WitMotion WTGAHRS5 Sensor

Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Parameter Value Operating Temperature -40°C ~ +85°C Storage Temperature -40°C ~ +100°C Shock Resistance 20000g Weight 109.8g Supply Voltage 9V ~ 36V (default 12V) Operating Current (Active, 12V) 21mA Power Consumption 252mW Communication Interface RS485, 9600~230400bps (default 115200) Output Content Time, Angle, Longitude/Latitude, Ground speed Startup Time 1000ms Range (Accelerometer) ±16g Resolution (Accelerometer) 0.0005 (g/LSB) Sampling Rate (Accelerometer) 2kHz RMS Noise (Accelerometer, BW=100Hz) 0.75 ~ 1 mg‑rms Static Zero Drift (Accelerometer, horizontal) ±80mg Temp. Drift (Accelerometer) ±0.15 mg/°C Bandwidth (Accelerometer) 5 ~ 256Hz Range (Gyroscope) ±500°/s Resolution (Gyroscope) 0.061 (°/s)/LSB Sampling Rate (Gyroscope) 2kHz RMS Noise (Gyroscope, BW=100Hz) 0.05°/s‑rms Static Zero Drift (Gyroscope, horizontal) ±0.5 ~ 1°/s Temp. Drift (Gyroscope) ±0.02% /°C Bandwidth (Gyroscope) 5 ~ 256Hz Range (Pitch/Roll) X: ±180°, Y: ±90° Inclination Accuracy 0.2° Resolution (horizontal) 0.0055° Temp. Drift (Inclination) ±1° Range (Yaw) Z: ±180° Heading Accuracy (6‑axis, static) 0.5° (dynamic integration error possible) Resolution (Yaw, horizontal) 0.0055° GPS Signal Reception BDS/GPS/QZSS/GLONASS TTFF Cold Start ≤ 32s TTFF Hot Start ≤ 1s TTFF Reacquisition ≤ 1s Sensitivity – Tracking -162dBm Sensitivity – Reacquisition -160dBm Sensitivity – Cold Start -148dBm Sensitivity – Hot Start -156dBm Positioning Accuracy < 2.5m (CEP50) Velocity Accuracy < 0.1m/s (1σ) Update Rate 5Hz Protocol NMEA0183 Max Altitude 18000m Max Velocity 515m/s Max Acceleration 4g WitMotion-WTGAHRS5-Drawing.pdf WitMotion-Product-Manual.pdf WitMotion-WTGAHRS5.stp