CH10X Industrial IP68 IMU/VRU/AHRS Datasheet

Applicable to CH10X series RS-232, USB, CAN interface

Products: CH104 & CH108 Official website: https://sealandtech.com.tw

Attribute: public Purchase and support: sltech@ms28.hinet.net

File change history

Version Date Remarks

V1.0 2022.07.02 Release the first version of the module manual of the CH10X series

V1.1 2022.08.15 Correct some instructions

V1.2 2024.03.13 Update configuration instructions, applicable to firmware versions after v1.3.7

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 Table of contents

CH10X Industrial IP68 IMU/VRU/AHRS Datasheet

Table of contents

1. CH10X Introduction

1. 1. Applications and Advantages

1. 2. ANROT-IMU UI Assistant

1. 3. Product Import Guide

1. 3. 1. Select the model

1. 3. 2. Purchase

1. 3. 3. Connection method

1. 3. 4. Start using the sensor

1. 4. Order model instruction

2. Specifications and Performance

2. 1. Hardware Specifications

2. 1. 1. Dimensions and Installation

2. 1. 2. Pin Definitions

2. 1. 3. Wiring Diagram

2. 2. Electrical Specifications

2. 2. 1. Common parameters for RS-232 and CAN

2. 2. 2. RS-232

2. 2. 3. CAN

2. 3. Software Features

2. 4. Output Data Specifications

3. Other Functions

3. 1. Geomagnetic Calibration Algorithm (Only used in 9-axis mode)

3. 1. 1. Architecture

3. 1. 2. Initial Calibration Operations:

3. 1. 3. Common Geomagnetic Interference Classification

3. 1. 4. Geomagnetic Interference and Countermeasures

3. 1. 5. Precautions for Using Geomagnetism

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1. CH10X Introduction

1.1. Applications and Advantages

This product series encompasses the CH104 and CH108 Inertial Measurement Units (IMUs), engineered to precisely capture pitch, roll, yaw, and other attitude
parameters of mobile devices. These IMUs are adeptly suited for a spectrum of applications spanning land, maritime, and aerial domains. They seamlessly
integrate into various systems, complementing navigation solutions such as Laser Radar (Lidar) and Vision (Camera), thereby augmenting device navigation
accuracy while reducing reliance on external reference objects.

Key application scenarios include

Land: Deployment on smart mobile platforms (e.g., AGV/AMR), unmanned trucks, patrol robots, smart agricultural machinery, building detection systems,
and machine monitoring setups.

Maritime: Utilization in ship navigation and positioning systems, wave detection mechanisms, and orientation detection setups.

Aerial: Integration into flight navigation and positioning systems, UAV balance systems, and related aerial navigation applications.

Streamlined Manufacturing Process

Incorporating automated batch calibration and testing production lines to ensure consistent quality across mass production. Utilizing industrial-grade
calibration machinery to address error factors including zero offset, scale factor, cross-axis sensitivity, and temperature variations, all calibrated meticulously
at the factory.

Exceptional Performance Standards

Demonstrating bias stability of 1.76°/h and an attitude angle accuracy of 0.1°.

Versatile Deployment in Varied Environments

Engineered with an IP68 waterproof design and CE certification, ensuring robustness for high-intensity outdoor automation applications.

Compact dimensions measuring 48 X 47.2 X 22.5 mm.

Robust and dependable waterproof plug and cable.

1.2. ANROT-IMU UI Assistant

The ANROT-IMU UI tool is a PC-side software application developed by our team to facilitate efficient product evaluation. It is compatible with both Windows and
Linux x64 operating systems. This versatile tool provides several essential functions, including:

1. Data Display: Visualize sensor data in real-time.

2. Recording: Capture and store data for further analysis.

3. Product Parameter Configuration: Configure IMU parameters to suit specific use cases.

Download and use now: URL

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1.3. Product Import Guide
Industry-standard communication protocols can vary significantly among manufacturers, creating a substantial entry barrier for users. To address this challenge,
we offer comprehensive guidelines to assist customers across diverse fields. By following these guidelines, you can seamlessly select our product and seamlessly
integrate it into your applications.

1.3.1. Select the model

Specify your application

Evaluate your application based on the following instructions:

Evaluate hardware dimensions for your system

> Hardware dimensions of CH10X

Choose RS-232 or USB or CAN electrical interface

> Electrical specifications of CH10X series

Application Scenarios

The Ch10X series, which includes CH104 and CH108, shares identical design and hardware specifications. The key distinction lies in their fusion performance,
which significantly impacts the accuracy of output data.

1. CH104:

Accuracy: Normal

Application Scenarios: Well-suited for machine monitoring, vehicles, agricultural robots, and automatic robots.

2. CH108:

Accuracy: High

Application Scenarios: Ideal for professional precision-level applications, including robot applications, acceleration measurements, and angular velocity
measurements that demand stringent specifications. CH108 offers superior accuracy and reduced error compared to CH104.

> Compare the performence

1.3.2. Purchase

Select your preferred sensor model and connection cable (CH10X series sensors need to select the corresponding connection cable according to the electrical
interface), and request a quotation from us.

> Find CH10X series models

If you need assistance with evaluation and selection, please feel free to ask.

Inquire now: sltech@ms28.hinet.net

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1.3.3. Connection method

Refer to the wiring diagram depending on the electrical interface and cable you choose. Please be careful of your wiring. Although there is power reverse
connection protection, incorrectly connecting other pins may still cause damage.

>View wiring diagram

Once connected, the sensor starts transmitting data.

1.3.4. Start using the sensor

Quick Start

You can directly download the ANROT-IMU UI tool. As long as you have a Windows/Linux x64 device, you can use it to quickly start recording, observing, and
setting sensors.

>View ANROT-IMU UI tool

Platform integration requirements

If you wish to integrate it into platforms like ROS, ROS2, Raspberry Pi, etc., or utilize C and Python languages for receiving and unpacking sensor values across
diverse platforms, we offer development examples for your implementation. Please refer directly to the online link provided below:

> View development SDK

Configuration instructions

You can utilize the serial port tool to establish a connection with the COM PORT, enabling you to send commands for configuring sensor functions and receiving
packet data from the sensor through the serial port.

Regardless of whether you employ a UI tool or a serial port tool to communicate with the module, you can utilize these configuration commands to adjust the
sensor settings to better align with your specific usage scenario.

> View configuration manual

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1.4. Order model instruction

Part Number Name Specification

CH104 IMU/VRU/AHRS module 6DoF + geomagnetic, 4-array noise reduction, 2.5°/h

CH108 IMU/VRU/AHRS module 6DoF + geomagnetic, 8-array noise reduction, 1.76°/h

You can choose RS232-USB connection cable for the RS-232 output version, which has a built-in conversion chip and can be connected to the product via
computer USB.

Cables:

Part Number Specification Remark

M8-A to DB9 CAN

M8-A Code 6Pin to DB9 and CAN with external power without synchronous.
EX

M8-A to DB9 M8-A Code 6Pin to DB9 with internal power, Pin 9 = Vcc.

Built-in USB to RS 232 chip or USB to UART (TTL) chip, the chip model is cp2102ncp2102n, users can download
M8-A to USB
the driver by themselves.

Inquire now: sltech@ms28.hinet.net

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2. Specifications and Performance

2.1. Hardware Specifications

2.1.1. Dimensions and Installation

Parameters CH10X Series

Dimensions 48 X 47.2 X 22.5 mm

Fixing screws 4 X M3 (the screw length needs to be determined according to the user's usage scenario)

Weight <75g

Shell material Aluminum

Working temperature -40-85℃

Storage temperature -40-85℃

Impact Resistance 2000g

Waterproof rating IP68

All marking units are in mm. It is recommended that users install the module horizontally and tighten the screws to prevent loosening from affecting the
measurement, as shown in the figure below:

For other installation methods, please refer to the "Configuration Manual", "Coordinate System Rotation" chapter

Installation coordinate system definition

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The installation coordinate system for the CH10X module follows the Euler angle rotation sequence of East-North-Up-312. Let’s break down the definition:

1. Rotation around the Z-axis (Yaw):

Yaw angle (ψ) ranges from -180° to 180°.

Represents the rotation about the vertical axis (Z-axis).

2. Rotation around the X-axis (Pitch):

Pitch angle (θ) ranges from -90° to 90°.

Describes the rotation about the lateral axis (X-axis).

3. Rotation around the Y-axis (Roll):

Roll angle (ϕ) ranges from -180° to 180°.

Corresponds to the rotation about the longitudinal axis (Y-axis).

Imagine the module as an aircraft: consider the positive direction of the Y-axis as the orientation of the aircraft’s nose. When the sensor frame aligns with the
inertial frame, the ideal Euler angle outputs are as follows:

Pitch = 0°

Roll = 0°

Yaw = 0°

2.1.2. Pin Definitions

The CH10X module is available in both RS-232 and CAN interfaces. Additionally, we offer a USB version, which comprises the RS-232 module connected via a USB
cable. In this configuration, the RS-232 signal is seamlessly converted into a USB signal at the USB interface.

Important Note:

RS-232 and CAN interfaces are not compatible with each other due to their distinct electrical characteristics.

Front View

Number Color Name Type RS-232

1 RED VCC Power Vin+

2 Black GND Power GND

3 Yellow CAN H AIOr CAN High

4 Green CAN L AIO CAN Low

5 White TXD O RS-232 signal send

6 Brown RXD I RS-232 signal receive

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2.1.3. Wiring Diagram

Item Specification

Material PUR

Length 1.5 meters

Part Number Specification

M8-A to DB9 CAN EX M8-A Code 6Pin to DB9 and CAN with external power without synchronous.

M8-A to DB9 M8-A Code 6Pin to DB9 with internal power, Pin 9 = Vcc.

M8-A to USB Built-in USB to RS 232 chip, the chip model is cp2102n, users can download the driver by themselves.

M8-A to DB9 CAN EX

M8-A to DB9, Pin 9 = Vcc

M8-A to USB

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2.2. Electrical Specifications

2.2.1. Common parameters for RS-232 and CAN

Parameter Condition Min Type Max Unit Note

RS-232 5 24 36 Compliant with EMC directive 2014/30/EU and equipped with power
Input voltage CAN 7 24 36 V reverse polarity protection
USB 4.9 5 5.5 as well as short circuit protection.

Power consumption <0.6 W

Operating
-40 25 85 ℃
temperature

Startup time denotes the duration from shutdown to when the system
Startup time 1 s begins outpuing valid data.
The module must remain stationary throughout this period.

2.2.2. RS-232

Parameters Description Notes

Baud rate 9600/115200/230400/460800/921600 bps (default is 115200)

Protocol Private IMU91 Binary Protocol

Frame rate 5/10/50/100/250/500Hz (default 100)

Signal input voltage -15V to 15V

Signal output voltage ±5.4V Typical value

2.2.3. CAN

Parameters Description Remarks

Baud rate 125K/250K/500K/1000K (default 500K)

Protocol CANopen

Frame rate 5/10/50/100/200Hz (default 100)

CAN H: 2.75 to 4.5V Typical value 3.5V

Output voltage
CAN L: 0.5 to 2.25V Typical value 1.5V

Differential output 1.5 to 3V

Input voltage 0.9 to 9V

Differential input threshold 0.5 to 0.9V

Internal 120Ω resistor None

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2.3. Software Features
We developd Extended Kalman Filtering (EKF) and IMU noise dynamic analysis techniques to achieve high-precision attitude angles even under high-dynamic
conditions, reducing yaw angle drift. The algorithm architecture primarily comprises four main components: IMU, Fusion State, Fusion Algorithm, and Data
Output.

Embedded computing system

The sensor subsystem within the CH10X series serves a crucial role in calibrating and compensating raw sensor data, ensuring optimal performance across diverse
user scenarios. Here are the key components and functionalities:

1. Raw Data Collection:

The microcontroller unit (MCU) acquires raw data from the accelerometer, gyroscope, and magnetometer fields at the highest available sampling
frequency.

2. Low-Pass Filtering Solutions:

The CH10X series offers a range of low-pass filtering options to accommodate various user scenarios effectively.

3. Factory Calibration:

During production, each MEMS IMU (Inertial Measurement Unit) exhibits common errors such as bias, scale factor variations, and cross-axis effects.
Additionally, temperature fluctuations impact performance.

To mitigate these errors, we employ proprietary equipment during manufacturing and testing, ensuring optimal calibration.

4. Coordinate Transformation:

While we recommend horizontal installation, we recognize that real-world scenarios may require different orientations.

The sensor’s coordinate system can be rotated to align with user-specific installation requirements. Detailed instructions are available in the user
configuration section.

5. Online Compensation:

Upon power-up, users should maintain a static state for one second. During this time, the product automatically collects and calculates the current gyro
bias state.

This compensation enhances gyroscope data accuracy.

6. Geomagnetic Field Real-Time Calibration:

Our online calibration process supports automatic magnetometer field calibration. Refer to the Magnetometer Calibration section in the Instruction and
Programming Manual for specifics.

7. Kalman Fusion Algorithm:

The processor employs the Extended Kalman Algorithm to perform quaternion-based attitude calculations.

Using raw data from the accelerometer, gyroscope, and magnetometer, data fusion yields quaternion representations, Euler angles, and other essential
fusion information.

Data output type Data content

Raw data Acceleration, Angular Velocity, Temperature, ID, etc.

Fusion data Euler angles (pitch, roll, yaw), Quaternions

8. Dynamic analysis of motion state

Based on the information provided by sensors like the accelerometer and gyroscope, it is possible to indirectly analyze the current motion state of the
carrier, which can be used to adjust the Kalman fusion state for optimal module performance.

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2.4. Output Data Specifications
Attitude angle range

Attitude angle range

Pitch ±90°

Roll ±180°

Heading (Yaw) ±180°

Parameter Specification

Pitch ±90°

Roll ±180°

Heading (Yaw) ±180°

Resolution 0.01°

Attitude angle accuracy

Parameter CH104 CH108

Pitch/Roll (static) 0.1° 0.1°

Pitch/Roll (Dynamic) 0.1° 0.1°

Static drift of heading angle (6DOF)① <0.12°/h <0.12°/h

Dynamic drift error of heading angle (6DOF)② 5° 3°

Dynamic drift error of heading angle (with geomagnetic assist, 9-axis mode)③ 2° 2°

Rotation error of heading angle (6DOF)④ <0.8° <0.8°

① Measured when the module is absolutely stationary at 25℃ for 1 hour

② Measured when the module moves on an indoor cleaning robot for 1 hour, room temperature is 25℃, 1
③ After geomagnetic calibration, measured at room temperature 25°C without magnetic field interference around, the product needs to be configured in 9-axis
mode
④ The turntable rotates continuously for 10 turns, 100°/s, the cumulative error of the heading angle, room temperature is 25℃

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Gyro

Parameter Condition Product Min Type Max Unit Note

Range 2000 °/s

Resolution 16bit

Proportional CH104 <300 350 Rotate on the turntable 10 times, and average the
100°/s ppm
factor CH108 <300 300 measurement

Best-fit straight
Maximum deviation from the best-fit straight line
Nonlinearity line -0.05 - 0.05 %Fs
within the specified range
Fs=2000°/s

3dB bandwidth 116 Hz

Sampling rate 1000 Hz

CH104 2.5
Bias instability Allan Variance °/h Average value of test sample
CH108 1.76

Offset CH104 0.05

Allan Variance °/s Test sample average
repeatability CH108 0.03

Angle random CH104 0.3

Allan Variance °/√h Test sample average
walk CH108 0.21

Z 0.015 0.035
Zero bias within Measured on the laboratory thermostat turntable,
Y 0.05 0.18 °/s
-40 to 85℃ the temperature rise slope is less than 5℃/min
X 0.03 0.08

Gyroscope Allan variance.

Left:CH104 / Right:CH0108

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Accelerometer Parameters

Parameter Condition Product Min Type Max Unit Note

Measuring range 12 g 1g = 1x gravity

Resolution 16bit

Initial zero offset 10 mg

Best-fit straight line Maximum deviation from the best-fit straight line
Nonlinearity 0.5 %Fs
Fs=3g within the specified range

3dB bandwidth 145 Hz

Sampling rate 1600 Hz

CH104 30
Zero bias stability Allan Variance ug Average value of test samples
CH108 21

Zero bias CH104 1.5

Allan Variance mg Average value of test samples
repeatability CH108 0.6

CH104 0.04
Random walk Allan Variance m/s√h Average value of test samples
CH108 0.028

Zero bias within Measured on the laboratory thermostat turntable,

1 2.5 mg
-40 to 85℃ the temperature rise slope is less than 5℃/min

Accelerometer Allan variance

Left:CH104 / Right:CH0108

Magnetic sensor parameters

Parameters CH104/CH108

Measuring range ±8G(Gauss)

Nonlinearity ±0.1%

Resolution 0.25mG

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3. Other Functions

3.1. Geomagnetic Calibration Algorithm (Only used in 9-axis mode)

3.1.1. Architecture

The CH10X module incorporates an active geomagnetic calibration system that operates seamlessly without user operation. Here’s how it works:

1. Automatic Data Collection:

In the background, the system continuously collects geomagnetic field data over time.

It analyzes and compares this data, eliminating any abnormal readings.

Once sufficient data is acquired, the system attempts geomagnetic calibration.

2. User Intervention Not Required:

When using the geomagnetic assist (9-axis) mode, calibration occurs automatically.

However, the module provides an interface for users to check the current calibration status.

3. Calibration Premise:

The module must undergo sufficient attitude changes and maintain these positions for a specific duration.

This allows the internal calibration system to collect geomagnetic field information across different postures.

4. Avoid Static State:

Geomagnetic calibration cannot be performed when the module remains static.

3.1.2. Initial Calibration Operations:

1. Check for Interference:

Assess the surroundings for magnetic field interference.

Common sources include iron-containing tables, computers, motors, and mobile phones.

Ideally, take the module outdoors. If not possible, keep it at least 0.5 meters away from interference sources.

2. Rotation Procedure:

Rotate the module within a small range (no specific position, just rotation).

Ensure each axis completes at least 360° of rotation.

This process typically completes the calibration.

If calibration fails, it indicates significant geomagnetic interference in the vicinity.

3. Installation Location Change:

If the customer relocates the module after the initial calibration (for instance, if it was calibrated separately but is now installed on the target device),
recalibration is necessary.

Ensure that the target device accompanies you during recalibration to account for the new installation context.

4. Viewing Geomagnetic Calibration Parameters:

Send LOG MAGCONFIG command to access and review the geomagnetic calibration parameters. This command provides essential information related
to the calibration process.

1 MAG BIS:
2 0.029
3 -22.062
4 11.926

If MAG BIS is a 3x1 vector that is not all 0, it means that the geomagnetic calibration is successful. If MAG BIS is all 0, it means that the geomagnetic calibration is
unsuccessful. Please return to 1 and start the calibration step again.

3.1.3. Common Geomagnetic Interference Classification

Geomagnetic interference can be divided into space magnetic field interference and magnetic field interference in the sensor coordinate system, as shown in the
following figure:

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Space Magnetic Field Interference: Understanding Fixed Geomagnetic Disturbances

Space magnetic field interference remains constant in the world coordinate system and does not vary with the sensor’s posture. Let’s delve into the details:

1. Interference Sources:

These sources are fixed and do not move alongside the sensor.

Examples include:

Fixed geomagnetic interference sources.

Furniture.

Household appliances.

Connecting wires.

Steel structures within buildings.

2. Impact:

Space magnetic field interference affects the sensor’s accuracy.

These disturbances persist regardless of the sensor’s orientation.

3. Indoor Scenario:

In typical indoor environments, various fixed interference sources contribute to the overall magnetic field distribution.

The accuracy of geomagnetic measurements depends on the degree of distortion caused by these fixed sources.

3.1.4. Geomagnetic Interference and Countermeasures

1. Space Magnetic Field Interference (Uneven Environmental Fields):

Impact

Regardless of sensor calibration, spatial magnetic fields (including uneven environmental fields) cause distortion in the geomagnetic field.

Incorrect geomagnetic compensation results in inaccurate heading angles.

This challenge is particularly pronounced in indoor environments.

Countermasure

Avoidance: Efforts should focus on minimizing exposure to such interference sources.

2. Interference in Sensor Coordinate System (Posture-Dependent Interference):

Definition

Interference sources move in tandem with the sensor’s motion.

These sources (e.g., PCB boards, instruments) are fixed alongside the module and behave as part of the same rigid body as the magnetic sensor.

Impact

Such interference introduces hard magnetic or soft magnetic effects to the sensor.

These effects can disrupt accurate geomagnetic measurements.

Countermeasure

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 Geomagnetic Calibration

Perform calibration specifically to address this type of interference.

Calibration algorithms effectively eliminate unwanted effects caused by fixed interference sources.

3.1.5. Precautions for Using Geomagnetism

When operating in indoor environments, magnetic interference becomes particularly pronounced. Unfortunately, space magnetic interference cannot be entirely
eliminated through calibration. Although the module incorporates a built-in homogeneous magnetic field detection and shielding mechanism for indoor use, the
accuracy of the geomagnetic assist (9-axis) mode heading angle heavily relies on the degree of indoor magnetic field distortion.

Here are some key considerations:

1. Indoor Magnetic Field Environment:

If the indoor magnetic field environment is unfavorable (e.g., near computers, laboratories, workshops, or underground garages), even after calibration,
the heading angle accuracy may not match that of the 6-axis mode. Large angle errors could occur.

2. Fixed Magnetic Field Interference:

The module’s automatic geomagnetic calibration system effectively handles fixed magnetic field interference that is present during installation.

However, if magnetic field interference exists in the installation environment, it must be addressed:

Fix the interference source.

Ensure that the distance between the interference magnetic field and the module remains constant post-installation.

Example: If the module is installed on a metallic robot, both the robot and the module should be rotated and calibrated together.

Avoid separating the module from the robot during use to prevent relative displacement. If separation occurs, recalibration is necessary.

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