LKF-MSU104 MEMS Inertial Measurement Unit is a highly reliable, cost-effective six-axis MEMS IMU designed for a wide range of applications, including navigation, control, and measurement in vehicles, ships, and unmanned aerial vehicles. The MSU104 series IMUs integrate high-performance MEMS gyroscopes and MEMS accelerometers within an independent structure. The gyroscopes and accelerometers selected for the system represent the leading edge of MEMS-based inertial device technology. The angular motion of the three-axis MEMS gyroscope's sensitive carrier and the linear acceleration of the three-axis MEMS accelerometer's sensitive carrier are compensated for within the system for zero offset, scale factor, non-orthogonality error, and acceleration-related terms across the entire temperature range, ensuring high measurement accuracy over extended periods.The MSU104 series of inertial measurement modules can be customized with different hardware and software configurations to meet specific user requirements.
Table1 MSU104 Main Parameters
| Parameters | Technical Specification |
| Gyroscope |
| Range (°/s) | ±400 |
| Full-temperature zero bias (°/h, 3σ) | ≤80 |
| Bias stability (°/h, 10s smoothing) | ≤5 |
| Bias instability (°/h, Allan, typical) | ≤1 |
| Bias repeatability (°/h) | ≤5 |
| Angular random walk (°/√h) | ≤0.3 |
| Scale factor nonlinearity (ppm) | ≤150 |
| Cross-coupling (rad) | ≤0.001 |
| Bandwidth (Hz) | ≥200Hz |
| Accelerometer |
| Range (g) | ±10 |
| Full-temperature zero bias (mg, 3σ) | ≤5 |
| Bias stability (μg, 10s smoothing) | ≤300 |
| Bias instability (μg, Allan, typical) | ≤30 |
| Bias repeatability (μg) | ≤50 |
| Velocity random walk (m/s/√h) | ≤0.03 |
| Scale factor nonlinearity (ppm, ±1g) | ≤200 |
| Cross-coupling (rad) | ≤0.001 |
| Bandwidth (Hz) | ≥200Hz |
| Physical characteristics |
| Power supply (V) | 3.3V |
| Steady-state power (W) | ≤1 |
| Start-up time (s) | ≤2 |
| Communication interface | One SPI, one UART |
| Update rate (Hz, max) | 1000 |
| Dimensions (mm × mm × mm) | 22.4*22.3*13.7 |
| Weight (g) | 12±2 |
| Operating environment |
| Operating temperature (°C) | -40~80 |
| Storage temperature (°C) | -55~85 |
| Vibration (g, RMS) | 20~2000HZ,6.06 |
| Shock (g) | 1000/1ms |
Table2 MSU104 Inertial Measurement Unit Connector External Pin Definitions
| No. | Defination | Type | Note |
| 1 | DR | Output | Data Ready Indicator |
| 2 | SYNC | Input/Output | External Synchronous Input and Output |
| 3 | SPI1_SCK | Input/Output | SPI Serial Clock |
| 4 | SPI1_MISO | Output | SPI Data Output. The DOUT pin is clocked on the falling edge of SCLK |
| 5 | SPI1_MISI | Input | SPI Data Input. The DIN pin is clocked on the rising edge of SCLK |
| 6 | SPI_SS0 | Input | SPI Chip Select |
| 7 | UART_RX | Input | UART Input Port |
| 8 | NRST | Input | Reset |
| 9 | WM | Output | Watermark interrupt signal for tracking the fill level of a first-in-first-out (FIFO) queue |
| 10 | UART_TX | Output | UART output signal |
| 11 | VDD | Power Positive | Power supply positive |
| 12 | SWCLK | Input | SWD clock signal |
| 13 | GND | Power Negative | Power supply negative |
| 14 | SWD | Output/Output | SWD bidirectional data signal |
Main Features
Three-axis digital gyroscope, range ±400°/s
Three-axis digital accelerometer, range ±10g
-40°C to +80°C full temperature calibration compensation (gyroscope and accelerometer)
Compatible with SPI serial communication
Built-in temperature sensor
Small size, light weight
Compatible with ADIS16575
Applications
Vibration resistance and attitude control of industrial equipment
Automated control
Robot control
Gimbal stabilization and control
Instrumentation
UAV/vehicle/ship/boat attitude reference
Mobile mapping and data collection
Vehicle positioning and orientation
Figure 1 Dimension 
