U4200 series is an IMU/VRU/AHRS sensor composed of tactical-grade MEMS-IMU and magnetometer. It is equipped with independently developed adaptive extended Kalman filtering, IMU noise dynamic analysis algorithm, and carrier motion state analysis algorithm, which can meet the accuracy of attitude angles under high dynamics and reduce the drift of heading angles.
Each sensor undergoes precise compensation before leaving the factory, including temperature, zero bias, scale factor, and cross-axis.
U4200 series sensors perform data transmission through various interfaces such as RS232, RS422, and CAN, and have rich user configurations.
U4200 series can be synchronized with the system through external triggering, and can also achieve time alignment with external systems such as radars and cameras through the synchronous output function.
The multifunctional upper computer (GUI) can help quickly evaluate the product, and these functions include but are not limited to module configuration, data display, firmware upgrade, data recording, etc.
零件编号 :
U4200-B订单（最小起订量） :
1leading time :
5Product Series and Parameters
| Attitude Precision | Condition | U4200-B | Unit |
| Pitch (±90°) /Roll (±180°) (static) | 0.05(nom), 0.07(max) | ° | |
| Pitch (±90°) /Roll (±180°) (dynamic) | 0.05(nom) 0.07(max) | ||
| Yaw (±180°) static drift 2hrs (6DOF) ① | 0.1 | ||
| Magnetic assist (AHRS) ② | 2(nom), 3(max) | ||
| Yaw rotation error (6DOF) (rotation under 100°/s) ③ | <0.5(nom), 1(max) | ||
| Note: ① Module horizontally stationary for 2 hours. ② After geomagnetic calibration, the product needs to be configured in AHRS mode when there is no magnetic field interference in the surrounding area. ③ The turntable rotates continuously for 10 turns, and the heading angle accumulates error. |
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| Gyroscope | Condition | U4200-B | Unit |
| Measurement range | ±300 | °/s | |
| Resolution | 16 | bit | |
| Linear error① | 300°/s -40℃-110℃ | ±0.15(nom), ±0.3(max) | °/s |
| 100°/s -40℃-110℃ | ±0.01(nom), ±0.04(max) | ||
| Cross-axis error | ±0.15 | % | |
| 3dB Bandwidth | 235(nom), 250(max) | Hz | |
| Sampling Rate | 1000 | Hz | |
| Noise density | XY: 0.0004 Z: 0.0006 |
°/s/√Hz | |
| Zero bias instability② | Allan, 1σ | 0.3 | °/h |
| Zero bias stability | 10s, 1σ | 0.5 | °/h |
| Zero bias repeatability | 1σ | 0.8 | °/h |
| Angle random walk③ | Allan 1σ | XY: 0.015 Z: 0.025 |
°/√h |
| Full temperature zero bias | -40-85℃ | XY: 0.25 Z: 0.03 |
°/s |
| Accelerometer sensitivity (All 3 axis) | For constant gravity input | 0.00075 | °/s/g |
| Notes: ①: Linear error is the maximum deviation at a specified range from the best-fit line determined by the measured values. The best-fit linear model uses the least squares method for linear fitting. ②: The value obtained by dividing the minimum value of the Allan variance by 0.664. During measurement, a 13 Hz low-pass filter setting and a 200 Hz sampling rate are used, and there should be a 15-minute stabilization time before starting data collection to ensure complete thermal stability. ③: Angular random walk is a white noise term estimated from the Allan deviation at a time constant τ = 1 second. |
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| Accelerometer | Condition | U4200-B | Unit |
| Measurement range | 16 | g | |
| Resolution | 16 | bit | |
| Zero bias | 2 | mg | |
| Linear error① | 300°/s -40℃-110℃ | ±3(nom), ±15(max) | mg |
| 100°/s -40℃-110℃ | ±0.5(nom), ±1(max) | ||
| Cross-axis error | ±0.15 | % | |
| 3dB Bandwidth | 210(nom), 235(max) | Hz | |
| Sampling Rate | 1000 | Hz | |
| Noise density | 0.0008 | m/s2√Hz | |
| Zero bias instability② | Allan, 1σ | 10 | ug |
| Zero bias stability | 10s, 1σ | 30 | ug |
| Zero bias repeatability | 1σ | 40 | ug |
| Angle random walk③ | Allan 1σ | 0.03 | m/s/√h |
| Full temperature zero bias | -40-85℃ | 0.5(nom), 2(max) | mg |
| Notes: ①: Linear error is the maximum deviation at a specified range from the best-fit line determined by the measured values. The best-fit linear model uses the least squares method for linear fitting. ②: The value obtained by dividing the minimum value of the Allan variance by 0.664. During measurement, a 13 Hz low-pass filter setting and a 200 Hz sampling rate are used, and there should be a 15-minute stabilization time before starting data collection to ensure complete thermal stability. ③: Angular random walk is a white noise term estimated from the Allan deviation at a time constant τ = 1 second. |
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| Magnetometer | Condition | U4200-B | Unit |
| Range | ±20 | Gauss | |
| Sampling rate | 200 | HZ | |
| Linearity (Best fitting straight line Fs=2G) | 0.1 | Fs% | |
| Temperature Sensor | Condition | U4200-B | Unit |
| Range | -40 ~ +85 | ℃ | |
| Offset error | ±1 | K | |
| Mechanical/Environment | U4200-A / U4200-B | Unit | |
| Power supply | 4.8 ~ 36 | V | |
| Power consumption | 400 | mW | |
| Working temperature | -125 | ℃ | |
| Starting time① | 2 | s | |
| Size | 44.8*38.6*18.5 | mm | |
| Weight | 55 | g | |
| Shell material and process | Aluminum alloy CNC | ||
| Assembling screws | M3 | ||
| Anti-Vibration | 1.0mm(10Hz-58Hz) &≤20g(58Hz-600Hz) | ||
| Shock (duration <1ms) | 2000 | g | |
| IP grade | IP68 Anti-water | ||
| Drop test | Free fall 3 times on a 75cm high experimental platform | ||
| Temperature shock | Raise the temperature from -40 to 85 ℃ within 1h, 5 times | ||
| Notes: ① Startup time refers to the time it takes for the system to shut down and output valid data. During this period, the module should be kept stationary |
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| Interface | Parameters | Condition | Min | Normal | Max | Unit |
| RS232 | Baud-rate① | 9600 | 115200 | 921600 | bps | |
| Starting bits | 1 | bit | ||||
| Data length | 8 | bits | ||||
| Stop bit | 1 | bit | ||||
| Checksum | None | bit | ||||
| Output framerate② | 0 | 100 | 1000 | Hz | ||
| Input impedance | RS-232 | 3 | 5 | 7 | kΩ | |
| Output impedance | 300 | 10M | Ω | |||
| CAN | Baud-rate③ | 125 | 500 | 1000 | kbps | |
| Output framerate④ | 5 | 100 | 200 | Hz | ||
| Input impedance⑤ | with 120 Ω resistor | 120 | Ω | |||
| without 120 Ω resistor | 19 | 30 | 52 | kΩ | ||
| RS422 | Baud-rate | 9600 | 115200 | 921600 | bps | |
| Starting bits | 1 | bit | ||||
| Data length | 8 | bits | ||||
| Stop bit | 1 | bit | ||||
| Checksum | None | bit | ||||
| Output Frame Rate | 0 | 100 | Hz | |||
| Input impedance⑤ | with 120 Ω resistor | 120 | Ω | |||
| without 120 Ω resistor | 48 | kΩ | ||||
| Trigger Pin | Logic Voltage⑥ | High | 2 | V | ||
| Low | 0.6 | V | ||||
| Delay | From trigger to data transmission | 800 | us | |||
| Notes: ① If modifications are required, please refer to the instruction and programming manual. ② The sensor supports data output at 1, 5, 10, 50, 200, 250, 500, and 1000 Hz. ③ If modifications are required, please refer to the instruction and programming manual. ④ The sensor supports 5, 10, 50, 100, and 200 Hz data output. ⑤ By default, there is no 120 Ω resistor connected ⑥ Please refer to the synchronization function chapter and instruction and programming manual for triggering timing and configuration. |
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FAQ
Q1. What is the U4200 used for?
U4200 is a high precision MEMS IMU / VRU / AHRS sensor designed for attitude reference, trajectory control, platform stabilization, underground instruments, low-speed unmanned robots, precision instruments, and construction machinery.
Q2. What interfaces does the U4200 support?
The U4200 supports RS232, RS422, and CAN communication interfaces, with rich user configuration options for different system integrations.
Q3. What communication protocols are available?
The sensor supports multiple protocols including binary protocol, CANopen, Modbus, and the CAN interface also supports J1939.
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