Pepperl+Fuchs IMUF99 B20 Series Manual page 10

Inertial Measurement Unit IMUF99*B20
Product Description
Selectable output values and filters
Several selectable output values such as acceleration, rotational speed, inclination (Euler
angle, Euler value, quaternions) and programmable filters allow you to perfectly adapt the mea-
suring system to your application.
Parameterization and data transfer take place via the integrated CAN SAE J1939 interface.
In the following figure the signal path of input and output values is illustrated.
Sensor
Elements
Triple Axis
Accelerometer
Triple Axis
Gyroscope
Temperature
Elements
Figure 2.5
10
Software
Filter 0
Filter 1
F(x)
Filter 2
F(x)
Filter 5
Sensor Fusion
Filter 4
Algorithm
Output
Data
Acceleration (Acc)
Mapping ID 0-2
Rotation Rate (Gyro)
Mapping ID 3-5
Rotational Acceleration (RotAcc)
Mapping ID 6-8
Linear Acceleration (LinAcc)
Mapping ID 15-17
Gravity Vector (Grav)
Mapping ID 12-14
Euler Angles (EUI) /
F(x) • P+F Angles INX / INY
P +F Angles INX/INY
• Euler Angles
Mapping ID 18-20
F(x)
Quaternion (Quat)
• Quaternion
Mapping ID 21-24
Temperature (Temp)
Mapping ID 25-26