3DM-GX5-AHRS

Code	Sensing Range (Accelerometer)	Sensing Range (Gyroscope)
6253-0120	2 g	75 °/s
6253-0220	2 g	300 °/s
6253-2020	4 g	150 °/s
6253-2120	4 g	75 °/s
6253-2220	4 g	300 °/s
6253-3220	40 g	300 °/s
6253-3720	40 g	900 °/s
6253-4220	8 g	300 °/s
6253-4720	8 g	900 °/s
6253-7220	20 g	300 °/s
6253-7720	20 g	900 °/s

Code

Sensing Range (Accelerometer)

Sensing Range (Gyroscope)

6253-0120

2 g

75 °/s

6253-0220

2 g

300 °/s

6253-2020

4 g

150 °/s

6253-2120

4 g

75 °/s

6253-2220

4 g

300 °/s

3DM-GX5-AHRS
Performance Grade	High Performance Grade
Features	Accelerometer, Gyroscope, Magnetometer
Random Walk	Accel: 20 µg/√Hz, Gyro: 0.3 °/√hr
Bias Instability (Gyroscope)	8 °/hr
Bias Instability (Accelerometer)	40 μg
Hysteresis	Accel bias: 4.8 mg, Accel gain: 300 PPM, Gyro bias: 0.12 °/s, Gyro gain: 300 PPM
Communication Port Type	Micro D9
Communication Interface	RS-232, USB
Update Rate	IMU: 1000 Hz, EKF: 500 Hz
Inputs/Outputs	3xGPIO
Weight	16.5 g
Weight	0.582 oz
Size	36.0 mm x 36.6 mm x 11.1 mm
Size	1.42 in x 1.44 in x 0.43 in
Power Consumption	0.5 W
Input Voltage	4.0 V to 36.0 V
Minimum Operating Temperature	-40 °C
Maximum Operating Temperature	85 °C
Minimum Operating Temperature	-40 °F
Maximum Operating Temperature	185 °F
MTBF	557280 h
Sensing Range (Accelerometer)	8 g, 4 g, 40 g, 2 g, 20 g
Sensing Range (Gyroscope)	900 °/s, 150 °/s, 300 °/s, 75 °/s
Sensing Range (Magnetometer)	8 Gauss
Sensing Range (Pressure)	1260 mbar
Accuracy	Roll/Pitch (static): 0.25 °, Heading (static): 0.8 °
Ingress Protection Rating	Not Rated
Housing Material	Aluminum
Software	MSCL, ROS, SensorConnect
Mounting Style	Screw Down, Precision Alignment

3DM-GX5-AHRS

Performance Grade

High Performance Grade

Features

Accelerometer, Gyroscope, Magnetometer

Random Walk

Accel: 20 µg/√Hz, Gyro: 0.3 °/√hr

Bias Instability (Gyroscope)

8 °/hr

Bias Instability (Accelerometer)

40 μg

Hysteresis

Accel bias: 4.8 mg, Accel gain: 300 PPM, Gyro bias: 0.12 °/s, Gyro gain: 300 PPM

Communication Port Type

Micro D9

Communication Interface

RS-232, USB

Update Rate

IMU: 1000 Hz, EKF: 500 Hz

Inputs/Outputs

3xGPIO

Weight

16.5 g

Weight

0.582 oz

Size

36.0 mm x 36.6 mm x 11.1 mm

Size

1.42 in x 1.44 in x 0.43 in

Power Consumption

0.5 W

Input Voltage

4.0 V to 36.0 V

Minimum Operating Temperature

-40 °C

Maximum Operating Temperature

85 °C

Minimum Operating Temperature

-40 °F

Maximum Operating Temperature

185 °F

MTBF

557280 h

Sensing Range (Accelerometer)

8 g, 4 g, 40 g, 2 g, 20 g

Sensing Range (Gyroscope)

900 °/s, 150 °/s, 300 °/s, 75 °/s

Sensing Range (Magnetometer)

8 Gauss

Sensing Range (Pressure)

1260 mbar

Accuracy

Roll/Pitch (static): 0.25 °, Heading (static): 0.8 °

Ingress Protection Rating

Not Rated

Housing Material

Aluminum

Software

MSCL, ROS, SensorConnect

Mounting Style

Screw Down, Precision Alignment

Product Code	Description
6212-3001	RS232 CABLE KIT FOR AHRS/IMU
6212-3004	USB CABLE KIT FOR AHRS/IMU
6224-0100	MICRO DB9/LEADS

Product Code

Description

6212-3001

RS232 CABLE KIT FOR AHRS/IMU

6212-3004

USB CABLE KIT FOR AHRS/IMU

6224-0100

MICRO DB9/LEADS

Looking for the latest version?

Check out the upgraded 3DM-GV7-AHRS — our next-generation rugged IMU/AHRS with enhanced performance and advanced features.

See the 3DM-GV7-AHRS

Software

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InertialConnect
SensorConnect
SensorCloud
MSCL and MIP SDK

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InertialConnect Screenshot - GNSS Statuses

InertialConnect is the preferred software solution for MicroStrain inertial sensors. With InertialConnect, you can easily configure your sensors, adjust parameters, upgrade firmware, and deploy preconfigured parameter files. You can also verify sensor outputs with intuitive visualizations, including times eries data, position data, and statuses.

InertialConnect is compatible with both PC desktop and Linux operating systems, making it your go-to solution for precision and efficiency in inertial sensor management.

Learn More

SensorConnect is the next generation in desktop sensing software.

From configuration of nodes and starting networks, to collecting and analyzing data in real-time, SensorConnect provides a modern, powerful experience with our Wireless, Inertial, and Displacement products.

Using our intelligent data collection and graphing algorithms, you are able to visualize massive amounts of data instantly, and then zoom in on points of interest just as fast.

Built in MathEngine functionality allows for both real-time and post-processed math, such as generating FFTs, averages, RMS, etc.

Learn More

SensorCloud is a unique sensor data storage, visualization, and remote management platform that leverages powerful Cloud computing technologies to provide excellent data scalability, rapid visualization, and user programmable analysis.

MicroStrain sensors can instantly upload their data to SensorCloud via an ethernet-connected WSDA-2000. Once uploaded, your data is securely stored in the Cloud and can be accessed from anywhere, or downloaded for offline use.

Configurable alerts can be set to help notify you of real-time event in your data.

MathEngine allows you to perform analytics on your data, all in the Cloud. Pre-built functions are available for ease of use, while IPython Notebooks allow advanced users to write custom scripts to be run on their data once, or on a schedule.

Visit SensorCloud navigate_next

The MicroStrain Communication Library (MSCL) is our open-sourced API that simplifies writing code to interact with our sensors. MIP SDK is a lightweight C/C++ library for interacting with MicroStrain G and C-series products via baremetal and resource constrained microcontrollers.

Both APIs are readily available and fully-documented on GitHub, featuring valuable tools such as full documentation, example code, and a quick start guide.

Learn More About MSCL

The 3DM-GX5-AHRS is an industrial-grade Attitude and Heading Reference System (AHRS). It combines a fully calibrated triaxial accelerometer, gyroscope, and magnetometer with dual on-board processors running an exclusive Auto-Adaptive Extended Kalman Filter (EKF) to provide highly accurate attitude and heading estimates under all dynamic conditions.

The 3DM-GX5-AHRS is recognized as the industry's most proven high-performance industrial AHRS and the smallest and lightest precision industrial AHRS with an Adaptive Kalman Filter available. It features automatic magnetometer calibration and anomaly rejection, eliminating the need for field calibration, while providing superior heading accuracy during turns and bumps through advanced auto-adaptive algorithms.

The Auto-Adaptive Extended Kalman Filter (EKF) is MicroStrain's exclusive sensor fusion algorithm that automatically adapts to changing environmental conditions and vehicle dynamics. It provides outstanding dynamic attitude estimates by incorporating bias tracking, error estimation, threshold flags, and adaptive noise modeling, allowing fine-tuning for specific application conditions while maintaining optimal performance without manual intervention.

The 3DM-GX5-AHRS features advanced automatic magnetometer calibration and anomaly rejection that eliminates the need for field calibration procedures. The system performs in-situ heading calibration, automatically compensating for magnetic disturbances and providing reliable, accurate heading reference without user intervention. This significantly reduces deployment time and maintenance requirements.

The 3DM-GX5-AHRS excels in demanding industrial applications including:

Platform Stabilization: Antenna pointing systems, camera gimbals, and stabilized platforms
Robotics: Mobile robots, autonomous vehicles, and robotic control systems
Vehicle Health and Usage Monitoring: Fleet management and equipment monitoring
Industrial Automation: Manufacturing equipment orientation control
Unmanned Vehicle Navigation: UAV, UGV, and marine vehicle guidance systems
Antenna Pointing: Communication and radar system orientation
Motion Analysis: Dynamic motion tracking and analysis systems

Yes, the 3DM-GX5-AHRS is specifically designed for robotics applications. Its compact size, light weight, and high-accuracy attitude and heading reference make it ideal for mobile robots, balancing robots, and autonomous systems. The device is commonly used with ROS (Robot Operating System) and is included in many robotic platforms, including Clearpath Robotics systems.

The 3DM-GX5-AHRS is available with different sensor ranges to optimize performance for specific applications. The most common configuration is ±8g accelerometer and ±300°/s (degrees per second) gyroscope ranges, which provides the best balance of sensitivity and dynamic range for typical industrial applications including platform stabilization, robotics, and vehicle monitoring.

Range selection depends on your application's dynamic requirements:

Accelerometer Range Selection:

±2g or ±4g: Best for low-acceleration applications requiring maximum sensitivity, such as precision tilt measurements, slow-moving platforms, or stationary monitoring
±8g (most common): Optimal for general industrial applications, mobile robotics, vehicle monitoring, and platform stabilization where moderate dynamics are expected
±16g or higher: Required for high-acceleration applications such as impact testing, high-speed vehicles, or aggressive maneuvering systems

Gyroscope Range Selection:

±150°/s or ±250°/s: Suitable for slow-rotating applications or precision orientation tracking
±300°/s (most common): Ideal for typical industrial and robotics applications with moderate rotation rates
±500°/s or higher: Necessary for high-speed rotating machinery, aggressive vehicle maneuvers, or rapid platform movements

The device maintains exceptional accuracy during dynamic conditions through multiple design features: low-noise, low-latency MEMS sensors provide stable measurements; the Auto-Adaptive Extended Kalman Filter automatically adjusts to changing dynamics; advanced algorithms compensate for turns, bumps, and acceleration; and the dual on-board processors provide real-time processing without lag or delay.

Yes, the 3DM-GX5-AHRS has excellent ROS support through the open-source microstrain_inertial ROS package. The driver is maintained by MicroStrain and hosted on GitHub, providing seamless integration with ROS-based robotics applications. It's commonly used in professional robotic platforms and is included in Clearpath Robotics systems.

While the 3DM-GX5-AHRS remains the proven industrial standard, the newer GV7 series offers enhanced features including IP68 environmental protection, tactical-grade performance improvements, and advanced timing capabilities. The GX5-AHRS continues to be ideal for applications prioritizing proven reliability, compact size, and cost-effectiveness in protected environments.

We provide comprehensive development tools including:

MSCL API: Open-source library (MIT license) with full documentation, example code, and quick start guides for C++, Python, and .NET
MIP SDK: Lightweight C/C++ library for embedded applications and resource-constrained systems
MIP Protocol: Comprehensive communication protocol for custom interface development
Development Kits: Hardware kits with cables and connectivity boards for rapid prototyping

3DM-GX5-AHRS Data Sheet	Data Sheets	English
3DM-GX5-AHRS - Quick Start Guide, MIP Monitor	Quick Start Guide	English
3DM-GX5-AHRS - Quick Start Guide, SensorConnect	Quick Start Guide	English
3DM-GX5-AHRS - User Manual	Manual	English
Inertial Sensor Utils Software - Manual	Manual	English
Dewesoft Inertial Sensor - Manual	Manual	English
3DM-GX5-AHRS Data Communications Protocol Menu	Manual	English
Product Comparison: 3DM-GV7 Series vs. 3DM-GX5 Series Inertial Sensors	Buyers Guide	English
Using a GX5 with Bluetooth RS-232 Adapters	Tech Notes	English
3DM-GX5/CX5/CV5 Firmware Changelog - - Technical Note	Tech Notes	English
Migrating from 3DM-GX4 to 3DM-GX5 Series	Tech Notes	English
Micro D-to-USB Communication and Power Cable	Accessory Guide	English
Micro-D to RS232 Communication and Power Cable	Accessory Guide	English
PSA-05R-090 9 Volt DC Power Supply for RS-232 Cable	Accessory Guide	English
Craft Cable with Micro DB9 and Flying Leads	Accessory Guide	English
CONNECTIVITY KIT,RS232,AHRS/IMU - - Technical Drawing	Accessory Guide	English
CONNECTIVITY KIT,RS232,AHRS/IMU - - Technical Drawing	Accessory Guide	English
When to Use Capture Gyro Bias - Technical Note	Instructions For Use	English
Using Hardware Datalogger with Inertial Sensors	Instructions For Use	English

3DM-GX5 Declaration of Conformity (EU)	Declaration of Conformity	English
3DM-GX5 Declaration of Conformity (UK)	Declaration of Conformity	English
MicroStrain REACH-SVHC Compliance Declaration	Declaration of Conformity	English

3DM-GX5 (Small) CAD File	CAD Step Files
MicroStrain 5-Series Inertial Sensor Firmware	Firmware

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Main Menu

Main Menu

Main Menu

Main Menu

3DM-GX5-AHRS

Sensor

Operation

Package

Filter

Looking for the latest version?

Software

What is the 3DM-GX5-AHRS and what does AHRS stand for?

What makes the 3DM-GX5-AHRS unique in the industrial AHRS market?

What is the Auto-Adaptive Extended Kalman Filter and why is it important?

How does the automatic magnetometer calibration work in the 3DM-GX5-AHRS?

What applications is the 3DM-GX5-AHRS best suited for?

Is the 3DM-GX5-AHRS suitable for robotics applications?

What accelerometer and gyroscope ranges are available for the 3DM-GX5-AHRS?

How do I choose the right accelerometer and gyroscope ranges for my application?

How does the 3DM-GX5-AHRS maintain accuracy during dynamic conditions?

Does the 3DM-GX5-AHRS support ROS (Robot Operating System)?

How does the 3DM-GX5-AHRS compare to the newer GV7 series?

What development tools and APIs are available for the 3DM-GX5-AHRS?

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