USER MANUAL WTGAHRS2 GPS IMU WTGAHRS2| manual v0707 | http://wiki.wit-motion.
Tutorial Link Google Drive Link to instructions DEMO: WITMOTION Youtube Channel WTGAHRS2 Playlist If you have technical problems or cannot find the information that you need in the provided documents, please contact our support team. Our engineering team is committed to providing the required support necessary to ensure that you are successful with the operation of our AHRS sensors.
Contents Tutorial Link................................................................................................................... - 2 Contact............................................................................................................................ - 2 Application...................................................................................................................... - 2 Contents............................................................................................
2.4.8 Placement Direction...................................................................... - 31 2.4.9 Bandwidth......................................................................................... - 32 3 Use Instructions with Android Phone............................................................- 34 3.1 APP Installation........................................................................................... - 34 3.2 Hardware Preparation..........................................................
1 Introduction The WTGAHRS2 is a multi-sensor device detecting acceleration, angular velocity, angle, magnetic filed as well as GPS. The robust housing and the small outline makes it perfectly suitable for industrial retrofit applications such as condition monitoring and predictive maintenance. Configuring the device enables the customer to address a broad variety of use cases by interpreting the sensor data by smart algorithms. WTGAHRS2’s scientific name is GPS IMU sensor.
1.1 Warning Statement Putting more than 5 Volt across the sensor wiring of the main power supply can lead to permanent damage to the sensor. GPS positioning requires to be operated outdoors. 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.
2 Use Instructions with PC 2.1 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 5V TX RX RX TX GND - GND (When connecting with computer, VCC-5V is recommended.) WTGAHRS2| manual v0707 | http://wiki.wit-motion.
Recommended tools: 3-in-1 serial converter 6-in-1 serial converter Link to tutorial of 3-in-1 serial converter(CH340 driver) Link to tutorial of 6-in-1 serial converter (CP2102 driver) Step 1. Unzip the software and install the driver CH340 or CP2102 (Depending on which accessory for usage.) Step 2. Insert the converter to computer and confirm the “com port” in device manager Step 3. Open the software(Minimu.
2.2 Software Introduction Link to download software 2.2.1 Main Menu Main Menu of software Button Function File Launch recorded HEX file (Bin format) Tools Hide or display tools box on left side Record Record function 3D 3D DEMO Config Configuration setting Help Language English or Chinese Bluetooth Set Binding device/ unbind, only for Bluetooth sensor series Firmware update Option for firmware update About Minimu Info about Minimu.
2.2.2 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.
Menu of System Button Function Reset Reset to factory setting Sleep Sleep function Alarm Alarm function Algorithm 6-axis algorithm or 9-axis Installation Direction Vertical or horizontal installation Instruction Start-up Instructions sending to start-up the sensor Menu of Calibrate Button Function Acceleration Accelerometer calibration Magnetic Field Magnetometer calibration Reset Height Reset height data to 0 (only for sensor built-in barometer, including WT901B, WTGAHRS1, HWT901B, WTG
Menu of Communication Button Function Baud Rate Baud rate selection Output Rate Return rate selection Device Address Interface for R&D Menu of Content Button Function Time Time data output Acceleration Acceleration data output Velocity Angular velocity data output Angle Angle data output Magnetism Magnetic field data output Port Port data output Pressure Pressure output, only available with the sensor built-in barometer like HWT901B, WTGAHRS1, WTGAHRS2, WT901B, etc Location Latitude
WTGAHRS2| manual v0707 | http://wiki.wit-motion.
2.3 Calibration Preparation: Make sure the sensor is “Online”. Calibration on PC software： It is required to calibrate for the first time usage. 2.3.1 Accelerometer Calibration Purpose: The accelerometer calibration is used to remove the zero bias of the accelerometer. Before calibration, there will be different degrees of bias error. After calibration, the measurement will be accurate. Methods: Step 1. Keep the module horizontally stationary Step 2. Click the accelerometer calibration Step 3.
Step 5. Judge the result--confirm if there is 1g on Z-axis acceleration 1. After 1 ~ 2 seconds, the three axial acceleration value of the module is about 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.
2.3.2 Magnetic Field Calibration Purpose: Magnetic calibration is used to remove the zero bias of the magnetic field sensor. Usually, the magnetic field sensor will have a large zero error when it is manufactured. If it is not calibrated, it will bring a large measurement error, which will affect the accuracy of the measurement of the z-axis Angle of the heading Angle. Preparation: Sensors should be 20CM away from magnetic and iron and other materials Methods: Step 1. Open the Config menu Step 2.
Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly WTGAHRS2| manual v0707 | http://wiki.wit-motion.
Step 4. After rotation, click “End calibration” Successful result: Most of data dots will be within the ellipse. If not successful, please stay away from the objective that can create magnetic field interference. 2.3.3 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.
2.3.4 Reset Z-axis Angle Note：If you want to avoid magnetic interference, you can change the algorithm to 6-axis, function of resetting Z-axis angle can be used. The z-axis angle is an absolute angle, and it takes the northeast sky as the coordinate system can not be relative to 0 degree. Z axis to 0 is to make the initial angle of the z axis angle is relative 0 degree. When the module is used before and z-axis drift is large, the z-axis can be calibrated.
2.4 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. WTGAHRS2| manual v0707 | http://wiki.wit-motion.
The PC software will display the original GPS output data. Confirm if there is NMEA-0183 GPS raw data ensuring positioning is actually working. Note: If the device showing as offline, try to click other data as output data, and then reopen the configuration to see if it is online. 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.
Step 3: Click the Location, PDOP, GPS positioning as output data according to the preference. Step 4. Click the “Save Config”. 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.
2.4.2 Return Content Setting method: The content of the data return can be set according to user needs, click the configuration option bar, and check the data content to be output. 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. The latitude, longitude, and ground speed information are only valid when the module is connected to the GPS module.
2.4.3 Output Rate The default return rate of the module is 10Hz, the highest return rate supports 200Hz. The return rate of the GPS module is 1 Hz, which cannot be changed. Note: If there are more backhaul contents and the communication baud rate is lower, it may not be possible to transmit so much data. Then the module will automatically reduce the frequency and output at the maximum allowable output rate.
2.4.4 Baud Rate The module supports multiple baud rates, and the default baud rate is 9600. To set the baud rate of the module, you need to select the baud rate to be changed in the communication rate drop-down box in the configuration bar based on the correct connection between the software and the module. 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.
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.
Step 3: Extract the data as “txt” file Notice: If there is repeated “TIME” of data, that’s caused by low-resolution of the Windows system’s time. The changes in other data is correct. It is highly recommended that data can be pasted to a Excel file. In this way, all data will be shown in order. Time represents time, ax ay az represents the acceleration in the three axes of x y z, wx wy wz represents the angular velocity in the three axes of x y z.
2.4.6 Data Playback New function: When creating recorded file each time, there will a BIN file created in the folder of record file in path of installed software meanwhile. 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.
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.
2.4.7 Standby and Wake Up Sleep: The module paused working and entered the standby mode. Power consumption is reduced after sleeping. 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.
2.4.8 Placement Direction The default installation direction of the module is horizontal. When the module needs to be installed vertically, the vertical installation can be set. 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.
2.4.9 Bandwidth Default bandwidth is 20Hz. Function: 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.
Bandwidth as 256Hz, Output rate as 10Hz. The waveform will show more fluctuation. 2. The higher rate of bandwidth will solve the data-repeating problem. 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.
3 Use Instructions with Android Phone For APP configuration introduction, please referring to the Chapter 2.2 3.1 APP Installation Install the APK file, give permission of Location and Storage Link to download Android APP WTGAHRS2| manual v0707 | http://wiki.wit-motion.
3.2 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.
3.3 Connection Step 1. Install the APK file, give permission of Storage. Step 2: Connect the sensor with TTL cable. Then connect the cable with type-c converter. Plug in the device “type-c converter” to the phone. Notice: 1. After successful connection, there will be a notification reminding that “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.
Step 3. Open APP and choose “9-axis Series” as sensor series WTGAHRS2| manual v0707 | http://wiki.wit-motion.
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.
Notice: GPS data will not be shown on the APP at present. WTGAHRS2| manual v0707 | http://wiki.wit-motion.
3.4 Calibration WTGAHRS2 Playlist 3.4.1 Acceleration 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.
3.4.2 Magnetic Field Calibration Step 1. Click "Calibration" menu Step 2. Click the "Magnetic calibration" button Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly 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.
4 MCU Connection Link to download all sample code Link to sample code instructions demo Notice: There is no sample code provided for Linux or Python system at present. 4.1 Arduino Download link Arduino UNO3 Demo Link 4.2 STM32 Download link 4.3 Raspberry pi Tutorial link WTGAHRS2| manual v0707 | http://wiki.wit-motion.
4.4 C# DEMO link 4.5 C++ DEMO link 4.6 Matlab Receive Sample Code Dataplot DEMO WTGAHRS2| manual v0707 | http://wiki.wit-motion.
