| Parameter | Test conditions | Minimum value | Typical value | Maximum value | Unit |
| Gyro | Dynamic measuring range | | | 500 | 2000 | º/s |
| Zero bias stability | Allan variance, Z-axis | | 1.6 | | º/h |
| Allan variance, X and Y axis | | 3.2 | | º/h |
| 10 s average (-40 ℃ ~ + 80 ℃, constant temperature), Z-axis | | 6 | | º/h |
| 1s average (-40 ℃ ~ + 80 ℃, constant temperature), Z-axis | | 9 | | º/h |
| 10 s average (-40 ℃ ~ + 80 ℃, constant temperature), X axis and Y axis | | 12 | | º/h |
| 1 s average (-40 ℃ ~ + 80 ℃, constant temperature), X axis and Y axis | | 18 | | º/h |
| Zero bias | Zero-bias range, Z-axis | | ±0.14 | | º/s |
| Zero-bias range, X-axis and Y-axis | | ±0.4 | | º/s |
| Zero bias change over full temperature range, Z-axis① | | ±0.04 | | º/s |
| Zero bias change over full temperature range, X and Y axis① | | ±0.12 | | º/s |
| Successive Start Repeatability, Z-axis | | 0.004 | | º/s |
| Successive Start Repeatability, X-Axis and Y-Axis | | 0.012 | | º/s |
| Day-by-day start repeatability, Z-axis | | 0.006 | | º/s |
| Start repetition day by day, X axis and Y axis | | 0.018 | | º/s |
| Ffect of linear acceleration on bias | | 0.004 | | º/s/g |
| Influence of vibration on zero bias, change before and after vibration② | | 0.004 | | º/s/g |
| Influence of vibration on zero bias, change before and during vibration② | | 0.004 | | º/s/g |
| Scale factor | Scale factor accuracy, Z-axis | | 0.6 | | % |
| Scale Factor Accuracy, X and Y Axis | | 1.2 | | % |
| Scale factor nonlinearity, Z-axis | | 0.02 | | %FS |
| Scale Factor Nonlinearity, X and Y Axis | | 0.04 | | %FS |
| Angular random walk | | | 0.3 | | °/√hr |
| Noise density | | | 0.002 | | °/s/√Hz |
| Resolution | | | 3.052×10−7 | | º/s/LSB |
| Bandwidth | | | 200 | | Hz |
| Accelerometer | Dynamic measuring range | | | 16 | 200 | g |
| Zero bias stability | Allan variance | | 0.06 | | mg |
| 10 s average (-40 ℃ ~ + 80 ℃, constant temperature) | | 0.4 | | mg |
| 1s average (-40 ℃ ~ + 80 ℃, constant temperature) | | 0.6 | | mg |
| Zero bias | Zero bias range | | 16 | 30 | mg |
| Zero bias change in full temperature range, peak-to-peak value① | | 10 | 20 | mg |
| Repeatability of successive starts | | 1 | | mg |
| Repeatability is initiated on a daily basis | | 1.6 | | mg |
| Zero-bias temperature coefficient | | 0.1 | 0.2 | mg/℃ |
| Scale factor | Scale factor accuracy | | 4 | | % |
| Scale factor nonlinearity | | 0.2 | | %FS |
| Speed random walk | | | 0.058 | | m/s/√hr |
| Noise density | | | 0.05 | | mg/√Hz |
| Resolution | | | 1.221×10−8 | | g/LSB |
| Bandwidth | | | 200 | | Hz |
| Magnetometer | Magnetic field range | Brg,xy | | ±1300 | | μT |
| Brg,z | | ±2500 | | μT |
| Resolution | | | 0.3 | | μT |
| Heading and longitude | 30 μT horizontal geomagnetic component, 25 ℃ | | ±2.5 | | deg |
| Communication interface | 1-channel SPI | Baud rate | | | 15 | MHz |
| 1-channel UART | Baud rate | | 230.4 | | Kbps |
| 1- channel CAN | Baud rate | | | 1 | MHz |
| Sampling frequency | SPI | | 200 | 1000 | Hz |
| UART | | 200 | | Hz |
| CAN | | 200 | | |
| Electrical characteristics | Voltage | | 3 | 3.3 | 3.6 | V |
| Power consumption | | | | 1.5 | W |
| Ripple | P-P | | | 100 | mV |
| Structural characteristics | Size | | | 47×44×14 | | mm |
| Weight | | | 50 | | g |
| Use environment | Operating temperature | | -40 | | 80 | ℃ |
| Storage temperature | | -45 | | 85 | ℃ |
| Vibration | | | 20~2000Hz,6.06g | | |
| Impact | | | 1000g,0.5ms | | |
| Reliability | MTBF | | | 20000 | | h |
| Continuous working time | | | 120 | | h |
| 1: Calculate the zero deviation of the whole temperature change process, the temperature change rate is ≤ 1 ℃/min, and the temperature range is -40 ℃ ~ + 80 ℃; |
| 2: Vibration condition is 6.06 G, 20Hz ~ 2000Hz |
