| 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 |
| 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 |
| 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) |
| 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) |
¶ IMU Noise and Random Walk Parameters
| 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 |
| 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 |
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 |
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