LY-01
IMU Module Specification Longyue-LY01 Document Version | Revision Description | Revision Date |---|--- V1.0 | Original Version | 2023-10-10 I. Introduction The Longyue-LY01 is a 6-axis inertial sensor module integrating stable algorithms to effectively reduce angle errors accumulated during long-term operation of the inertial sensor, providing precise heading angle data for customers. The module supports UART and IIC interfaces, compatible with various embedded systems. It is suitable for navigation, route planning, mapping functions, and applications such as pool robots, 扫地 robots, and service robots. II. Features Compact inertial measurement unit based on MEMS sensors Integrated high-precision 3-axis gyroscope and 3-axis accelerometer Real-time output of angular rate and acceleration High deviation stability under environmental temperature changes Low noise and low power consumption Low host configuration requirements High PCB integration III. Specifications Manufacturer: XUEYU TECH Shenzhen Xueyu Technology Electronics Co., Ltd. Parameter Value Dimensions 15.24mm x 12.96mm x 2.4mm Euler Angle Resolution 0.01˚ (Max.) Output Angle Range Roll(X): ±90° Pitch(Y): ±180° Heading(Z): ±180° Heading Angle Drift* 10˚/hr (Typ.) Gyroscope Range ±250 dps, 16 bits Accelerometer Range ±2 g, 16 bits Output Frequency ~100Hz Input Voltage 3.3 ~ 5.5V Operating Current ≤11mA Operating Temperature -20 ~ +70˚C Storage Temperature -40 ~ +85˚C IV. Reference Coordinate System (Diagram omitted; maintain original figure in the translated document) V. Hardware Connection Schematic (Diagram omitted; maintain original figure in the translated document) VI. Communication Protocol The module’s UART interface is configured with 115200 baud rate, 8-bit data length, no parity, and 1-bit stop bit. After startup, the module sends data packets at ~100Hz. Each packet contains 22 bytes with the following format: Field Bytes Description Header 2 Fixed value: 0xAA55 Index 1 Frame sequence number (0x00~0xFF, increments by 1 per frame) Roll 2 Roll angle data (LSB first, ×100, unit: degree) Pitch 2 Pitch angle data (LSB first, ×100, unit: degree) Yaw 2 Yaw angle data (LSB first, ×100, unit: degree) RateX 2 X-axis angular velocity (LSB first, ×100, unit: degree/sec) RateY 2 Y-axis angular velocity (LSB first, ×100, unit: degree/sec) RateZ 2 Z-axis angular velocity (LSB first, ×100, unit: degree/sec) AccX 2 X-axis acceleration (LSB first, ×1000, unit: g) AccY 2 Y-axis acceleration (LSB first, ×1000, unit: g) AccZ 2 Z-axis acceleration (LSB first, ×1000, unit: g) Checksum 1 Sum of all bytes from Index to AccZ VII. Pinout Pin Signal Direction Description 1 NC - No connection 2 RX Input Module UART input 3 TX Output Module UART output 4 GND - Ground 5 VDD - Power supply (3.3V ~ 5.5V) 6 GND - Ground 7 GND - Ground 8 NC - No connection 9 NC - No connection 10 NRST Input Module reset (active low) VIII. Installation Guidelines Install the module as far away as possible from heat sources and vibration sources. Avoid placing screw holes near the module, as the gyroscope is sensitive to stress. IX. Soldering Instructions Reflow soldering temperature profile: (Diagram omitted; maintain original figure in the translated document) X. Software Setup After powering on, keep the module stationary for 3–5 seconds for self-check, self-test, and self-calibration. To achieve optimal accuracy during operation, it is recommended to pause the robot for ≥3 seconds (without rotation or displacement) every ≤3 minutes. XUEYU TECH Shenzhen Xueyu Technology Electronics Co., Ltd. (Contact information omitted; maintain original format in the translated document)
