WiT BWT901CL User manual
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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Tutorial Link
Google Drive
Link to instructions DEMO:
WITMOTION Youtube Channel
BWT901CL Playlist
If you have technical problems or cannot find the information that you need in the
provided documents, please contact our support team. Our engineering team is
committed to providing the required support necessary to ensure that you are
successful with the operation of our AHRS sensors.
Contact
Technical Support Contact Info
Application
● AGV Truck
● Platform Stability
● Auto Safety System
● 3D Virtual Reality
● Industrial Control
● Robot
● Car Navigation
● UAV
● Truck-mounted Satellite Antenna Equipment
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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Contents
Tutorial Link................................................................................................................... - 2 -
Contact............................................................................................................................ - 2 -
Application......................................................................................................................- 2 -
Contents..........................................................................................................................- 3 -
1 Introduction............................................................................................................... - 5 -
1.1 Warning Statement......................................................................................- 6 -
1.2 LED Status.......................................................................................................- 6 -
2 Use Instructions with PC...................................................................................... - 8 -
2.1 Connection Method...................................................................................... - 8 -
2.1.1 Serial Connection............................................................................. - 8 -
2.1.2 USB-HID Connection.................................................................... - 10 -
2.1.3 PC’s Bluetooth Connection......................................................... - 11 -
2.2 Software Introduction.............................................................................. - 12 -
2.2.1 Main Menu.........................................................................................- 12 -
2.2.2 Menu of Configuration..................................................................- 13 -
2.3 Calibration.....................................................................................................- 17 -
2.3.1 Accelerometer Calibration.......................................................... - 17 -
2.3.2 Magnetic Field Calibration.......................................................... - 19 -
2.3.3 Gyroscope Automatic Calibration............................................ - 21 -
2.3.4 Reset Z-axis Angle........................................................................ - 22 -
2.3.5 Reset Height to 0........................................................................... - 23 -
2.4 Configuration............................................................................................... - 24 -
2.4.1 Return Content............................................................................... - 24 -
2.4.2 Output Rate......................................................................................- 25 -
2.4.3 Baud Rate..........................................................................................- 25 -
2.4.4 Data Recording............................................................................... - 26 -
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2.4.5 Data Playback..................................................................................- 28 -
2.4.6 Standby and Wake Up................................................................. - 30 -
2.4.7 Placement Direction......................................................................- 31 -
2.4.8 Bandwidth......................................................................................... - 32 -
2.4.9 6-axis/ 9-axis Algorithm............................................................. - 34 -
3 Use Instructions with Android Phone............................................................- 35 -
3.1 APP Installation...........................................................................................- 35 -
3.2 Connection....................................................................................................- 36 -
3.2.1 APP Pairing........................................................................................- 36 -
3.2.2 Phone’s Bluetooth Pairing...........................................................- 38 -
3.3 Calibration.....................................................................................................- 40 -
3.3.1 Acceleration Calibration...............................................................- 40 -
3.3.2 Magnetic field calibration............................................................- 41 -
4 Multiple Connection..............................................................................................- 42 -
4.1 Download Link.............................................................................................- 42 -
4.2 Connection Instructions.......................................................................... - 42 -
5 MCU Connection.................................................................................................... - 43 -
5.1 Arduino...........................................................................................................- 43 -
5.2 STM32.............................................................................................................- 43 -
5.3 Raspberry pi.................................................................................................- 43 -
5.4 C#.................................................................................................................... - 43 -
5.5 C++................................................................................................................. - 44 -
5.6 Matlab............................................................................................................. - 44 -
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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1 Introduction
The BWT901CL is a multi-sensor device detecting acceleration, angular
velocity, angle as well as magnetic filed. The robust housing and the small
outline makes it perfectly suitable for industrial retrofit applications such as
condition monitoring and predictive maintenance. Configuring the device
enables the customer to address a broad variety of use cases by interpreting
the sensor data by smart algorithms.
BWT901CL’s scientific name is AHRS IMU sensor. A sensor measures 3-axis
angle, angular velocity, acceleration, magnetic field. Its strength lies in the
algorithm which can calculate three-axis angle accurately.
BWT901CL is an CE standard accelerometer. It is employed where the highest
measurement accuracy is required. BWT901CL offers several advantages over
competing sensor:
• Heated for best data availability: new WITMOTION patented zero-bias
automatic detection calibration algorithm outperforms traditional
accelerometer sensor
• High precision Roll Pitch Yaw (X Y Z axis) Acceleration + Angular Velocity +
Angle + Magnetic Field output
• Low cost of ownership: remote diagnostics and lifetime technical support by
WITMOTION service team
• Developed tutorial: providing manual, datasheet, Demo video, free software
for Windows computer, APP for Android smartphones , and sample code for
MCU integration including 51 serial, STM32, Arduino, Matlab, Raspberry Pi,
communication protocol for project development
• WITMOTION sensors have been praised by thousands of engineers as a
recommended attitude measurement solution
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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1.1 Warning Statement
Putting more than 5 Volt across the sensor wiring of
the main power supply can lead to permanent damage
to the sensor.
VCC cannot connect with GND directly, otherwise it
will lead to the burning of the circuit board.
For proper instrument grounding: use WITMOTION
with its original factory-made cable or accessories.
Do not access the I2C interface.
Do not change the baud rate because
WITMOTION BLUETOOTH sensor’s baud rate is
fixed.
For secondary developing project or integration:
use WITMOTION with its compiled sample code.
1.2 LED Status
LED
Status
Remark
Red
Flashing
Charging
Blue
Flashing
Pairing process
Keeping still
Successful pairing
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2 Use Instructions with PC
2.1 Connection Method
PC software is only compatible with Windows system.
BWT901CL Playlist
2.1.1 Serial Connection
Step 1. Connect the sensor with a serial converter
PIN Connection:
VCC - 5V
TX - RX
RX - TX
GND - GND
(When connecting with computer, VCC-5V is recommended.)
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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Recommended tools:
3-in-1 converter 6-in-1 converter TTL serial cable
Step 2. Unzip the software and install the driver CH340 or CP2102
(Depending on which accessory for usage.)
Link to tutorial of 3-in-1 serial converter/ TTL serial cable (CH340 driver)
Link to tutorial of 6-in-1 serial converter (CP2102 driver)
Step 3. Insert the converter to computer and confirm the “com port” in device
manager
Step 4. Open the software(Minimu.exe)
Data will appear after auto-search finishes
Notice: If not successful, please operate manually
Choose the com port and baud rate 115200, data will be shown on the software.
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2.1.2 USB-HID Connection
Step 1. Insert the USB-HID adapter into USB slot of computer
Step 2. Turn on the sensor after red light of HID adapter flashes
Step 3. Wait till the sensor's blue LED light remains on--means pairing
succeeded
Step 4. Open the software, Minimu.exe
Step 5. Data will appear once the auto-search finishes
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2.1.3 PC’s Bluetooth Connection
Step 1. Turn on computer's Bluetooth
Step 2. Turn on the sensor
Step 3. Search HC-06 device and input pairing password, 1234
Step 4. Confirm the “outgoing com port” on “More Bluetooth Options” page
Step 5. Open software (Minimu.exe) and choose the correct com port
Step 6. Data will appear once the automatic search finishes.
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2.2 Software Introduction
Link to download software
2.2.1 Main Menu
Main Menu of Software
Button
Function
File
Launch recorded HEX file (Bin format)
Tools
Hide or display tools box on left side
Record
Record function
3D
3D DEMO
Config
Configuration setting
Help
Language
English or Chinese
Bluetooth Set
Binding device or unbind
Firmware update
Option for firmware update
About Minimu
Info about Minimu.exe
Factory test
For manufacturer internal test only
Auto-search
Auto searching the sensor
Port
Com port selection
Baud
Baud rate selection
Type
Fixed setting as Normal for BWT901CL
Open
Open com port
Close
Close com port
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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Menu of System
Button
Function
Reset
Reset to factory setting
Sleep
Sleep function, not available for Bluetooth
sensor series
Alarm
Alarm function, not available for Bluetooth
sensor series
Algorithm
6-axis algorithm or 9-axis
Installation Direction
Vertical or horizontal installation
Instruction Start-up
Instructions sending to start-up the sensor
Menu of Calibrate
Button
Function
Acceleration
Accelerometer calibration
Magnetic Field
Magnetometer calibration
Reset Height
Reset height data to 0
(only for sensor built-in barometer,
including WT901B, WTGAHRS2,
WTGAHRS1, HWT901B)
Reset Z-axis Angle
Reset Z-axis angle to 0 degree, not available
for BWT901CL in 9-axis algorithm
Angle Reference
Setting current angle as 0 degree
Gyro Auto Calibrate
Auto-calibration of gyroscope
Menu of Range
Button
Function
Acceleration
Acceleration measurement range
Gyro
Gyroscope measurement range
Band Width
Bandwidth range
GPS Time Zone
GPS positioning of time zone
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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Menu of Communication
Button
Function
Baud Rate
Baud rate selection, not available for
Bluetooth sensor series
Output Rate
Return rate selection
Device Address
Not available for Bluetooth sensor series
Menu of Content
Button
Function
Time
Time data output
Acceleration
Acceleration data output
Velocity
Angular velocity data output
Angle
Angle data output
Magnetism
Magnetic field data output
Port
Port data output, not available for Bluetooth
sensor series
Pressure
Pressure output, only available with the
sensor built-in barometer like HWT901B,
WTGAHRS2, WT901B, etc
Location
Latitude&Longitude data output, only for
GPS IMU series, such as WTGAHRS1,
WTGAHRS2
PDOP
Ground velocity data output, only for GPS
IMU series, such as WTGAHRS1,
WTGAHRS2
Quaternion
Quaternion data output
Positioning Accuracy
Option for GPS positioning accuracy output,
including Satellite quantity, PDOP, HDOP,
VDOP data, only for GPS IMU series, such as
WTGAHRS1, WTGAHRS2
GPS Original
Only output GPS raw data, only for GPS IMU
series, such as WTGAHRS1, WTGAHRS2
Menu of Port
D0 Model
Not available for Bluetooth sensor series
D1 Model
Not available for Bluetooth sensor series
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2.3 Calibration
Preparation:
Make sure the sensor is “Online”.
Calibration on PC software：
It is required to calibrate for the first time usage.
2.3.1 Accelerometer Calibration
Purpose:
The accelerometer calibration is used to remove the zero bias of the
accelerometer. Before calibration, there will be different degrees of bias error.
After calibration, the measurement will be accurate.
Methods:
Step 1. Keep the module horizontally stationary
Step 2. Click the accelerometer calibration
Step 3. Click the “Start calibration”and wait for 3 seconds
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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Step 4. Click “Complete Calibration”
Step 5. Judge the result--confirm if there is 1g on Z-axis acceleration
1. After1 ~ 2 seconds, the three axial acceleration value of the module is
about 0, 0，1, the X and Y axis Angle is around 0°. After calibration, the x-y
axis Angle is accurate.
Note: When putting the module horizontal, there is 1g of gravitational
acceleration on the Z-axis.
BWT901CL | manual v0707 | http://wiki.wit-motion.com/english
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2.3.2 Magnetic Field Calibration
Purpose:
Magnetic calibration is used to remove the zero bias of the magnetic field
sensor. Usually, the magnetic field sensor will have a large zero error when it is
manufactured. If it is not calibrated, it will bring a large measurement error,
which will affect the accuracy of the measurement of the z-axis Angle of the
heading Angle.
Preparation:
Sensors should be 20CM away from magnetic and iron and other materials
Methods:
Step 1. Open the Config menu
Step 2. Click the magnetic field calibration button. click the “Start calibration”
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