^{IMU614E-AG Inertial Module uses data fusion algorithm of IMU and GNSS to achieve low cost, high precision, anti-magnetic interference orientation and attitude determination. At the same time, a unique front wheel angle estimation algorithm is built in to provide users with a stable and driftless front wheel angle. It is especially suitable for the single antenna controller scheme in the field of agricultural auto-driving.}

^{Performance Index}

^{Attitude Accuracy}   

Roll/Pitch :<0.2° rms

Heading:<0.3° rms

Update rate   100hz

Gyro Range   ±500°/s

Gyro bias instability   6deg/h @1σ

Accelerometer range   ±8g

Zero Bias Stability of Accelerometers   0.04mg @1σ

Output Protocol

• Notes:

• The accumulative sum check removes the sum of all bytes of the check bits for this frame.

• The frame length is the total number of data bytes except for the header, frame ID, frame length, and check bits.

• Small end mode, send low bytes first.

Input Protocol

• It is recommended to send at least 20hz.If the user does not need the front wheel angle, there is no need to send the motor angle and the transmission ratio.

• The accumulative sum check removes the sum of all bytes of the check bits for this frame.

• The frame length is the total number of data bytes except for the header, frame ID, frame length, and check bits.

• Small end mode, send low bytes first.