3DM-CV7-AHRS

3DM-CV7-AHRS 惯性测量单元 (IMU) 和姿态航向参考系统 (AHRS) 以极小、极轻的 OEM 封装提供战术级性能。每个传感器都经过单独校准，以确保在各种工作条件下都能达到极佳性能。

我们的自适应扩展 Kalman 滤波从设计之初就旨在即使在最具挑战性的环境中也能提供始终如一的可靠测量结果。3DM-CV7-AHRS凭借其先进的定向算法、内部时间管理系统和灵活的事件触发系统，在价格和性能方面独树一帜。

3DM-CV7-AHRS

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传感器

战术级陀螺仪（不稳定性偏差为 1.5°/小时）
在整个温度范围内完全校准
横滚/俯仰静态精度：0.25°，动态精度：0.5°
用于绝对航向跟踪的内置磁力计

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用于姿态估计的机载扩展 Kalman 滤波
用户可选择加速度计和陀螺仪的测量范围
所有通道的输出数据速率均为 1 kHz
工厂支持的 ROS1 和 ROS2 驱动
PX4 自动驾驶仪驱动，适用于无人机、漫游车、机器人等
用于配置、控制、显示和日志记录的SensorConnect软件
MSCL开源API ，方便集成

特性

阳极氧化铝安装底座
精密对准功能
紧凑，高度低
- 38mm x 24mm x 8.6mm
- 8.3克
- 比 3DM-CV5 系列薄 18%
- 比 3DM-CV5 系列轻 20%
USB 和 UART (TTL) 接口
与 3DM-CV5 系列尺寸相同，易于升级
-40 至 +85°C 工作温度范围

3DM-CV7 Series Data Sheet	Data Sheets	English
Micro-D to RS232 Communication and Power Cable	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
Craft Cable with Micro DB9 and Flying Leads	Accessory Guide	English
Micro D-to-USB Communication and Power Cable	Accessory Guide	English
C-Series Connectivity Board Interface Control Document	Mounting Instructions	English
GV7-CV7 Firmware Change Log	Release Note	English

Certificates and Approvals

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

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

3DM-CV7-AHRS
Type	Attitude & Heading (AHRS)
Performance Grade	Tactical Grade
Features	Accelerometer, Gyroscope, Magnetometer
Random Walk	Accel: 20 µg/√Hz, Gyro: 0.3 °/√hr
Bias Instability (Gyroscope)	1.5 °/hr
Bias Instability (Accelerometer)	18 μg
Hysteresis	Accel bias: 0.6 mg, Accel gain: 125 PPM, Gyro bias: 0.04 °/s, Gyro gain: 1000 PPM
Communication Port Type	Samtec FTSH series
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	1.50 in x 0.94 in x 0.34 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
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

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 latest 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.

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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.

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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.

Tactical Grade:

Higher precision and accuracy specifications
Lower bias drift and noise levels
Better long-term stability
More sophisticated sensor fusion algorithms

Industrial Grade:

Moderate precision suitable for most commercial applications
Higher bias drift and noise compared to tactical grade
Good stability for industrial environments
Standard sensor fusion capabilities

The 3DM-CV7-AHRS is ideal for:

Mobile robotics and autonomous systems
Unmanned aerial vehicles (UAVs) and drones
Industrial automation and control systems
Defense and aerospace applications
Marine navigation systems
Platform stabilization

Yes, the 3DM-CV7-AHRS is ROS-ready with dedicated ROS drivers available. MicroStrain by HBK provides updated ROS drivers that ensure standards compliance and enhanced integration capabilities for robotics applications.

Yes, HBK has released dedicated PX4 drivers for the 3DM-CV7-AHRS, enabling seamless integration with PX4 flight control systems for UAVs and autonomous flight applications.

The Auto-Adaptive Extended Kalman Filter is an advanced sensor fusion algorithm that automatically adjusts to changing environmental conditions and dynamics. This ensures consistently reliable measurements even in challenging environments with high acceleration, vibration, or interference.

Each 3DM-CV7-AHRS unit is individually calibrated at the factory for optimal performance across wide operating temperature ranges. The sensor also features continuous built-in test capabilities and full temperature compensation to maintain accuracy throughout its operating life.

Yes, the 3DM-CV7-AHRS allows independent configuration of raw IMU outputs (acceleration and angular rate) and filtered AHRS outputs (attitude and heading estimates), providing flexibility for different application requirements.

Yes, the 3DM-CV7-AHRS and all MicroStrain by HBK products are NDAA compliant. This means they are suitable for use in:

U.S. Department of Defense contracts
Government agency procurements
Defense contractor programs
Critical infrastructure applications

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3DM-CV7-AHRS

限时优惠！新客户购买此产品即可获赠 NVIDIA Jetson Orin Nano Super 开发者套件！点击此处查看优惠详情。

传感器

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