KT-EX6-1 INERTIAL MEASUREMENT UNIT
FEATURES
• Miniature package.
• Low noise.
• Low bias instability.
• Excellent performance in vibration and shock environments.
• 9 axes offered in same package.
• Electronically calibrated axis alignment.
• 0.05°/hr in-run bias stability 0.02°/√hr angular random walk 0.02% nonlinearity.
• Triaxial, digital accelerometer, High stability accelerometers and inclinometers.
• Single-supply operation: 4.5 V to 5.5 V.
• 2000 g shock survivability.
• Operating temperature range: -45°C to +85°C.
GENERAL DESCRIPTION
The KT-EX6-1 is a Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU) designed to meet the needs of a range of applications across various markets including agriculture, AUVs, industrial equipment, robotics, survey/mapping, stabilized platforms, transportation, UAVs, and UGVs. With an industry standard communication interface, the KT-EX6-1 is easily integrated into the variety of architectures that these applications present. The extremelysmall size, light weight, and low power make the KT-EX6-1 ideal for most applications.
The KT-EX6-1 includes MEMS gyroscopes , accelerometers and inclinometers. In addition, the KT- EX6-1employs an internal environmental isolation system to attenuate unwanted inputs commonly encountered in real world applications. The internal isolation and other proprietary design features ensure the KT-EX6-1is rugged enough to meet the needs of the most demanding users.
APPLICATIONS
• survey/mapping
• Platform stabilization and control
• Navigation
• Instrumentation
• Robotics
SPECIFICATIONS
TC = 25°C, VDD = 5.0 V, angular rate = 0°/sec, dynamic range = ±400°/sec, ± 1 g, unless otherwise noted.
General
Table 1 Specifications, general
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| GENERAL |
|
|
|
| POWER SUPPLY |
|
4.5 |
5 |
5.5 |
V |
| Power consumption1 |
|
|
1.2 |
2 |
W |
| Start-Up time after Power-On |
|
|
1 |
|
s |
| RS4222 |
|
|
|
|
|
| Start Bit |
|
|
1 |
|
bit |
| Data Length |
|
|
8 |
|
bits |
| Parity |
|
|
NONE |
|
|
| Stop Bits |
|
|
1 |
|
bit |
| Input resistance |
|
|
120 |
|
Ω |
EXTERNAL TRIGGER (ExtTrig
PIN) |
|
|
|
|
|
| Logic levels |
“high” |
2.3 |
|
|
V |
TIME OF VALIDITY (TOV PIN) |
“low” |
|
|
0.6 |
V |
| VOH |
3.3V logic: IOH = 8mA |
3.12 |
|
|
V |
| |
3.3V logic: IOH = 20mA |
2.84 |
|
|
V |
| VOL |
IOL = 8 mA |
|
|
0.16 |
V |
| TOV active level |
|
|
“low” |
|
|
| CHASSIS |
|
|
|
|
|
| Isolation resistance chassis to GND (pin 15) |
500VDC |
100 |
|
|
MΩ |
1 Supply current transients can reach 700mA during initial start up or reset recovery, ref Figure 90.
2 Other values can be configured.
400°/s Gyroscope (KT-EX6-1-x)
Table 2 Specifications, gyros (range 400°/s, KT-EX6-1-x)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| GYROSCOPES |
|
|
|
|
|
| Dynamic Range |
|
|
±400 |
|
°/sec |
| Repeatability1 |
−45°C ≤ TC ≤ +85°C |
|
|
0.01 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, FS = 400°/sec |
|
0.02 |
|
% of FS |
| Bias Repeatability1, 2 |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
1 |
|
°/h |
| In-Run Bias Stability |
1 σ |
|
0.3 |
|
°/hr |
| Angular Random Walk |
1 σ |
|
0.15 |
|
°/√hr |
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±0.15 |
|
°/h/°C |
| Linear Acceleration Effect on Bias |
Any axis, 1 σ |
|
1 |
|
°/h/g |
| Output Noise |
No filtering |
|
0.1 |
|
°/sec rms |
| 3 dB Bandwidth |
|
|
250 |
|
Hz |
| Sensor Resonant Frequency |
|
11.5 |
12 |
12.5 |
kHz |
1 The repeatability specifications represent analytical projections based on the following drift contributions and conditions: temperature hysteresis (−45°C to +85°C), electronics drift (high temperature operating life test: +110°C, 500 hours), drift from temperature cycling, rate random walk and broadband noise.
2 Bias repeatability describes a long-term behavior over a variety of conditions. Short-term repeatability relates to the in-run bias stability and noise density specifications.
400°/s Gyroscope (KT-EX6-1A-x)
Table 3 Specifications, gyros (range 400°/s,KT-EX6-1A-x)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| GYROSCOPES |
|
|
|
|
|
| Dynamic Range |
|
|
±400 |
|
°/sec |
| Repeatability1 |
−45°C ≤ TC ≤ +85°C |
|
|
0.01 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, FS = 400°/sec |
|
0.02 |
|
% of FS |
| Bias Repeatability1, 2 |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
0.5 |
|
°/h |
| In-Run Bias Stability |
1 σ |
|
0.1 |
|
°/hr |
| Angular Random Walk |
1 σ |
|
0.05 |
|
°/√hr |
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±0.1 |
|
°/h/°C |
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| Linear Acceleration Effect on Bias |
Any axis, 1 σ |
|
1 |
|
°/h/g |
|
| Output Noise |
No filtering |
|
0.1 |
|
°/sec rms |
|
| 3 dB Bandwidth |
|
|
250 |
|
Hz |
|
| Sensor Resonant Frequency |
|
11.5 |
12 |
12.5 |
kHz |
|
400°/s Gyroscope (KT-EX6-1B-x)
Table 4 Specifications, gyros (range 400°/s,KT-EX6-1B-x)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| GYROSCOPES |
|
|
|
|
|
| Dynamic Range |
|
|
±400 |
|
°/sec |
| Repeatability1 |
−45°C ≤ TC ≤ +85°C |
|
|
0.01 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, FS = 400°/sec |
|
0.02 |
|
% of FS |
| Bias Repeatability1, 2 |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
0.3 |
|
°/h |
| In-Run Bias Stability |
1 σ |
|
0.05 |
|
°/hr |
| Angular Random Walk |
1 σ |
|
0.02 |
|
°/√hr |
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±0.05 |
|
°/h/°C |
| Linear Acceleration Effect on Bias |
Any axis, 1 σ |
|
1 |
|
°/h/g |
| Output Noise |
No filtering |
|
0.05 |
|
°/sec rms |
| 3 dB Bandwidth |
|
|
150 |
|
Hz |
| Sensor Resonant Frequency |
|
11.5 |
12 |
12.5 |
kHz |
2000°/s Gyroscope (KT-EX6-1C-x)
Table 5 Specifications, gyros (range 2000°/s, ,KT-EX6-1C-x)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| GYROSCOPES |
|
|
|
|
|
| Dynamic Range |
|
|
±2000 |
|
°/sec |
| Repeatability |
−45°C ≤ TC ≤ +85°C |
|
|
0.01 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, FS = 1000°/sec |
|
0.03 |
|
% of FS |
| Bias Repeatability |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
2 |
|
°/h |
| In-Run Bias Stability |
1 σ |
|
1 |
|
°/hr |
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| Angular Random Walk |
1 σ |
|
0.3 |
|
°/√hr |
|
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±0.3 |
|
°/h/°C |
|
| Linear Acceleration Effect on Bias |
Any axis, 1 σ |
|
2 |
|
°/h/g |
|
| Output Noise |
No filtering |
|
0.2 |
|
°/sec rms |
|
| 3 dB Bandwidth |
|
|
250 |
|
Hz |
|
| Sensor Resonant Frequency |
|
|
12 |
|
kHz |
|
10g Accelerometers(KT-EX6-1y-1)
Table 6 Specifications, accelerometers (10g,KT-EX6-1y-1)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| ACCELEROMETERS |
Each axis |
|
|
|
|
| Dynamic Range |
|
|
±10 |
|
g |
| Repeatability1 |
−45°C ≤ TC ≤ +85°C |
|
|
±0.02 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, ±10 g |
|
0.05 |
|
% of FS |
| Bias Repeatability1, 2 |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
0.1 |
|
mg |
| In-Run Bias Stability |
1 σ |
|
0.01 |
|
mg |
| Velocity Random Walk |
1 σ |
|
0.001 |
|
m/sec/√hr |
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C |
|
±0.025 |
|
mg/°C |
| Output Noise |
No filtering |
|
0.5 |
|
mg rms |
| 3 dB Bandwidth |
|
|
100 |
|
Hz |
| Sensor Resonant Frequency |
|
|
2 |
|
kHz |
1 The repeatability specifications represent analytical projections based on the following drift contributions and conditions: temperature hysteresis (−45°C to +85°C), electronics drift (high temperature operating life test: +110°C, 500 hours), drift from temperature cycling, rate random walk and broadband noise.
2 Bias repeatability describes a long-term behavior over a variety of conditions. Short-term repeatability relates to the in-run bias stability and noise density specifications.
30g Accelerometers(KT-EX6-1y-2)
Table 7 Specifications, accelerometers (30g,KT-EX6-1y-2)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| ACCELEROMETERS |
Each axis |
|
|
|
|
| Dynamic Range |
|
|
±30 |
|
g |
| Repeatability |
−45°C ≤ TC ≤ +85°C |
|
|
±0.02 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
|
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
|
| Nonlinearity |
Best fit straight line, ±30 g |
|
0.1 |
|
% of FS |
|
| Bias Repeatability |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
0.5 |
|
mg |
|
| In-Run Bias Stability |
1 σ |
|
0.05 |
|
mg |
|
| Velocity Random Walk |
1 σ |
|
0.002 |
|
m/sec/√hr |
|
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C |
|
±0.025 |
|
mg/°C |
|
| Output Noise |
No filtering |
|
0.6 |
|
mg rms |
|
| 3 dB Bandwidth |
|
|
100 |
|
Hz |
|
| Sensor Resonant Frequency |
|
|
2 |
|
kHz |
|
50g Accelerometers(KT-EX6-1y-3)
Table 8 Specifications, accelerometers (50g,KT-EX6-1y-3)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| ACCELEROMETERS |
Each axis |
|
|
|
|
| Dynamic Range |
|
|
±50 |
|
g |
| Repeatability |
−45°C ≤ TC ≤ +85°C |
|
|
±0.02 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, ±50 g |
|
0.2 |
|
% of FS |
| Bias Repeatability |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
1 |
|
mg |
| In-Run Bias Stability |
1 σ |
|
0.1 |
|
mg |
| Velocity Random Walk |
1 σ |
|
0.005 |
|
m/sec/√hr |
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C |
|
±0.025 |
|
mg/°C |
| Output Noise |
No filtering |
|
0.8 |
|
mg rms |
| 3 dB Bandwidth |
|
|
100 |
|
Hz |
| Sensor Resonant Frequency |
|
|
2 |
|
kHz |
80g Accelerometers(KT-EX6-1y-4)
Table 9 Specifications, accelerometers (80g,KT-EX6-1y-4)
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| ACCELEROMETERS |
Each axis |
|
|
|
|
| Dynamic Range |
|
|
±80 |
|
g |
| Repeatability |
−45°C ≤ TC ≤ +85°C |
|
|
±0.02 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
|
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
|
| Nonlinearity |
Best fit straight line, ±80 g |
|
0.3 |
|
% of FS |
|
| Bias Repeatability |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
2 |
|
mg |
|
| In-Run Bias Stability |
1 σ |
|
0.2 |
|
mg |
|
| Velocity Random Walk |
1 σ |
|
0.01 |
|
m/sec/√hr |
|
| Bias Temperature Coefficient |
−45°C ≤ TC ≤ +85°C |
|
±0.025 |
|
mg/°C |
|
| Output Noise |
No filtering |
|
0.8 |
|
mg rms |
|
| 3 dB Bandwidth |
|
|
100 |
|
Hz |
|
| Sensor Resonant Frequency |
|
|
2 |
|
kHz |
|
Inclinometers
Table 10 Specifications, inclinometers
| Parameter |
Test Conditions/Comments |
Min |
Typ |
Max |
Unit |
| Inclinometers |
Each axis |
|
|
|
|
| Dynamic Range |
|
|
±1.7 |
|
g |
| Repeatability |
−45°C ≤ TC ≤ +85°C |
|
|
±0.02 |
% |
| Sensitivity Temperature Coefficient |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
±10 |
|
ppm/°C |
| Misalignment |
Axis to axis |
|
±0.05 |
|
Degrees |
| |
Axis to frame (package) |
|
±0.05 |
|
Degrees |
| Nonlinearity |
Best fit straight line, ±1 g |
|
0.05 |
|
% of FS |
| Bias Repeatability |
−45°C ≤ TC ≤ +85°C, 1 σ |
|
1 |
|
mg |
| In-Run Bias Stability |
1 σ |
|
0.05 |
|
mg |
| Velocity Random Walk |
1 σ |
|
0.08 |
|
m/sec/√hr |
| 3 dB Bandwidth |
|
|
17 |
|
Hz |
