BW SENSING MINS200 User manual

MINS200
Low Cost Digital Output MINS
Technical Manual

MINS200 is a low cost digital MINS developed and produced by Bewis Sensing Technology LLC. Without relying
on external signal input, it can automatically calculate the azimuth angle, roll angle, and roll angle of the measured carrier
through acceleration and angular velocity information. Pitch angle, angular velocity, acceleration, Euler angle, quaternion
information, suitable for inertial attitude measurement in various states of motion, vibration or static.
MINS200 uses highly reliable MEMS accelerometers and gyroscopes. The attitude information data deviation is
estimated by the 6-state Kalman filter with appropriate gain, and the measurement accuracy is ensured by the algorithm.
The attitude motion parameters are compensated through nonlinear compensation, orthogonal compensation, Various
compensations such as temperature compensation and drift compensation can greatly eliminate errors and improve
product accuracy. This product has a digital interface and can be easily integrated into the system.
Introduction
Features
Applications
MINS200
Low Cost Digital Output
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●Dynamic accuracy：0.5°
●Static accuracy：0.01°
●Heading keeping accuracy：0.3°/60s
●Special offset tracking algorithm to eliminate drift
●Output mode: RS485/232/TTL optional
●Operating temperature：-40℃~+85℃
●High-performance Kalman filter algorithm
●Small size： L60 × W59× H29mm
●Unmanned boats and underwater vehicles
●Robot
●Stable platform
●Large ships
●AGV
●Automatic and unmanned driving
●Special vehicles
●Unmanned aerial vehicle

Power supply
Operating current
Operating temperature
Store temperature
9-35VDC
30mA （40mA Max）
-40~+85℃
-55~+100℃
Specifications
Electrical Specifications
Performance Specifications
Resolution 0.01°/sec
Gyro
Range
≤100ppm（1σ）
20 °/h（10s,1σ)
±400°/sec
Range：X,Y,Z ±3.6 g
Accelerometer Bias stability
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Bias stability at full temperature
Angle random walk coefficient
Bias repeatability
Scale factor nonlinearity
Scale factor nonlinearity
Bandwidth
100Hz
＜0.1 °/√h
＜50 °/h（1σ）
≤100ppm（1σ）
0.001mg（25℃，100s，1σ）
0.01mg（25℃，10s，1σ）
Attitude
parameters
Interface
characteristics
Weight（With line）
RS232/RS485/TLL
Maximum output frequency 200Hz
Way of communication
280g
MTBF
Electromagnetic
compatibility
Insulation resistance
Shock resistance
≥100000 hours/time
According toGBT17626
≥100 MΩ
2000g，0.5ms，3times/axis
Dynamic accuracy
Static accuracy
Measuring range
heading accuracy
0.5°
0.01°
Pitch ± 90º, Roll ± 180º
0.3°/60s
Resolution: The measured minimum change value that the sensor can detect and resolve within the measurement range.
Accuracy: The error between the actual angle and the Root mean square(RMS) of the measured angle of the sensor (≥16 times).
MINS200
Low Cost Digital Output

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Mechanical Characteristic
Connector
Package size
Product Size：L60*W59*H29（mm）
Product size：L44*W35*H11（mm） Note: ±1mm error for length and width dimensions,
please refer to actual size
Bare plate product size
holeΦ 2mm
31
40
44
35
MINS200
Low Cost Digital Output
Protection level
Shell material
Installation
Metal connector（standard cable is 1.5m)
IP67
Magnesium alloy sanding oxidation
Four M4 screws

The correct installation method can avoid measurement error. The following points should be made when
installing the sensor:
First of all, to ensure that the sensor mounting surface and the measured surface completely close, the
measured surface should be as horizontal as possible, can not have the angle shown in Figure A and Figure
C, the correct installation is shown in Figure B and Figure D.
the measured surface the measured surface
C D
the measured surface the measured surface
AB
Secondly, the bottom cable of the sensor and the axis of the measured object shouldn't generate the
angle shown in E. When installing, the bottom cable of the sensor should be kept parallel or orthogonal to the
rotation axis of the measured object. This product can be installed horizontally or vertically (vertical installation
requires customization). The correct installation method is shown in Figure F.
Installation direction
Finally, the installation surface of the sensor must be fixed with the measured surface tightly and
smoothly, to avoid measurement error that may be caused by the acceleration and vibration.
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MINS200
Low Cost Digital Output
uneven surface
generates the
angle
uneven surface
generates the
angle

DC 10-35V
RED VCC DC 9-35V
YELLOW A 485+
485-
BLACK GND
RS 485wiring diagram
GND
Inertial
navigation
1
3
4
5
GREEN B
电气连接
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MINS200
Low Cost Digital Output
Electrical interfaces
RED
1
VCC
DC 9-35V
BLUE
2
NC
BLACK
3
GND
GREEN
4
RXD
（B、D-）
YELLOW
5
TXD
（A、D+）
Cable color
&
function
Signal 66
22
acquisition
end
1
3
4
5
GND
DC 9-35V
1
5
4
2
3
6
7
8
9
BLACK GND
YELLOW TXD
RED VCC
GREEN RXD
Inertial
measurement
unit
RS 232 wiring diagram

Debugging software
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MINS200
Low Cost Digital Output
Users can directly download serial assistant on official website (Supports-Download). You can also use more
convenient and intuitive PC software.
BW-IMU200 supporting serial debugging software can be connected to the inclinometer on the computer for
angle display. The software debugging interface is as shown in the figure below. Using the debug software, it
can conveniently display the current X-direction tilt angle, and you can also modify and set other parameters by
yourself.
Software usage steps
①
②
③
Connect the serial port hardware of the inclinometer correctly and connect the power supply.
Select the computer serial port and baud rate and click to connect to the serial port.
Click Start and the tilt angle of the inclinometer in the X and Y directions will be displayed on the screen.

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MINS200
Low Cost Digital Output
Protocol
1Data Frame Format：
Data Format: Hexadecimal
Identifier: Fixed to 77
Frame Length: Length from Frame Length to Checksum（included）
Address Code: Address of acquiring module, default 0x00
Data: Content and length variable according to Command
Checksum: Sum of Frame Length, Address Code, Command and Data. (Please pay
attention that when the command or data changes, the checksum will change. )
（8 data bits，1 stop bit，No parity check，default baud rate 9600）
Identifier
（1byte）
0x77H
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（Xbyte）
Checksum
（1byte）
2 Command Format
2.1 Read PITCH angle Command：77 04 00 01 05
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
0x01
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x81 SXXX.YY
Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1
means negative), XXX is the three digit integer part, YY is the fractional part. For example, if the return value is 77 07
00 81 10 34 63 2F, the pitch angle data is “10 34 63”, which means “-34.63 degrees”.”
0x07
0x04 0x05
0x07
2.2 Read ROLL angle Command： 77 04 00 02 06
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
0x02
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x82 SXXX.YY
0x04 0x06
Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1
means negative), XXX is the three digit integer part, YY is the fractional part.For example, if the return value is 77 07 00
82 01 23 57 04, the roll angle data is "01 23 57", which means "123.57 degrees"

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Note: The data field is a 3-byte return angle value, which is a compressed BCD code, S is the sign bit (0 positive, 1
negative), XXX is a three-digit integer value, and YY is a two-digit decimal value. If the return value is 77 07 00 83 01
47 03 D5, the azimuth angle data is "01 47 03", which means "147.03 degrees".
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x83
2.3 Read heading azimuth angle Command： 77 04 00 03 07
0x03
SXXX.YY
0x04
0x07
MINS200
Low Cost Digital Output
SXXX.YY
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
0x84
2.4 Read PITCH, ROLL axis angle Command：77 04 00 04 08
0x040x04
0x0D
Command response：
PITCH axis： -1.47°，ROLL axis： -2.70°，YAW axis：90.91°
77 0D 00 84 10 01 47 10 02 70 00 90 91 8C
Identifier;
fixed as 77
The length of the data,
fixed to 0D means that
in addition to 77, there
are 13 bytes behind
Address code,
default is 00
ROLL axis angle:
The format is the
same as the PITCH
axis
YAW axis or reserved
bit angle: the format
is the same as the
PITCH axis
The last byte is the sum
of all the previous data
except the first number
(0x77). If there is a carry,
the lower data is taken.
Command word,
fixed at 84
PITCH axis angle:
The first digit of the first byte is the
sign bit, 0 is the positive angle, and 1
is the negative angle.
The second and second bytes of the
first byte are integer bits of the angle,
which are compressed BCD codes.
The third byte is the decimal place of
the angle, which is the compressed
BCD code.

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Note: 0x00 means 2400, 0x01 means 4800, 0x02 means 9600, 0x03 means 19200, 0x04 means 115200, 0x05 means
38400, 0x06 means 57600, 0x07 means 256000, the default value is 0x02:9600, each time the communication baud
rate is successfully changed , Will send back the response command at the original baud rate, and then immediately
change the device communication baud rate.
Note: If you need high frequency output, please set the baud rate to 115200 or 256000. Modifying the baud rate does
not need to send a save command, it will take effect immediately.
MINS200
Low Cost Digital Output
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Identifier
（1byte）
0x77
0x05 0x8B
0x05
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x0B XX
Command：77 05 00 0B 02 12
2.5 Set baud rate
0x00: success
0xFF: failure
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Command response：
2.6 Set module address
0x0F
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8F
Command：77 05 00 0F 01 15
new address
0x00: success
0xFF: failure
0x05
0x05 new address
correct address
Note: For example, the following command "77 05 00 0F 0A 1E" means that the address of the product is changed
from hexadecimal address 00 to 0A.
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.7 Query current address
0x1F
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x1F
Command： 77 04 00 1F 23
0x04
0x05
0x00 0x23
new address new address
Note: The query address command is to fix the command.。
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
2.8 Set the output frequency
0x0C
Command：77 05 00 0C 00 11
XX
0x05

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MINS200
Low Cost Digital Output
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8C 0x00: success
0xFF: failure
0x05
The transmitted data field XX is the automatic output frequency option: 00 indicates the answer mode,
01 indicates 5Hz automatic output corresponding data type parameter
02 indicates 10Hz automatic output corresponding data type parameter
03 indicates 20Hz automatic output corresponding data type parameter
04 indicates 25Hz automatic output corresponding data type parameter
05 indicates 50Hz automatic output corresponding data type parameter
06 indicates 100HZ automatic output Corresponding data type parameter
Note: 1. When the automatic output frequency setting is high, the baud rate needs to be set to a high baud rate. Under
some data types, 100HZ cannot be output due to the baud rate limit.
2. The automatic output data type parameter is determined according to the following data type selection command. The
default is the automatic output angle.
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.9 Query gravitational acceleration g
0x54
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
0x54
Command： 77 04 00 54 58
0x04
0x0D SXYYYY
Note: The data field part is the value of g value of pitch, roll, Z axis (vertical horizontal plane), which consists of 1 bit sign
bit + 1 bit integer bit + 4 decimal places.
If the return value is "77 0D 00 54 00 01 07 00 94 21 10 06 30 64", they are 0.0107g, 0.9421g, -0.0630g respectively.
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.10 Query angular velocity
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
Command： 77 04 00 50 54
SXXXYY
0x04
0x0D
0x50
0x50
Note: The data field is the pitch, roll, and Z-axis (vertical horizontal) angular velocity. It consists of 1 sign bit + 3 integer
bits + 2 decimal places.
For example, the return value is “77 0D 00 50 10 93 76 14 98 87 00 14 03 C0”. The data field parts are: pitch axis
angular velocity: -93.76°/s, roll axis angular velocity: -498.87°/s Z-axis angular velocity :+14.03°/s
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
2.11 Save settings
0x0A
Command： 77 04 00 0A 0E
0x04

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MINS200
Low Cost Digital Output
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8A 00:success
FF: failure
0x04
Note: It is not necessary to save the settings to set the baud rate. Other settings need to send the save settings.
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.12 Quaternion
0x57
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（16byte）
Checksum
（1byte）
0x57
Command： 77 04 00 57 5B
SXYYYYYY
0x04
0x14
Note: The data field contains 16 bytes, 4 bytes are a group, respectively quaternary q0, q1, q2, q3, which is a
compressed BCD code, the format is SX YY YY YY, S is a sign bit (0 positive, 1 negative), X is a 1-bit integer
bit, and YYYYYY is a 6-digit decimal place. For example, the return command 77 14 00 57 00 99 99 96 00 00 02
90 10 00 26 73 10 00 00 01 7F
Then the quaternion data are:
Where q0 is 00 99 99 96, representing 0.999996.
q1 is 00 00 02 90, which means 0.000290
q2 is 10 00 26 73, which means -0.002673
q3 is 10 00 00 01, indicating -0.000001
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.13 Simultaneous reading angle, accelerometer, gyroscope, quaternion
0x59
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（43byte）
Checksum
（1byte）
0x59
Command： 77 04 00 59 5D
0x04
0x2F Data field
-
Note: The data field contains 43 bytes, which are angle, gravitational acceleration g value, angular velocity, quaternion,
compressed BCD code, four elements are the last 16 bytes, 4 bytes are a group, a total of 4 groups The rest is a group of
3 bytes, indicating the method to see the corresponding parameter return value.
For example, the return value is:
77 2F 00 59 10 00 60 10 03 06 00 00 00
10 01 07 10 05 43 01 01 54
10 00 13 10 00 04 00 00 09
10 87 06 35 00 01 76 91 00 02 06 94 00 49 11 75 5C
Then: the three axis angles are -0.6 degrees, -3.06 degrees, 0 degrees;
The g values of the three axes were -0.0107 g, -0.0543 g, and 1.0154 g, respectively;
The three angular angular velocities are -0.13 ° / s, -0.04 ° / s, 0.09 ° / s;
The four quaternions are -0.870635, 0.017691, 0.020694, 0.491175

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Note: The data field XX is the corresponding output data type, which needs to be carried out in automatic output mode:
0x00: During automatic output, the output parameter is three-axis angle data, and the output format refers to command 2.4;
0x01: During automatic output, the output parameter is the three-axis acceleration value, and the output format refers to
command 2.9;
0x02: During automatic output, the output parameter is the value of the three-axis gyroscope, and the output format refers to
command 2.10;
0x03: During automatic output, the output parameter is three-axis angle data (other data types are reserved);
0x04: During automatic output, the output parameter is a quaternary value, and the output format refers to command 2.12;
0x05: During automatic output, the output parameters are composed of angle, acceleration, angular velocity, and quaternion.
For the output format, refer to command 2.13.
Identifier
（1byte ）
0x77
Frame Length
（1byte ）
Address Code
（1byte ）
Command
（1byte ）
Data
（1byte ）
Checksum
（1byte ）
2.15 Clear heading angle
0x82
Identifier
（1byte ）
0x77
Frame Length
（1byte ）
Address Code
（1byte ）
Command
（1byte ）
Data
（1byte）
Checksum
（1byte ）
0x82 -
0x04
0x04
Note: The program uses manual command to clear the azimuth angle. After sending the command, the program starts to
recalculate the azimuth angle. The real-time calculated angle can be read by the host computer.
-
Identifier
（1byte ）
0x77
Frame Length
（1byte ）
Address Code
（1byte ）
Command
（1byte ）
Data
（3byte ）
Checksum
（1byte ）
2.16 Relative angle setting
0x84
Identifier
（1byte ）
0x77
Frame Length
（1byte ）
Address Code
（1byte ）
Command
（1byte ）
Data
（3byte）
Checksum
（1byte ）
0x84 -
0x07
0x07
Note: In the command, SX XX YY is the BCD code, S is the sign bit (0 is positive, 1 is negative), XXX
is a three-digit integer, and YY is two decimal places. For example, you need to set the sensor heading
angle start point to 100 , Then SX XX YY is 01 00 00.
The corresponding complete command is 77 07 00 84 01 00 00 8C
-
MINS200
Low Cost Digital Output
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Command response：
2.14 Automatic output data type selection
0x56
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x56
Command： 77 05 00 56 00 5B
00
0x05
0x05
XX
Command response：
Command response：

Executive standard
MINS200-485
MINS200-232
MINS200-TTL
IP67 Package/Metal Connector
IP67 Package/Metal Connector
IP67 Package/Metal Connector
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RS232
TTL
485
RS
●Enterprise Quality System Standard：ISO9001:2015 Standard（Certificate No. 23919Q10455R0S）
●CE certification（Certificate No. M.2019.103.UY1151)
●ROHS ( Certificate No. G190930099)
MINS200
Low Cost Digital Output
Ordering Information
Product number Package condition
Way of communication

MINS200
Low Cost Digital Output
Wuxi Bewis Sensing Technology LLC
Address: Building 30, No. 58 Xiuxi Road, Binhu District, Wuxi City, Jiangsu Province, China
Tel[phone]
Email: [e-mail]
Website: www.bwsensing.com