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CHR-6dm Attitude and Heading Reference System
Pololu item #: 1253

This product has been discontinued.

This product has been replaced by the CH Robotics UM6-LT Orientation Sensor.

This IMU from CH Robotics is an Attitude and Heading Reference System (AHRS) that combines three gyro axes, three accelerometer axes, three magnetic compass axes, and a powerful 32-bit ARM Cortex on one tiny, 2.7g board. An on-board Extended Kalman Filter (EKF) handles the tricky data fusion problem, reporting yaw, pitch, and roll angles at up to 300 Hz over a simple TTL serial interface. The CHR-6dm provides built-in routines for gyro bias calibration, and PC software is available for automatic soft and hard iron magnetometer calibration. The Cortex’s programming pins are exposed, and the firmware is open-source.

 Description Specs (9) Pictures (4) Resources (12) FAQs (0) On the blog (0) 仿真人发泄玩具 (0) 

File downloads

  • CHR-6dm AHRS datasheet (489k pdf)

    Datasheet for the CHR-6dm attitude and heading reference system (AHRS).

  • CHR-6dm AHRS Interface PC application (267k zip)

    Windows application for configuring the CHR-6dm AHRS over a serial port and displaying data from the module in real-time.
    Note: this software requires the latest version of DirectX.

    AHRS Interface PC software for the CHR-6dm AHRS IMU.

  • CHR-6dm AHRS firmware v1.0 (630k zip)

    Firmware for the CHR-6dm AHRS (version 1.0). CHR-6dm firmware by CH Robotics is licensed under a Creative Commons Attribution-Share Alike 3.0 United States License

  • CHR-6dm AHRS PC application source code (1MB zip)

    Source code (Visual C# project) for the AHRS PC software used to configure the CHR-6dm AHRS and display data from it in real-time. CHR-6dm configuration software by CH Robotics is licensed under a Creative Commons Attribution-Share Alike 3.0 United States License

  • LPR510AL datasheet (226k pdf)

    Datasheet for the ST LPR510AL MEMS motion sensor: dual axis pitch and roll ±100°/s analog output gyroscope.

  • LY510ALH datasheet (217k pdf)

    Datasheet for the ST LY510ALH MEMS yaw-rate gyroscope.

  • ADXL335 datasheet (427k pdf)

    Datasheet for Analog Device’s ADXL335 3-axis accelerometer.

  • HMC5843 datasheet (624k pdf)

    Datasheet for the Honeywell HMC5843 3-axis digital magnetic compass.

Recommended links

  • STM32F103T8

    Datasheet and other downloads for the STM32F103T8 Cortex M3 processor.

  • CHR-6dm magnetometer soft and hard iron calibration

    Video demonstrating how to calibrate the magnetometer on the CHR-6dm AHRS to correct hard and soft iron distortions in the magnetic field.

  • CHR-6dm yaw angle calibration

    Video showing how set the zero yaw reference on the CHR-6dm AHRS.

  • CHR-6dm pitch and roll angle calibration

    Video showing how to set the accelerometer reference vector on the CHR-6dm AHRS.

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Related Categories

Accelerometers, Gyros, & Compasses
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