9-axis attitude and heading reference system GMU200-BL

miniaturelightweightBluetooth

Overview
The GMU200-BL is a compact attitude reference system (AHRS/VRU) designed for platforms requiring high dynamic performance, including robots, model aircraft, agricultural machines, engineering vehicles and forklifts. The module fuses data from a three-axis accelerometer, three-axis gyroscope and three-axis magnetometer using an onboard Kalman filter, applies temperature compensation, and outputs real-time attitude and nine-axis sensor data. System parameters can be adjusted to suit different application platforms.

Performance Parameters
Model: GMU200-BL
Measurement range: Roll ±180°, Pitch ±90°, Azimuth ±180° (VRU mode: initial value after Bluetooth reconnection = 0°; AHRS mode: magnetic heading output)
Measurement axes: XAxis / YAxis / ZAxis
Roll and Pitch static accuracy: ±0.1° (@25℃)
Roll and Pitch dynamic accuracy (rms): ±0.25° (@25℃)
Magnetic heading accuracy (AHRS): ±1.5° (@25℃)
Gyroscope
Range (configurable): ±125°/s, ±250°/s, ±500°/s, ±1000°/s, ±2000°/s
Zero-bias stability (10s smoothing): 10°/h
Zero-bias instability (Allan): 5°/h
Angle random walk (Allan): 0.25°/sqrt(h)
Accelerometer
Range (configurable): ±2g, ±4g, ±8g, ±16g
Bias stability (10s mean): 0.1 mg
Bias instability (Allan): 0.05 mg
Velocity random walk (Allan): 0.005 m/s/sqrt(h)
Magnetometer
Range: ±8 Gauss
Resolution: Bandwidth:
Other Parameters
Zero-point temperature coefficient: ±0.01°/℃ (@-20 ~ 65℃)
Sensitivity temperature coefficient: ≤100 ppm/℃ (@-20 ~ 65℃)
Power-on time: ≤3.5 s
Response time: 0.01 s
EMC: compliant with EN61000 and GBT17626
Receiver sensitivity: -96 dBm
Transmit power: 8 dBm
Bluetooth range: up to 40 m line-of-sight
Operating time (fully charged): continuous ≈6 hours; standby up to 83 days
Insulation resistance: ≥100 MΩ
Shock resistance: 100 g @ 11 ms, triaxial (half-sine)
Vibration resistance: 10 grms, 10–1000 Hz
Casing: ABS plastic
Weight: ≤20 g