WitMotion WTGAHRS1/2 10-Axis GPS-IMU Accelerometer Gyroscope Magnetometer Barometer AHRS, 0.2–200 Hz, UART/I²C, BDS+GPS Navigation

Overview

WTGAHRS1/2 are GNSS-aided AHRS/IMU modules that fuse a 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer, 3-axis Euler angle and a barometer with BDS/GPS positioning. They deliver stable attitude, heading, longitude/latitude, altitude and ground-speed at 0.2–200 Hz using Kalman filtering. Core accuracy is X/Y 0.2° and Z 1° (post-calibration, away from magnetic interference). They provide UART-TTL and I²C (400 kHz) outputs, free Windows upper-computer software, and rich examples for STM32/Arduino/Windows/Matlab—ideal for UAVs, UGVs, robotics and vehicle navigation.

Model selection

IMU & mechanical specifications (WTGAHRS1/2)

• Size: 72.5 mm × 38 mm × 27 mm

• Sensors: 3-axis Acc; 3-axis Gyro; 3-axis Mag; 3-axis Angle; Barometer

• Ranges: Acc ±16 g; Gyro ±2000 °/s; Angle ±180°

• Barometer accuracy: 1 Pa

• Typical measurement error: 1°

• Interfaces: UART-TTL (baud 4,800–921,600), I²C (supports 400 kHz)

• Output contents: time, acceleration, angular velocity, Euler angle, magnetic field, pressure, altitude, longitude, latitude, ground speed

• Weight: WTGAHRS1 70.6 g; WTGAHRS2 62.4 g

GNSS specifications

• Systems/Bands: BDS/GPS/GLONASS/GALILEO/QZSS/SBAS; C/A code 1.023 MHz

• RF: three receiving channels; S11/S22 SWR ≤ 1.3; 50 Ω ± 5%

• Horizontal accuracy: < 2.5 m (autonomous), < 2 m (SBAS) [CEP50%, 24 h static, −130 dBm, ~6 usable sats]

• Speed accuracy: < 0.1 m/s; Course accuracy: < 0.5°; Timing: 30 ns; Reference: WGS-84

• Dynamics: altitude 50,000 m; velocity 50,000 m/s; acceleration ≤ 4 g

• Sensitivity: tracking −162 dBm; acquisition −148 dBm

• Start times: cold 35 s; warm 32 s; hot 1 s

• 1PPS: 0.25 Hz–1 kHz; Position update: 1–10 Hz (default 1 Hz)

• Interface: UART/TTL

Software and development

• Windows upper-computer software: data logging, 3D model, curve plotting, dashboard, module configuration

• Example code/resources: STM32 UART demo, Arduino library, 8051 demo, Windows C/C# and Matlab examples, Android APP

• Quick test wiring (USB-TTL): GND–GND, VCC–5 V, TX–RX, RX–TX

Typical applications

UAV/UGV AHRS, robotics and AGV/AMR navigation, vehicle positioning and speed/attitude measurement, antenna/solar trackers, platform stabilization, education and algorithm research.

What’s included

• WTGAHRS1 or WTGAHRS2 sensor (per selection)

• GNSS antenna (WTGAHRS1 external-antenna version)

• User guide and download links for PC software and examples

Buyer notes

• Z-axis/heading accuracy depends on calibration and magnetic environment.

• Choose WTGAHRS1 when you need an external GNSS antenna; choose WTGAHRS2 for a compact build with an internal antenna.

Details

WitMotion WTGAHRS1 AHRS+GPS module includes 3-axis accelerometer, gyroscope, magnetometer, barometer, and GPS. Provides high-precision attitude, heading, and position data for robotics and navigation.

WitMotion WTGAHRS1, 10-axis AHRS module with ICM-42605 and AK8963 chips. Features 3-axis accelerometer, gyroscope, magnetometer, GPS, and TTL interface. Supports 3.3-5V, <50mA current, 4800-921600 baud rate, and ±250-2000 deg/s gyro range.

WitMotion WTGAHRS10-Axis AHRS includes GPS, high-speed attitude output, 32-bit MCU, and integrated sensors. Combines acceleration, angular velocity, magnetometer, optional barometer with digital and Kalman filters for reliable, low-cost inertial navigation.

WitMotion JY-GPSIMU 10-Axis AHRS with labeled wiring colors