Inertial measurement unit 3DM-CV7-AR

Product overview
The 3DM-CV7-AR is a tactical-grade Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU) in a compact OEM package. It delivers high-rate orientation and vertical-reference outputs (1 kHz) via an Auto‑Adaptive Extended Kalman Filter, and offers broad software and driver support for integration into robotics, PX4 autopilots and ROS systems.

Sensor

• Tactical-grade gyroscope performance (bias instability ≈ 1.5 °/hr)
• Random walk: Accelerometer 29.5 µg/√Hz; Gyroscope 0.14 °/√hr
• Each sensor individually calibrated across the full temperature range
• Roll/pitch static accuracy: 0.25°; dynamic accuracy: 0.5°

Operation

• Onboard Auto‑Adaptive Extended Kalman Filter for attitude estimation and robust sensor fusion
• User-selectable accelerometer and gyroscope ranges
• 1 kHz output data rate for IMU and EKF
• Factory-supported drivers for ROS1 and ROS2; PX4 autopilot support
• Sensor configuration, control, display and logging via SensorConnect (desktop) and MSCL APIs

Package & mechanical

• Anodized aluminium mounting base with precision alignment features for screw-down mounting
• Compact, low-profile OEM package: 38 mm × 24 mm × 8.6 mm
• Very lightweight: 8.3 g

Interfaces & environmental

• Communication: TTL (UART), USB; Samtec FTSH series connector
• Inputs/outputs: 4 × GPIO
• Input voltage: 3.2 V to 5.2 V
• Power consumption: ~0.23 W (typical)
• Operating temperature range: -40 °C to +85 °C

Software & ecosystem

• Supported software/API: SensorConnect (desktop), MSCL (open source API), MSCL/MIP SDK for embedded integration
• Drivers and examples available for ROS1/ROS2 and PX4 autopilot
• Firmware, CAD models and technical downloads available to support integration and development

Applications

• Antenna tracking and platform stabilization
• Mobile robotics navigation and control (UGV/UAV)
• Unmanned aerial vehicle stabilization and autopilots
• Platform tracking, motion compensation and vehicle health monitoring

Technical specifications

• Type: Inertial Measurement Unit (IMU) / Vertical Reference Unit (VRU)
• Performance grade: Tactical grade
• Random walk: Accel 29.5 µg/√Hz; Gyro 0.14 °/√hr
• Bias instability (accelerometer): 18 μg
• Gyro bias instability: ≈ 1.5 °/hr
• Hysteresis / stability: Accel bias 0.6 mg; Accel gain 125 PPM; Gyro bias 0.04 °/s; Gyro gain 1000 PPM
• Communication port / connector: Samtec FTSH series
• Communication interfaces: TTL serial (UART), USB
• Update rate: IMU 1000 Hz; EKF 1000 Hz
• IO: 4 × GPIO
• Weight: 8.3 g
• Size: 38 mm × 24 mm × 8.6 mm
• Power consumption: 0.23 W (typical)
• Input voltage: 3.2 V – 5.2 V
• Operating temperature: -40 °C – +85 °C
• MTBF: 2,002,026 hours (stated)
• Accelerometer sensing range: 4 g
• Gyroscope sensing range: 250 °/s
• Pressure sensing (if used): 1260 mbar
• Accuracy: Roll/Pitch static 0.25°; Roll/Pitch dynamic 0.5°
• Ingress protection: Not rated
• Housing material: Aluminium (anodized mounting base)
• Mounting style: Embeddable, screw-down with precision alignment
• Supported software: MSCL, ROS, SensorConnect, PX4