WT901-WiFi Datasheet

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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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WitMotion Shenzhen Co., Ltd| Datasheet
AHRS IMU Sensor | WT901-WiFi
The Robust Acceleration, Angular velocity, Angle & Magnetic
filed Detector
The WT901-WiFi is a IMU 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
applications such as condition monitoring and predictive
maintenance. Configuring the device enables the customer to
address a broad variety of application by interpreting the sensor
data by smart algorithms and Kalman filtering.
BUILT-IN SENSORS
Accelerometer Gyroscope Magnetometer
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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Tutorial Link
Google Drive
Link to instructions DEMO:
WITMOTION Youtube Channel
WT901WIFI 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
https://drive.google.com/drive/folders/1E27MPbp6QkKm1jCKSOykIHeytRKxbeMH
https://www.youtube.com/c/WITMOTION
https://www.youtube.com/playlist?list=PL43tdDrVL_VChko9IQX5Ws1kD-YXn6I_x
https://www.youtube.com/playlist?list=PL43tdDrVL_VChko9IQX5Ws1kD-YXn6I_x
https://www.wit-motion.com/contacts/
http://www.hukseflux.com/
WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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Contents
Tutorial Link............................................................................................................................. - 2 -
Contact.......................................................................................................................................- 2 -
Application................................................................................................................................- 2 -
Contents.................................................................................................................................... - 3 -
1 Overview............................................................................................................................... - 4 -
2 Features.................................................................................................................................- 5 -
2.1 Parameter................................................................................................................. - 6 -
2.2 Axial Direction.........................................................................................................- 7 -
2.3 Button.........................................................................................................................- 8 -
2.4 LED Indicator Light............................................................................................... - 9 -
3 Cloud API Call...................................................................................................................- 10 -
3.1 Request Instructions..........................................................................................- 10 -
3.2 Demonstration......................................................................................................- 12 -
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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1 Overview
WT901-WiFi’s scientific name is AHRS IMU sensor. A sensor measures
3-axis angle, angular velocity, acceleration and magnetic field. Its strength lies
in the algorithm which can calculate three-axis angle accurately.
WT901-WiFi is employed where the highest measurement accuracy is
required. It 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, PC software,
mobile phone APP, and 51 serial, STM32, Arduino, and Matlab sample code,
communication protocol.
• WITMOTION sensors have been praised by thousands of engineers as a
recommended attitude measurement solution.
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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2 Features
 Integrated high-precision gyroscope, accelerometer, geomagnetic field
sensor.
 Using high-performance microprocessor, dynamic solution and Kalman
dynamic filtering algorithm.
 Adopt advanced digital filtering technology to effectively reduce
measurement noise and improve measurement accuracy.
 Accurately output the current attitude of the module in a dynamic
environment, the attitude measurement accuracy is 0.05 degrees static,
0.1 degrees dynamic, and has high stability.
 WiFi wireless connection, the remote terminal can view data in real time,
control the module, and realize the Internet of Things.
 Multi-terminal tools to view data and modify configuration, supporting host
computer, mobile APP, customer system, etc.
 It supports the Internet, data transmission in the local area network,
custom receiving data server, and has a webAPI interface for viewing data.
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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2.1 Parameter
Parameter Specification
 Battery 3.7V-260mAh
 Size 36mm X 51.3mm X 21mm
1.417X2.019X 0.827
 Data Angle: X Y Z, 3-axis
Acceleration: X Y Z, 3-axis
Angular Velocity: X Y Z, 3-axis
Magnetic Field : X Y Z, 3-axis
 Output frequency TCP: 1~10HZ, UDP: 1~200HZ.
 output content Time
Acceleration
Angular velocity
Angle
Magnetic field.
Measurement Range & Accuracy
Sensor Measurement Range Accuracy/ Remark
 Accelerometer X, Y, Z, 3-axis
±16g
Accuracy: 0.01g
Stability: 0.005g
 Gyroscope X, Y, Z, 3-axis
-±2000°/s
Resolution: 16bit
Stability: 0.05°/s
 Angle/ Inclinometer X, Y, Z, 3-axis
X, Z-axis: ±180°
Y ±90°
Accuracy:
dynamic 0.1°
static 0.05°
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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2.2 Axial Direction
Place the module in the positive direction, the X-axis is upward, the Y-axis is left,
and the Z-axis is the vertical module outward.
The direction of rotation is defined by the right-hand rule, that is, the thumb of
the right hand points to the axial direction, and the direction in which the four
fingers bend is the direction of rotation around the axis. The X-axis, Y-axis, and
Z-axis angles are the angles of rotation around the X-axis, the Y-axis, and the
Z-axis.
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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2.3 Button
Button Function
 USB Charge, connect to PC
 Power Power
 ON Power switch
 Status Working status
 CFG Configuration
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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2.4 LED Indicator Light
Working light status:
Blue light Working status
Always bright
Module distribution network/connection
server
Blink(1second each time) Data transmission
Charging indicator status：
Red light Power status
Always bright Charge
Not bright Fully charged/uncharged
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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3 Cloud API Call
3.1 Request Instructions
In the TCP transmission mode, the device transmits data to the server through
the Internet, and the company provides users with an interface for obtaining
data, so that JSON data can be obtained through the interface.
The data acquisition interface requires the user to initiate an Http requestto the
server in the specified format. After the user obtains the data, the data can be
obtained by parsing according to the agreed parameter format.
Request address: http://witmotion.cn/api/api/Business/SetDataRecords
Protocol: HTTP
Request method: GET
Request parameters:
Name Meaning Formatting Requirements
and Other Constraints
Is it required
EquipmentNo Device number Numbers starting with
"WT", for example:
WT2E00000091
Must fill in
StartTime Start time yyyy-MM-dd hh:mm:ss Must fill in
EndTime End time yyyy-MM-dd hh:mm:ss Must fill in
userName User name Can be left blank Can be left blank
userPwd User password Can be left blank Can be left blank
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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Return parameters and format description:
Name Meaning Remarks and Explanations
statu State 0 means success, others are failure
curcount
Number of records
returned for the
current page
Pagination parameter, how many records
are in the current page (the number may
not reach the maximum number of records
per page).
pagesize Page size
Pagination parameters, how many records
can be on each page at most.
pagecount
Total number of
pages
Paging parameter, according to the size of
each page, all eligible query records can
be divided into a total of several pages.
totalcount Total records
Pagination parameter, if not paginated,
how many records meet the conditions in
the query.
trans_date Server time
The system time of the Wittur intelligent
server when the query request is initiated,
not the data reporting time.
showmsg
Message
notification
If an error occurs during the query, this
section will explain the reason for the
error.
data Data
Notice:
The meaning of the data part from left to right is:
Reception time, device number, acceleration x, acceleration y, acceleration z,
angular velocity x, angular velocity y, angular velocity z, angle x, angle y, angle
z, magnetic field x, magnetic field y, magnetic field z, temperature, electricity,
signal, version number , alarm signal, in which the power alarm signal is a
reserved parameter, and the value of 0 is temporarily invalid.
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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3.2 Demonstration
A specific example of the format:
The URL to send the Http GET request is as follows:
The meaning of this request format example is to initiate a data acquisition
request to the WitMotion server. If you want to acquire the device numbered
WT5300000001, it starts at 2020-05-26 08:00:00 and ends at 2020-05-26
10:00:00 At this time, the data is paginated according to the method of up to
100 items per page (default 100 items), and what you want to obtain is the data
of one page (that is, the 1-100th data that meets the query conditions).
Since the WitMotion server does not set up a check mechanism for the identity
of the requester for data acquisition, the user name and password can be left
blank, but the names of these two parameters must be carried in the requested
URL.
After initiating this data request, the WitMotion server will help us find the data
we want, paginate and package it according to our requirements, and finally
return the data to us in JSON format. For the specific meaning of the returned
parameters, see the table (return parameters and format description).
The data returned by the WitMotion server after receiving the request, as
follows:
{ “statu”: 0, “curcount”: 100, “pagesize”: 100, “pagecount”: 196, “totalcount”: 19508,
“trans_date”: “20200526150218”, “showmsg”: “ok”, “data”: [ “2020/5/26
8:39:47,WT5300000001,0.192,-0.012,0.986,0.549,-0.427,0.122,0.060,-11.816,-5.169,-40,87,-17
3,41.1,0,-43,13001,0”, “2020/5/26
8:39:47,WT5300000001,0.192,-0.010,0.987,0.366,-0.305,0.000,0.066,-11.805,-5.092,-41,88,-17
2,41.2,0,-43,13001,0”, “2020/5/26
8:39:47,WT5300000001,0.188,-0.012,0.987,0.122,0.183,0.000,0.055,-11.810,-4.938,-42,88,-171,
41.2,0,-43,13001,0”, “2020/5/26
8:39:47,WT5300000001,0.190,-0.011,0.987,0.732,-1.892,0.183,0.055,-11.810,-4.839,-38,88,-16
8,41.2,0,-43,13001,0” ] }
Data reporting protocol:
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WT901-WiFI | Datasheet v22-0330 | www.wit-motion.com
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Name Demonstration
ID -0.102
Acceleration X -0.442
Acceleration Y 1.110
Angular Velocity X 0.000
Angular Velocity Y 0.000
Angular Velocity Z 0.000
Angle X -21.70
Angle Y 5.729
Angle Z 96.301
Magnetic Field X 71
Magnetic Field Y 5
Magnetic Field Z -34
Temperature -56.3 Unit: °C
Battery 50
Signal -063
Version Number 0.16211
Alarm Signal 0
Termination Character \r\n
For example:
WT5300000001030.332,-0.883,0.331,0.183,0.671,-0.183,-69.714,-19.402,1
11.319,26,-1,-8,45.0,0,-57,13001,0\r\n
ID format: WT + model + number;
Model: 2 bytes;
Number: 8 bytes;
Example: WT5300001134
WT530000113403 Acceleration X, Acceleration Y… … … … \r\n
Note: Different data are separated by commas. WT530000113403 is not
followed by commas, and the data of acceleration X is directly connected, and
the rest of the data are separated by commas.
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	Tutorial Link
	Contact
	Application
	Contents
	1 Overview
	2 Features
	2.1 Parameter
	2.2 Axial Direction
	2.3 Button
	2.4 LED Indicator Light
	3 Cloud API Call
	3.1 Request Instructions
	3.2 Demonstration