3DM-CV7-INS

3DM-CV7-INS
Performance Grade	Tactical Grade
Random Walk	Accel: 29.5 µg/√/Hz, Gyro: 0.14 °/√hr
Bias Instability (Gyroscope)	1.5 °/hr
Bias Instability (Accelerometer)	18 μg
Hysteresis	Accel bias: 0.75 mg, Accel gain: 600 PPM, Gyro bias: 0.03 °/s, Gyro gain: 1000 PPM
Communication Port Type	Samtec FTS-105 (2x5)
Communication Interface	TTL serial, USB
Update Rate	IMU: 1000 Hz, EKF: 1000 Hz
Inputs/Outputs	4xGPIO
Weight	8.3 g
Weight	0.293 oz
Size	38 mm x 24 mm x 8.6 mm
Size	1.49 in x 0.94 in x 0.30 in
Power Consumption	0.23 W
Input Voltage	3.2 V to 5.2 V
Minimum Operating Temperature	-40 °C
Maximum Operating Temperature	85 °C
Minimum Operating Temperature	-40 °F
Maximum Operating Temperature	185 °F
MTBF	2002026 h
GNSS Input(s)	External Input(s)
Sensing Range (Accelerometer)	4 g
Sensing Range (Gyroscope)	250 °/s
Sensing Range (Magnetometer)	8 Gauss
Sensing Range (Pressure)	1260 mbar
Accuracy	Roll/Pitch (dynamic): 0.5 °, Roll/Pitch (static): 0.25 °, Heading (static): 0.5 °, Heading (dynamic): 2 °
Ingress Protection Rating	Not Rated
Housing Material	Aluminum
Software	MSCL, ROS, SensorConnect
Mounting Style	Embeddable, Screw Down, Precision Alignment

Performance Grade

Tactical Grade

Random Walk

Accel: 29.5 µg/√/Hz, Gyro: 0.14 °/√hr

Bias Instability (Gyroscope)

1.5 °/hr

Bias Instability (Accelerometer)

18 μg

Hysteresis

Accel bias: 0.75 mg, Accel gain: 600 PPM, Gyro bias: 0.03 °/s, Gyro gain: 1000 PPM

Communication Port Type

Samtec FTS-105 (2x5)

Communication Interface

TTL serial, USB

Update Rate

IMU: 1000 Hz, EKF: 1000 Hz

Inputs/Outputs

4xGPIO

Weight

8.3 g

Weight

0.293 oz

Size

38 mm x 24 mm x 8.6 mm

Size

1.49 in x 0.94 in x 0.30 in

Power Consumption

0.23 W

Input Voltage

3.2 V to 5.2 V

Minimum Operating Temperature

-40 °C

Maximum Operating Temperature

85 °C

Minimum Operating Temperature

-40 °F

Maximum Operating Temperature

185 °F

MTBF

2002026 h

GNSS Input(s)

External Input(s)

Sensing Range (Accelerometer)

4 g

Sensing Range (Gyroscope)

250 °/s

Sensing Range (Magnetometer)

8 Gauss

Sensing Range (Pressure)

1260 mbar

Accuracy

Roll/Pitch (dynamic): 0.5 °, Roll/Pitch (static): 0.25 °, Heading (static): 0.5 °, Heading (dynamic): 2 °

Ingress Protection Rating

Not Rated

Housing Material

Aluminum

Software

MSCL, ROS, SensorConnect

Mounting Style

Embeddable, Screw Down, Precision Alignment

Product Code	Description
6212-3006	OEM CABLE KIT FOR INERTIAL SENSORS
6212-3009	C-Series Development Kit, USB
6212-3010	C-Series Development Kit, RS232

Product Code

Description

6212-3006

OEM CABLE KIT FOR INERTIAL SENSORS

6212-3009

C-Series Development Kit, USB

6212-3010

C-Series Development Kit, RS232

Everything you need to get started

Access your sensor's comprehensive online user manual. Find detailed setup instructions, calibration procedures, troubleshooting guides, and technical specifications all in one convenient location.

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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.

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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

Built for ROS

Robot Operating System (ROS) is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. ROS can be used in building and simulating robotics applications, as well as unmanned ground vehicles and simultaneous localization and mapping (SLAM). MicroStrain has an open source License free (MIT License) series of drivers specifically designed and tested for ROS.

Integrated PX4 Support

PX4 is an open source flight control software for drones and other unmanned vehicles. The project provides a flexible set of tools for drone developers to share technologies to create tailored solutions for drone applications. PX4 provides a standard to deliver drone hardware support and software stack, allowing an ecosystem to build and maintain hardware and software in a scalable way. PX4 is fully supported on MicroStrain’s 3DM-CV7 family of inertial sensors.

3DM-CV7 Series Data Sheet	Data Sheets	English
3DM-GX5/CX5/CV5 Firmware Change Log	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
Micro D-to-USB Communication and Power Cable	Accessory Guide	English
Craft Cable with Micro DB9 and Flying Leads	Accessory Guide	English
6212-3010 DEVELOPMENT KIT, RS232, INERTIAL C-SERIES	Accessory Guide	English
6212-3009 DEVELOPMENT KIT, USB, INERTIAL C-SERIES	Accessory Guide	English
Micro-D to RS232 Communication and Power Cable	Accessory Guide	English
C-Series Connectivity Board Interface Control Document	Mounting Instructions	English

3DM-CV7 Declaration of Conformity (UK)	Declaration of Conformity	English
MicroStrain REACH-SVHC Compliance Declaration	Declaration of Conformity	English
3DM-CV7 Declaration of Conformity (EU)	Declaration of Conformity	English

3DM-CV7 CAD Model	CAD Step Files
MicroStrain 7-Series Inertial Sensor Firmware	Firmware

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3DM-CV7-INS

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