Subscribe to Our Youtube Channel
Related Manuals for WiT WTGAHRS2
Summary of Contents for WiT WTGAHRS2
- Page 1 USER MANUAL WTGAHRS2 GPS IMU WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 1 -...
-
Page 2: Contact
Technical Support Contact Info Application ● AGV Truck ● Platform Stability ● Auto Safety System ● 3D Virtual Reality ● Industrial Control ● Robot ● Car Navigation ● UAV ● Truck-mounted Satellite Antenna Equipment WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 2 -... -
Page 3: Table Of Contents
2.4.3 Output Rate ..................- 24 - 2.4.4 Baud Rate ..................- 25 - 2.4.5 Data Recording ................- 26 - 2.4.6 Data Playback .................. - 28 - 2.4.7 Standby and Wake Up ..............- 30 - WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 3 -... - Page 4 4.1 Arduino ......................- 42 - 4.2 STM32 ......................- 42 - 4.3 Raspberry pi ....................- 42 - 4.4 C# ........................- 43 - 4.5 C++ ......................... - 43 - 4.6 Matlab ......................- 43 - WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 4 -...
-
Page 5: Introduction
GPS data. Its strength lies in the algorithm which can calculate three-axis angle accurately. WTGAHRS2 is employed where the highest measurement accuracy is required. It offers several advantages over competing sensor: • Heated for best data availability: new WITMOTION patented zero-bias... -
Page 6: Warning Statement
For proper instrument grounding: use WITMOTION with its original factory-made cable or accessories. Do not access the I2C interface. For secondary developing project or integration: use WITMOTION with its compiled sample code. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 6 -... -
Page 7: Use Instructions With Pc
Use Instructions with PC Connection Method PC software is only compatible with Windows system. Link to WTGAHRS2’s demo video 2.1.1 Serial Connection Step 1. Connect the sensor with a serial converter PIN Connection: VCC - TX - RX - GND - GND (When connecting with computer, VCC-5V is recommended.) - Page 8 Step 3. Open the software(Minimu.exe) Data will appear after auto-search finishes Notice: If not successful, please operate manually Choose the com port and baud rate 9600, data will be shown on the software. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 8 -...
-
Page 9: Software Introduction
About Minimu Info about Minimu.exe Factory test For manufacturer internal test only Auto-search Auto searching the sensor Port Com port selection Baud Baud rate selection Open Open com port Close Close com port WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 9 -... -
Page 10: Menu Of Configuration
Menu of Configuration Menu of Configuration Button Function Read Config Reading the current configuration Lock Lock the sensor Unlock Unlock the sensor Calibrate Time Calibration time of chip Save Config Save configuration WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 10 -... - Page 11 (only for sensor built-in barometer, including WT901B, WTGAHRS1, HWT901B, WTGAHRS2) Reset Z-axis Angle Reset Z-axis angle to 0 degree, not available for WTGAHRS2 in 9-axis algorithm Angle Reference Setting current angle as 0 degree Gyro Auto Calibrate Auto-calibration of gyroscope...
- Page 12 Satellite quantity, PDOP, HDOP, VDOP data, only for GPS IMU series, such as WTGAHRS1, WTGAHRS2 GPS Original Only output GPS raw data, only for GPS IMU series, such as WTGAHRS1, WTGAHRS2 Menu of Port D0 Model Extended port D0 D1 Model...
- Page 13 WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 13 -...
-
Page 14: Calibration
After calibration, the measurement will be accurate. Methods: Step 1. Keep the module horizontally stationary Step 2. Click the accelerometer calibration Step 3. Click the “Start calibration”and wait for 3 seconds Step 4. Click “Complete Calibration” WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 14 -... - Page 15 0, 0,1, the X and Y axis Angle is around 0°. After calibration, the x-y axis Angle is accurate. Note: When putting the module horizontal, there is 1g of gravitational acceleration on the Z-axis. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 15 -...
-
Page 16: Magnetic Field Calibration
Preparation: Sensors should be 20CM away from magnetic and iron and other materials Methods: Step 1. Open the Config menu Step 2. Click the magnetic field calibration button. click the “Start calibration” WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 16 -... - Page 17 Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 17 -...
-
Page 18: Gyroscope Automatic Calibration
The gyroscope calibration is to calibrate the angular velocity, and the sensor will calibrate automatically. It is recommended that the automatic calibration of gyroscopes can be inactivated only if the module rotates at a constant speed. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 18 -... -
Page 19: Reset Z-Axis Angle
Z axis backs to 0 degree in the module data bar. 2.3.5 Reset Height to 0 You can click the “Reset Height” in the “ config” to complete the setting. Only available for the module built-in barometer like WT901B, HWT901B, WTGAHRS1, WTGAHRS2. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 19 -... -
Page 20: Configuration
Configuration 2.4.1 GPS Positioning Notice: The WTGAHRS2 is built-in antenna, which is requiring operation outdoor. To set GPS positioning, you need to check whether the GPS has original data output. Step 1: Open the configuration bar and click the "GPS original"as output data. - Page 21 Step 2: After the verification is completed, unclick "GPS original". Otherwise, the module only outputs the original GPS data and no other data. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 21 -...
- Page 22 Remember to increase the output rate and baud rate to higher level, if you require many kinds of output content. Step 5. Check the GPS positioning result There will be data shown on the Location and PDOP. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 22 -...
-
Page 23: Return Content
Taking WTGAHRS2 as an example, the default output of the module is acceleration, angular velocity, angle, and magnetic field. GPS time will be based on the time zone up there. -
Page 24: Output Rate
To put it simply, if the return rate is high, the baud rate should also be set higher, generally 115200. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 24 -... -
Page 25: Baud Rate
Note: After the change, the module will no longer output data at the original baud rate. The data will be output only when the baud rate that has been changed is selected on the PC software again. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 25 -... -
Page 26: Data Recording
2.4.5 Data Recording Method are as follows: Step 1: Click “Record” and “Begin” Step 2: Click “Stop” WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 26 -... - Page 27 Anglex Angley Anglez represents the angles of the three axial directions of x y z, T represents the temperature, and hx hy hz represents the magnetic fields of the three axial directions of x y z respectively. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 27 -...
-
Page 28: Data Playback
Recorded data playback method: Step 1: Disconnect the sensor Step 2: Click “File” Button and then click “Load” Step 3: Choose the original path of software installation and load the Bin file WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 28 -... - Page 29 Step 4: Click “Run” and the Binary file will be playback When playback, the rate can be editable. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 29 -...
-
Page 30: Standby And Wake Up
Wake up: The module enters the working state from the standby state. The module defaults to a working state, in the“Config”of the software, click “Sleep”option to enter the sleep state, click“Sleep”again to release sleep. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 30 -... -
Page 31: Placement Direction
Step 1: Rotate the module 90 degrees around the X-axis Step 2: Place the sensor 90 degrees vertically Step 3: Click “Vertical” as install directions on “Config” menu Step 4: After the setting is completed, calibration is required before use. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 31 -... -
Page 32: Bandwidth
1. The higher rate of bandwidth setting will lead to the higher fluctuation in data waveform. Conversely, the lower rate of bandwidth, data will become more fluent. For example: Bandwidth as 20Hz, Output rate as 10Hz. The waveform is very steady. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 32 -... - Page 33 For example, if the bandwidth setting is 20Hz, retrieval rate as 100Hz, there will be 5 repeating data. If you prefer there is no repeating data, it is required to increase the bandwidth more than 100Hz. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 33 -...
-
Page 34: Use Instructions With Android Phone
Use Instructions with Android Phone For APP configuration introduction, please referring to the Chapter 2.2 APP Installation Install the APK file, give permission of Location and Storage Link to download Android APP WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 34 -... -
Page 35: Hardware Preparation
Hardware Preparation Connecting with Android smartphone requires a serial cable and a Type-C converter or OTG converter according to phone’s interface. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 35 -... -
Page 36: Connection
“Choose an APP for the USB device”, which means that the device has been detected. Choose “WitMotion”, “ JUST ONCE” or “ALWAYS” is optional. 2. Only CH340 driver can be detected via WitMotion APP. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 36 -... - Page 37 Step 3. Open APP and choose “9-axis Series” as sensor series WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 37 -...
- Page 38 Step 4. Select the baud rate- 9600. After selection and wait for a few seconds, the data will show automatically. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 38 -...
- Page 39 Notice: GPS data will not be shown on the APP at present. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 39 -...
-
Page 40: Calibration
Step 1. Keep the module horizontally stationary Step 2. Click the “Calibration” menu Step 3. Click the “Acceleration Calibration” and wait for 3 seconds Step 5. Judge the result--confirm if there is 1g on Z-axis acceleration WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 40 -... -
Page 41: Magnetic Field Calibration
Step 4. After rotation, click “Magnetic Calibration Finish” Check the result: The Z-axis angle will have fewer drift than before. Notice: If not successful, please stay away from the objective that can create magnetic field interference. WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 41 -... -
Page 42: Mcu Connection
Link to sample code instructions demo Notice: There is no sample code provided for Linux or Python system at present. Arduino Download link Arduino UNO3 Demo Link STM32 Download link Raspberry pi Tutorial link WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 42 -... -
Page 43: Matlab
DEMO link DEMO link Matlab Receive Sample Code Dataplot DEMO WTGAHRS2| manual v0707 | http://wiki.wit-motion.com/english - 43 -...
Need help?
Do you have a question about the WTGAHRS2 and is the answer not in the manual?
Questions and answers