WiT WT9011DCL-BT5.0 User manual
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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Google Drive
Link to instructions DEMO:
WITMOTION Youtube Channel
WT9011DCL-BT5.0 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
●Unmanned/Assisted Driving
●Large-scale farming automated farming
● Safety monitoring for working at heights
● Unmanned aerial vehicle
●Industrial attitude monitoring
●Human motion tracking/capture
●Robot, Automated Guided Transporter
●Pedestrian Navigation
●Truck-mounted Satellite Antenna Equipment
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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Contents
Tutorial Link .............................................................................. - 1 -
Contact .................................................................................... - 2 -
Application................................................................................ - 2 -
Contents................................................................................... - 3 -
1 Introduction ......................................................................... - 5 -
1.1 Warning Statement ....................................................... - 6 -
1.2 LED Status................................................................... - 6 -
2 Instructions of 2023 New Software .......................................... - 7 -
3 Use Instructions with PC......................................................... - 8 -
3.1 PC Connection .............................................................. - 8 -
3.1.1 Serial Connection.................................................... - 8 -
3.1.2 BLE 5.0 Adapter Connection ................................... - 12 -
3.2 Calibration ................................................................. - 15 -
3.2.1 Accelerometer Calibration ...................................... - 15 -
3.2.2 Magnetic Field Calibration ...................................... - 17 -
3.2.3 Gyroscope Automatic Calibration ............................. - 20 -
3.2.4 Reset Z-axis Angle ................................................ - 20 -
3.2.5 Reset Height to 0 .................................................. - 20 -
3.3 Configuration.............................................................. - 21 -
3.3.1 Data Recording..................................................... - 21 -
3.3.2 Data Playback ...................................................... - 24 -
3.3.3 Placement Direction .............................................. - 26 -
3.3.4 Bandwidth ........................................................... - 27 -
3.3.5 6-axis/ 9-axis Algorithm ........................................ - 29 -
4 Use Instructions with Android Phone ...................................... - 30 -
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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4.1 APP Installation .......................................................... - 30 -
4.2 Connection................................................................. - 31 -
4.3 Calibration ................................................................. - 33 -
4.3.1 Acceleration Calibration ......................................... - 33 -
4.3.2 Magnetic Field Calibration ...................................... - 34 -
5 Use Instructions with iPhone ................................................. - 35 -
5.1 How to Install............................................................. - 35 -
5.2 How to setup.............................................................. - 35 -
5.3 How to Configurationure .............................................. - 38 -
5.3.1 Rename............................................................... - 39 -
5.4 Data Recording ........................................................... - 40 -
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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1Introduction
The WT9011DCL-BLE5.0 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. Configurationuring
the device enables the customer to address a broad variety of use cases by
interpreting the sensor data by smart algorithms.
WT9011DCL-BLE5.0’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 the three-axis angle
accurately.
It is employed where the highest measurement accuracy is required.
WT9011DCL-BT5.0 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
•WITMOTION sensors have been praised by thousands of engineers as a
recommended attitude measurement solution
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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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.
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.
1.2 LED Status
LED
Status
Remark
Red
Keeping on
Charging (powered by offered Type-C
wire)
Green
Flashing once every
one second
Standby
Flashing once every
two seconds
Pairing succeeds
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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2Instructions of 2023 New Software
In order to improve the user experience and our customer service, we develop
a new version PC software.
Below is the new software and universal instruction download link.
https://drive.google.com/drive/folders/1dnwmnH7mi4zBpNqDywLz
rzsV7BfeKaD9?usp=share_link
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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3Use Instructions with PC
Please install the complete tutorial including software, drivers, manual, etc.
Link to download software
3.1 PC Connection
PC software is only compatible with Windows system.
Link to install the files.
Google Drive
3.1.1 Serial Connection
Step 1. Connect the sensor with offered Type-C wire.
(Warm Reminder:If you wanna use a longer cable, it should be a standard
Type-C data cable)
Step 2. Install the driver- CH340
Download Link
*How to Install and update the CH340 driver
Click the "Uninstall" button first. Then click on the "Install" button.
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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*How to verify your driver is working
1）To check that the CH340 enumerates to a COM port, you can open the device
manager. You can click the Start or ⊞(Windows) button and type "device
manager to quickly search for the application.
2）After opening the device manager, you will need to open the Ports (COM &
LPT) tree. The CH340 should show up as USB-SERIAL CH340 (COM##).
Depending on your computer, the COM port may show up as a different number.
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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3.1.2 BLE 5.0 Adapter Connection
The pairing process of connection may vary from the different operating
systems.
*Windows 7 OS computer
Please check below link for detailed instructions.
BLE 5.0 Adapter working with Win 7 OS
*Windows 10 OS computer
Complete Process:
Step 1. Insert adapter into the USB port in the beginning
For the first time connection, normally speaking, there will be a pop-up window
which indicates the device setting up.(system hint)
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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Once the system recognizes the device, you can find it on “Bluetooth & other
devices”control page
Or confirm if there is a port generated in the device manager.
(Bluetooth visual port. )
Step 2. Turn on the sensor after blue light of adapter flashes
P.S The sensor’s LED light will flash quickly. (once per second )
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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Step 3. Run the MiniIMU.exe application
Step 4. Long press the sensor button to start up, turn on the intelligent upper
computer, select WT901BLE5.0 for module category, select serial port, the
default baud rate is 115200, and then click Add.
After the connection is successful, the upper computer can see the data sent
back by the sensor.
Step 5. Data will appear once the auto-search finished
LED status: The LED light of sensor will flash slowly. (once every two seconds.)
The adapter’s LED light will remain still.
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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3.2 Calibration
Preparation: Ensuring the sensor is “Online”.
Calibration on PC software：
It is required to calibrate for the first time usage.
3.2.1 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 acceleration in the “Configuration”and wait for 5 seconds
Step 3. Calibration done if OK shows
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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3.2.2 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:
1. Sensors should be 20cm away from magnetic and iron and other materials
2. The value of H in magnetic field must be lower than 350.
Methods:
Step 1. Open the Configuration menu.
Step 2. Click the “magnetic field” and slowly rotate the sensor 360°around X,
Y, Z, 3-axis accordingly.
WT9011DCL BT5.0 | manual v23-0213 | www.wit-motion.com
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3.2.3 Gyroscope Automatic Calibration
The gyroscope calibration is to calibrate the angular velocity, and the sensor
will calibrate automatically.
It is recommended that the automatic calibration of gyroscopes can be
inactivated only if the module rotates at a constant speed.
3.2.4 Reset Z-axis Angle
Note：If you want to avoid magnetic interference, you can change the algorithm
to 6-axis，function of resetting Z-axis angle can be used.
The z-axis angle is an absolute angle, and it takes the northeast sky as the
coordinate system can not be relative to 0 degree.
Z axis to 0 is to make the initial angle of the z axis angle is relative 0 degree.
When the module is used before and z - axis drift is large, the z - axis can be
calibrated. When the module is powered on, the Z axis will automatically return
to 0.
Calibration methods as follow: firstly keep the module static, click the “Reset
Z-axis Angle”in the “Configuration”, you will see the angle of the Z axis backs
to 0 degree in the “Data”.
3.2.5 Reset Height to 0
Only available for the module built-in barometer like WT901B, HWT901B,
WTGAHRS1, WTGAHRS2.
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