wt61 attitude angle senor specification · 2019. 12. 19. · static threshold ： the angular...

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WT61 Attitude Angle Senor

SPECIFICATION

Model ： WT61

Description ：Six Axis Attitude Angle Sensor

Quality control system standard: ISO9001:2016

Tilt switch production standard：GB/T191SJ 20873-2016

Criterion of detection：GB/T191SJ 20873-2016

Revision date：2019.12.17

Link to tutorial of WT61 :(software, manual, etc.):

https://drive.google.com/file/d/1YoTNyjI1mwqnHBbNrJFv2WfWRhbfDDtl/

https://drive.google.com/file/d/1cu6676F2HA-3wRK-Y5ynb4SEfIEAMp9a/

https://drive.google.com/file/d/1YoTNyjI1mwqnHBbNrJFv2WfWRhbfDDtl/

https://drive.google.com/drive/folders/1I6sBC-8Q3_vtY-GrFDZbWJZJFk7UnNfO

https://www.youtube.com/channel/UCxBLgvYQNk-sGVDp42ch-Ug

https://www.facebook.com/attitudesensor/



Catalog

1 Description...................................................................................................- 3 -

2 Product parameters...................................................................................... - 4 -

3 Product display............................................................................................ - 5 -

4 Pin description............................................................................................. - 6 -

5 Axial direction............................................................................................. - 6 -

6 Connection...................................................................................................- 7 -

6.1 Serial connection...............................................................................- 7 -

6.2 Connect with PC software...............................................................- 10 -

6.3 Connect to Phone............................................................................ - 20 -

6.4 calibration(calibration on PC software).......................................... - 13 -

6.4.1 Z-axis to 0................................................................................- 13 -

6.4.2 Accelerometer calibration....................................................... - 14 -

6.5 Data recording.................................................................................- 15 -

6.6 Installation direction........................................................................- 17 -

6.7 Dormancy and break dormancy...................................................... - 18 -

6.8 Static threshold and measure width.................................................- 18 -

7 Application area.........................................................................................- 26 -



1 Description

This six axis module adopts high precision gyroscope accelerometer

MPU6050 module. Users don ´ t have to develop MPU6050 complex IIC

protocol themselves because the measured data of MPU6050 is read through

the process, then output through the serial port.

An internal voltage stabilizing circuit module, voltage 3.3v~5v, pin compatible

with the 3.3V/5V embedded system, convenient connection.

The advanced Kalman filtering technology of this product can effectively

reduce the measurement noise and improve the measurement accuracy.

Module retains MPU6050 IIC interface, in order to meet the needs of

advanced users to get the original data of MPU6050

Integrates gesture solver, with dynamic Kalman filter algorithm, can get the

accurate attitude in dynamic environment, attitude measurement precision is

up to 0.01 degrees with high stability, performance is even better than some

professional inclinometers

Stamp hole gold plating PCB design, can be embedded in the user´s PCB

board.

Note: This module does not contain magnetometer, no filtering for the yaw

angle, so yaw angle is calculated by integration, it will drift, the yaw angle is

accurate only in a short time. The X, Y axis angle is accurate because it can be



filtered by gravity field, it will not drift.

2 Product parameters

1) Voltage: 3.3V-5V

2) Current: <10mA

3) Size : 15.24mmx 15.24mm X 2mm

4) Pad pitch: up and down100mil (2.54mm), left and right 600mil(15.24mm).

5) Measuring dimensions:

Acceleration: 3D

Angular Velocity: 3D



Attitude angle: 3D

6) Range: Acceleration:±16g

Angular velocity: ±2000°/ s.

Angle: X Z axis ±180° Y axis ±90°

7) Resolution: Acceleration：0.0005g，Angular velocity：0.61°/s

8) Measurement accuracy: Static 0.05° Dynamic 0.1°

9) Data output: acceleration, angle, angular velocity.

10) Data out put frequency100Hz(baudrate115200)/20Hz(9600baud).

11) Baud rate：9600kps、115200kps（default）

12) Data interface: Serial port(TTL) IIC(Direct connection to MPU6050, without

attitude angle output)

3 Product display



4 Pin description

5 Axial direction

As shown in figure above, The axis of the module is in the upper picture, upward

for x-axis, to the left for y-axis, Perpendicular to the paper, outward to the z-axis,

The direction of rotation is defined by the Law of the right hand. That is to say the

direction of four-fingers bending is the direction of rotation around the axis. The



thumb of the right hand points to axis.

6 Connection

6.1 Serial connection

Module 3 in 1 Convert:

Driver installation:

First, install the driver CH340 when we used the USB serial module ,after installed

the driver. then get the corresponding Com number in the device manager. Driver

as followed:

https://wiki.wit-motion.com/english/doku.php?id=communication_module




Driver installation:

First, install the driver CP210X when we used the USB serial module ,after installed



the driver. then get the corresponding Com number in the device manager. Driver

as followed:





After installing the module driver, and then Device Manager can querycorresponding serial number, as below figure shows:

6.2 Connect with PC software

Open the software “MiniIMU.exe” and select the Com number

which you have got in the device manager before.



Click the menu “Type” , Select the model as “JY61” in the software.

Click the menu “Baud ”in the software and then select 115200, then the software

will show the data.



Clicking the button “Record” can save the data as a file.

The files are saved in the directory Data.tsv: of the software.



6.3calibration(calibration on PC software)

PS: Calibration in PC software can only be set up by connecting to Bluetooth. When

the module is used, you should calibrate it in advance.

6.3.1 Z-axis to 0

The module should be calibrated before you use it. The module calibrate includes

Z-axis to 0 , Accelerometer calibration.

The z axis is 0 is the module z axis angle initial state is relative 0 degree angle

When the module is used before and z - axis drift is large, the z - axis can be

calibrated



6.3.2 Accelerometer calibration

The accelerometer calibration is used to get rid of the null bias of the

accelerometer. There will be different degrees of null bias in the sensors when they



firstly came out of the factory.

The calibration method is as follows:

Firstly, the module is kept horizontal and static, and the calibration is added. After

1 to 2 seconds, the three axial values of the module acceleration will be around 0 0

1 and the X and Y axis angles will be around 0°. The X Y-axis angle is more accurate

after calibration.

6.4 Data recording

There is no memory chip inside the sensor module，but the data can be saved by

PC software

Attention：The button ”Record ” can save the data as a file.



The saved files in the PC software Data.tsv：



6.5 Installation direction

The default installation direction of the module is horizontal installation. When the

module needs to be placed vertically, you can use the vertical installation setting.

Vertical installation method：Rotate the module around the X-axis and place it 90

degrees vertical when installing vertically ， Select the “vertical” in the “Config”

of the PC software.

Once the setting are completed, calibrate them to use.



6.6Dormancy and break dormancy

Dormancy：The module pauses working and enters the standby state, dormancy

can reduce power consumption.

Break dormancy：The module enters the working state from the standby state.

How to use：The default state of the module is working state，Click “Sleep”in the

“config”of the PC software to enter the standby state, click “Sleep” again the

module will break the dormancy.

6.7Static threshold and measure width

Static threshold ： The angular velocity of the gyroscope chip is slightly change

when the module is in static placement. The effect of the “Static threshold” is

When the angular velocity is less than the threshold module output angular

velocity is 0.



Bandwidth ： The module output the data within the measurement bandwidth.

Data greater than bandwidth is automatically filtered out.

How to use：Click the “Bandwidth ”of the “config ” in the PC software. default

is 10 HZ.



PS: The default setting of Static threshold and bandwidth works in most case. you

should not set it any more.

6.8 Connect to Phone

1) Install the app in the Phone, then turn on the Bluetooth in the Phone.

APP download address:

https://wiki.wit-motion.com/english/doku.php?id=module





2）choose WT601

3)choose 115200



Then the data will show



4) Calibration(calibration on phone)

Please keep theWT61 on the horizontal level and make the “acceleration

calibration” and “Z axis return to zero” as below:

1) Accelerometer Calibration

The accelerometer calibration is used to remove the zero bias of the

accelerometer. When the sensor is out of the factory, there will be different

degrees of bias error. After manual calibration, the measurement will be

accurate.

1、Methods as below: Firstly keep the module horizontally stationary, click

“Acceleration”, after 1~2s the acceleration X Y Z value will at 0 0 1. X Y angle:

0°.After calibration the value will be accurate.



2) Z axis return to zero

Just click the z axis return to zero, then the data will show.



7 Application areaAgricultural machinery Internet of things

Solar energ Power monitoring

Medical instruments Construction machinery

Geological monitoring



WitMotion ShenZhen Co., Ltd

WT61 6-axis High Precision Angle Sensor

Contact: Mr. Kyle Tsang

E-mail : [email protected]

Skype: live:kyle_8394

WhatsApp: +86 136 523 39539

Amazon in USA: www.amazon.com/witmotion

Amazon in Canada: www.amazon.ca/witmotion

Amazon in Japan: www.amazon.co.jp/witmotion

Official Direct Store: www.aliexpress.com/store/4709011

Address : Honghai building 1405 Songgang town Baoan District

Shenzhen Guangdong Province China

mailto:[email protected]

https://www.amazon.com/witmotion

https://www.amazon.com/witmotion

https://www.amazon.co.jp/witmotion

wt61 attitude angle senor specification · 2019. 12. 19. · static threshold ： the angular...

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