ElecMaster JY-61 Series

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High precision gyroscope module JY-61 Series

User Manual

1 Product Description

1) JY-61 series module integrates high-precision gyroscopes,

accelerometers,, high-performance microprocessors and advanced

dynamics solver and dynamic Kalman filter algorithm to quickly solve

the current real-time movement of the module attitude .

2) The use of advanced digital filtering technology, can effectively reduce

the measurement noise and improve measurement accuracy.

3) Integrates gesture solver, with dynamic Kalman filter algorithm, can get

the accurate attitude in dynamic environment, attitude measurement

precision is up to 0.01 degrees with high stability, performance is even

better than some professional inclinometers!

4) Integrate voltage stabilization circuit, working voltage is 3v ~ 6v, pin

level compatible 3.3V and 5V embedded system .

5) Supports serial port. Data output frequency 100Hz (baud rate 115200) /

20Hz (9600 baud).

6) Module retains MPU6050 I2C interface, in order to meet the needs of advanced users

to get the original data of MPU6050

7) Stamp hole gold plating PCB design, can be embedded in the user's PCB

board.

8) 2layer PCB technology, thinner, smaller, and more reliable.

Note: This module does not contain magnetometer, no filtering for the

yaw angle, so yaw angle is calculated by integration, it will drift, the

yaw angle is accurate only in a short time. The X, Y axis angle is

accurate because it can be filtered by gravity field, it will not drift.

2 Technical Indicator

1) Input voltage: 3V-6V

2) Consumption current: <10mA

3) Volume: 15.24mm X 15.24mm X 2mm

4) Pad pitch: up and down 100mil (2.54mm), left and right 600mil (15.24mm)

5) Measuring dimensions: Acceleration: 3D Angular Velocity: 3D Attitude angle:

3D Magnetic field：3D

6) Range: Acceleration: ± 16g, angular velocity: ± 2000 ° / s.

7) Resolution: Acceleration: 6.1e-5g, Angular velocity: 7.6e-3 ° / s.

8) Stability: Acceleration: 0.01g, angular speed 0.05° / s.

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Summary

Product Description

Key Features and Capabilities

Details the JY-61 series module's integrated sensors, algorithms, filtering, and connectivity options for high-precision attitude measurement.

Technical Specifications

Performance Metrics

Lists input voltage, current consumption, dimensions, measurement ranges, resolution, and stability of the module.

Data Output and Software Support

Covers attitude stabilization precision, data output types, frequency, and availability of sample code.

Pin Configuration

Pinout and Functionality

Describes the purpose of each module pin (VCC, RX, TX, GND, SCL, SDA) and module orientation.

Hardware Connection Methods

PC Connection via USB-TTL

Guides the connection of the JY-61 module to a PC using a USB-TTL converter, including wiring and switch settings.

USB-TTL Driver Installation

Details the process of installing the USB-TTL driver and verifying the connection in the computer's Device Manager.

PC Software Operation

Software Setup and Port Configuration

Explains how to launch the PC software, install framework, select baud rate, and choose the correct COM port.

Key Software Functions

Covers switching between serial and IIC modes, initializing angles, and recording data within the PC software.

Data Visualization and Language Options

Describes importing data to Excel/Matlab, plotting data graphs, and changing the software's display language.

Advanced Software Controls

Explains functions like clearing charts, enabling 3D display, and changing input methods in the PC application.

Microcontroller Integration

Connecting JY-61 to MCU

Illustrates the wiring diagram for connecting the JY-61 module to a microcontroller for communication and debugging.

Simultaneous PC and MCU Monitoring

Details how to achieve simultaneous data monitoring from both the PC program and the MCU.

Serial Communication Protocol

Protocol Standards and Settings

Defines the serial communication level (TTL), supported baud rates, stop bits, and parity bit configurations.

Module Configuration Commands

Lists commands to configure the module via PC, including default settings, format, and power-down saved options.

Data Packet Formats

Module to PC Data Structure

Explains the packet structure for data sent from the module to the host computer (acceleration, angular velocity, angle).

Acceleration Data Calculation

Details the format of acceleration data packets and provides formulas for converting raw values to physical units.

Angular Velocity Data Calculation

Provides the data format and calculation formulas for angular velocity packets.

Angle Data Calculation and Euler Coordinates

Explains angle data format, calculation, coordinate system, and characteristics of Euler angles.

I2 C Mode Data Structure

Outlines the data format and structure used when the module operates in I2C mode.

I2 C Mode Transition

Describes the data packets for entering I2C mode and switching between I2C and serial interfaces.

Embedded System Integration

C Code for Data Analysis

Presents C language sample code for decoding IMU data packets received from the module.

Embedded Data Reception Logic

Explains the interrupt handler and main code structure for receiving and processing IMU data in embedded systems.

Embedded Data Processing Flow

Illustrates the embedded system logic for handling incoming IMU data, including checking packet headers and processing data types.

Physical Specifications

Module Dimensions

Displays the physical size of the JY-61 module with key dimensions highlighted in a diagram.