Magnetic field (x axis) Hx=(( HxH<<8)| HxL)
Magnetic field (y axis) Hy=(( HyH <<8)| HyL)
Magnetic field (z axis) Hz =(( HzH<<8)| HzL)
For example: Send instruction to read magnetic field in APP: FF AA 27
3A 00 (Please refer to 6.1.2)
The sensor return data to APP: 55, 71 00 68 01 00 69 3 a 7 a 00 00 00 00
00 00 00 00 00 00 00, a total of 20 bytes.
Calculate the no.5 to no.10 bytes as described above, magnetic field x=360,
y=105, z=122
6.1.2.2 Quaternion Output
0x55
0x71
0x51
0x00
Q0L
Q0H
Q1L
Q1H
Q2L
Q2H
Q3L
Q3H
Calculated formular：
Q0=((Q0H<<8)|Q0L)/32768
Q1=((Q1H<<8)|Q1L)/32768
Q2=((Q2H<<8)|Q2L)/32768
Q3=((Q3H<<8)|Q3L)/32768
Checksum：
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6.1.2.3 Temperature Output
0x55
0x71
0x40
0x00
TL
TH
......
Calculated formular：
T=((TH<<8)|TL) /100℃
6.1.2.4 Temperature Output
0x55
0x71
0x2E
0x00
Version1L
Version1H
......
0x55
0x71
0x2F
0x00
Version2L
Version2H
......
Version number calculation formula:
Version1=((Version1H<<8)|VersionL1)
VERSION=Version1.Version2H.Version2L
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6.2 Commands
6.2.1 Read Register Value
FF AA 27 XX 00
Read register value
--XX is register.
For example::
Read magnetic field：FF AA 27 3A 00
Read quaternion： FF AA 27 51 00
Read temperature： FF AA 27 40 00
After sending this instruction, the sensor will send back a data packet
starting with 0x55 0x71, which contains the data of the corresponding start
register address, the start register address and the following 7 registers (8
registers are fixed to be uploaded). The format of the return data is referred to
7.1.2.
6.2.2 Calibration
FF AA 01 01 00
Accelerometer Calibration
FF AA 01 07 00
Magnetic Field Calibration
FF AA 01 00 00
Complete Magnetic Field Calibration
For example, to calibrate the magnetic field,
Step 1. Send FF AA 01 07 00
Step 2. Rotate the sensor 360 degree around three axis
(it is recommended to rotate 3 circle, 360 degree *3)
Step 3. Send FF AA 01 00 00 to quit the calibration
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6.2.3 Save Settings
FF AA 00 SAVE 00
Save Settings
SAVE：Set
0：Save current configuration
1：Restore default configuration and save
6.2.4 Return Rate
FF AA 03 RATE 00
Set return rate
RATE：return rate
0x01：0.2Hz
0x02：0.5Hz
0x03：1Hz
0x04：2Hz
0x05：5Hz
0x06：10Hz(default)
0x07：20Hz
0x08：50Hz
0x09: 100Hz
0x0B: 200Hz
0x0C: Single return
6.2.4 Return Rate
FF AA 27 64 00
Reading sensor power
The corresponding relationship between voltage and power percentage is:
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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6.3 Register Address
Address
Symbol
Function
0x00
SAVE
Save the current configuration
0x01
CALSW
The calibration
0x03
RATE
Data return rate
0x05
AXOFFSET
The X-axis acceleration is zero
partial
0x06
AYOFFSET
The Y-axis acceleration is zero
offset
0x07
AZOFFSET
The z-axis acceleration is zero
offset
0x08
GXOFFSET
The X-axis angular velocity is
zero offset
0x09
GYOFFSET
The Y-axis angular velocity is zero
offset
0x0a
GZOFFSET
The Z axis angular velocity is zero
offset
WT9011DCL-BT5.0 | Datasheet v23-0608 | www.wit-motion.com
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0x0b
HXOFFSET
The X-axis magnetic field is zero
offset
0x0c
HYOFFSET
Y-axis magnetic field zero
deviation
0x0d
HZOFFSET
Z-axis magnetic field zero
deviation
0x30
YYMM
Year and month
0x31
DDHH
Day and hour
0x32
MMSS
Minutes, seconds
0x33
MS
ms
0x34
AX
X axis acceleration
0x35
AY
Y-axis acceleration
0x36
AZ
Z axis acceleration
0x37
GX
X angular velocity
0x38
GY
Y-axis angular velocity
0x39
GZ
Z axis angular velocity
0x3a
HX
X-axis magnetic field
0x3b
HY
Y-axis magnetic field
0x3c
HZ
Z axis magnetic field
0x3d
Roll
X axis Angle
0x3e
Pitch
Y axis Angle
0x3f
Yaw
Z axis Angle
0x51
Q0
Four elements Q0
0x52
Q1
Four elements Q1
0x53
Q2
Four element Q2
0x54
Q3
Four elements Q3
0x04
BAUD
Serial port baud rate
0x2e
VERSION1
version number
0x2f
VERSION2
Firmware version number branch
Hardware version number
FCC Warnning:
This equipment has been tested and found to comply with the limits for a Class B digital device,
pursuant to part 15 of the FCC Rules. These limits are designed to provide
reasonable
protection against harmful interference in a residential installation. This equipment generates,
uses and can radiate radio
frequency
energy
and,
if
not
installed
and
used
in
accordance
with
the
instructions,
may cause
harmful
interference
to
radio
communications.
However,
there
is
no
guarantee
that interference
will
not
occur
in
a
particular
installation.
If
this
equipment
does
cause
harmful interference to radio or television reception, which can be
determined by turning the equipment off
and
on,
the
user
is
encouraged
to
try
to
correct
the interference
by
one
or
more
of
the following measures:
•
Reorient or relocate the receiving antenna.
•
Increase the separation between the equipment and receiver.
•
Connect the equipment into an outlet on a circuit different from that to which the receiver is
connected.
• Consult the dealer or an experienced radio/TV technician for help.
Caution:
Any
changes
or
modifications
to
this
device
not
explicitly
approved
by
manufacturer
could void your authority to operate this equipment.
This
device
complies
with
part
15
of
the
FCC
Rules.
Operation
is
subject
to
the
following
two
conditions:
(1)This
device
may
not
cause
harmful
interference,
and
(2)
this
device
must
accept
any
interference received, including interference that may cause undesired operation.
This
equipment
complies
with
FCC
radiation
exposure
limits
set
forth
for
an
uncontrolled
environment.
This
equipment
should
be
installed
and
operated
with
minimum
distance
0cm
between the radiator and your body.
ISED Statement
‐
English:
This device contains licence-exempt transmitter(s)/receiver(s) that
comply with Innovation, Science and Economic
Development Canada’s licence-exempt RSS(s).
Operation is subject to the following two conditions:
(1) This device may not cause interference.
(2) This device must accept any interference, including interference that may cause undesired
operation of the device.
‐
French:Cet appareil contient des émetteurs/récepteurs exempts de licence qui sont
conformes aux CNR exempts de licence d’Innovation, Sciences et
Développement économique
Canada. Le fonctionnement est soumis aux deux conditions suivantes :
(1) Cet appareil ne doit pas causer d’interférences.
(2) Cet appareil doit accepter toute interférence, y compris les interférences susceptibles de
provoquer un fonctionnement indésirable de l’appareil.
This
equipment
complies
with
Canada
radiation
exposure
limits
set
forth
for
an
uncontrolled
environment.
This
equipment
should
be
installed
and
operated
with
minimum
distance
0cm
between
the
radiator & your body.
Cet équipement est conforme Canada limites d'exposition aux radiations dans un environnement
non contrôlé.
Cet équipement doit être installé et utilisé avec une distance minimale de 0 cm entre le
radiateur et votre corps.
