¶ Technical Specifications
¶ Datasheet
¶ OlixSense™-X1
¶ Technical Specifications
¶ General Specifications
| Part Number | OlixSense™- IMU |
|---|---|
| Communication Protocol | ROS 1&2 (Virtual Ethernet / IPV4) |
| Gyroscope Range | ± 2000 deg/sec |
| Accelerometer Range | ± 16 g |
| Magnetometer Range | ± 4 gauss |
| Sample Rate | 1000 Hz |
| Performance Metrics | Covariance Matrix |
| Operating Temperature | -20°C ~ 80°C |
¶ IMU Sensor Details
| Specification | Accelerometer | Gyroscope | Magnetometer |
|---|---|---|---|
| Range | ±4g, ±8g, ±16g | ±250°/s, ±500°/s, ±1000°/s | ±1300 µT |
| Resolution | 16-bit or 0.06 mg/LSB | 16-bit or 0.004 dps/LSB | 16-bit |
| Sensitivity | 2048 LSB/g @ ±16g | 262.1 LSB/dps @ ±125°/sec | ±0.3 µT |
| Sensitivity Tolerance | ±4% @ Ta = 25°C, gFS2g | ±3% @ Ta = 25°C, RFS2000 | ±0.03% (API compensated) |
| Zero-rate Offset | ±20 mg | ±0.5 dps | - |
| Zero-g Offset (x, y, z) | ±150 mg (gFS2g, Ta=25°C) | ±3 dps | - |
| Nonlinearity | 0.5% FS @ Ta=25°C | 0.01% FS | 1.2% FS |
¶ Interface Connection
| Parameter | Specification |
|---|---|
| Connector | USB Type-C |
| Communications Interface | Ethernet Over USB |
| Output Data Rate | 1-1000 Hz |
| Protocols (DDS) | rmw_fastrtps_cpp, rmw_cyclonedds_cpp (Upgradeable to rmw_connext_cpp & rmw_zenoh) |
¶ Physical & Electrical Specs
| Parameter | Specification |
|---|---|
| Weight | 32 g |
| Size (mm) | 40 x 40 x 10 |
| Power Consumption | 0.9 W (Typical), 1.8 W (Max) |
| Operating Voltage | 4.6 to 5.5 VDC (USB PD 2.0 Standard) |
| Interface LEDs | 3x (Heartbeat, User, System) |
¶ System Performance
¶ IMU Noise and Random Walk Parameters
¶ Accelerometer
| Parameter | Value |
| Noise Density | 107 µg/√Hz |
| Velocity Random Walk | 0.06 m/s/√hr |
| Rate Random Walk | 0.038 m/s²/√hr |
| Bias Instability | 0.00042 m/s² |
¶ Gyroscope
| Parameter | Value |
| Noise Density | 0.006 °/s/√Hz |
| Angular Random Walk | 0.43 °/√hr |
| Rate Random Walk | 0.24 °/s/√hr |
| Bias Instability | 5.86 °/hr |
¶ Axis Rotation Accuracy
| Axis | Mode | Type | Value |
|---|---|---|---|
| Roll, Pitch | AHRS (Max 100Hz) | Static | 0.42° |
| Roll, Pitch | AHRS (Max 100Hz) | Dynamic | 0.85° |
| Roll, Pitch | IMU (Max 1000Hz) | Dynamic | 1.05° |
| Heading (Yaw) | AHRS (Max 100Hz) | Static | ±1.2° |
| Heading (Yaw) | AHRS (Max 100Hz) | Dynamic | ±2.8° |
| Heading (Yaw) | IMU (Max 1000Hz) | Dynamic | ±0.8° ±0.06 °/s |
¶ Vibration Test