BW SENSING BW-AH125 Series User manual

BW-AH125Serials
Low cost CAN bus AHRS
Technical Manual

BW-AH125 Attitude and Heading Reference System （AHRS） is a high performance, low cost inertial
measurement device that measures the attitude parameters (roll and pitch), angular velocity, acceleration
information and heading angle of the dynamic carrier. The attitude and angular velocity deviations are
estimated by a 6-state Kalman filter with appropriate gain, which is suitable for dynamic measurement of
navigation and positioning. The BW-AH125 uses high-quality and reliable MEMS accelerometers, gyroscopes
and magnetometers, and guarantees measurement accuracy through algorithms. Meanwhile, the seal design
and strict process ensure that the dynamic parameters of the carrier such as the angular velocity、acceleration
and attitude can be accurately measured under harsh conditions. Through various compensations such as
nonlinear compensation, quadrature compensation, temperature compensation and drift compensation, the
error source of BW-AH125 can be greatly eliminated, and the product accuracy level can be improved.The BW-
AH125 is equipped with digital interface that can be easily integrated into the user's system.
Introduction
Feature
●Nonlinear compensation,
quadrature compensation
●Dynamic static measurement
●Special offset tracking algorithm
eliminates drift
●Gyro drift compensation
●Heading accuracy 2°
Application
●CAN bus output
●temperature range：-40℃~
+85℃,temperature compensation technical
●High performance Kalman filter algorithm
●Product size： L55 x W37 x H24（mm）
●Satellite tracking
●High voltage tower monitoring
●Aerial work vehicle
●ROV underwater robot
navigation
●Drilling equipment measurement and
control
●Ocean Tester
●Robot control
●Unmanned aerial vehicle
BW-AH125
Low cost CAN bus AHRS
Bewis Sensing Technology LLC
www.bwsensing.com TEL：[phone]

Voltage
Working current
Operating temperature
Storage temperature
5V DC
30mA（40mA max）
-40~85℃
-55~100℃
Resolution: The smallest change in the value that the sensor can detect and resolve
within the measurement range.
Accuracy: The root mean square error of the actual angle and the measured angle of the
sensor multiple times (≥16 times).
Introduction
Electrical
Specifications
Performance
Specifications
Attitude parameters
Heading parameters
Physical characteristics
Interface characteristics
Environment
Pitch Accuracy
Roll accuracy
Resolution
Slant Range
Heading Accuracy
Resolution
Size
Weight
CAN
Start Delay
Maximum Output Rate
Serial Communication Rate
Digital Output Format
Vibration Resistance 2000g
Binary high performance protocol
2400-115200 Baud rate
50Hz
<3s
60g
L55 x W37 x H24 （mm）
0.01°
3°（Pitch<80°）
2.5°（Pitch<60°）
2°（Pitch<40°）
Pitch ± 90º, Roll ± 180º
0.01°
2°（RMS，dynamic）0.5°（RMS，Static）
2°（RMS，dynamic）0.5°（RMS，Static）
BW-AH100
Output form
BW-AH125
BW-AH225
Bewis Sensing Technology LLC www.bwsensing.com TEL：[phone]
BW-AH125
Low cost CAN bus AHRS

Connector
Protection level
Shell material
Installation
Metal joint（Line length1.5m)
IP67
Magnesium alloy oxidation
Three M4 screws
Mechanical
Characteristic
BW-AH100
Package size
BW-AH125
BW-AH225
Bewis Sensing Technology LLC www.bwsensing.com TEL：[phone]
BW-AH125
Low cost CAN bus AHRS
Size：L55*W37*H24（mm)
Bare plate
product size
Size：L33*W27*H6（mm）
Note: ±1mm error for length and width dimensions, please refer to actual size.
孔Φ 2mm
23
29
33
27
55
48
29
37
4
11 24
4 通孔

Product installation
The correct installation method can avoid measurement errors, and the following points should
be taken when installing the sensor:
First of all, to ensure that the sensor mounting surface is completely close to the measured
surface, the measured surface should be as horizontal as possible, and there should be no angle
shown in Figure A and Figure C. The correct installation method is shown in Figure B and Figure D.
Measured surface
The mounting
surface is
uneven and
produces an
angle
Measured surface
The mounting
surface is
uneven and
produces an
angle
C D
Measured surface Measured surface
AB
Secondly, the bottom edge of the sensor and the axis of the object to be measured cannot be generated at an
angle as shown in Figure E. The bottom edge of the sensor should be kept parallel or orthogonal to the axis of
rotation of the object to be measured. This product can be installed horizontally or vertically (vertical installation
requires customization), and the correct installation method is shown in Figure F.
Finally, the mounting surface of the sensor and the surface to be measured must be fixed, the
contact is flat, and the rotation is stable. The measurement error caused by acceleration and vibration
should be avoided.
BW-AH100
BW-AH225
Bewis Sensing Technology LLC www.bwsensing.com TEL：[phone]
BW-AH125
Low cost CAN bus AHRS