htttp://www.wit-motion.

com

JY-901
JY901 JY901

150MAH 51.3 x 36mm X 15mm

2
13.3V-5V

2<40mA

351.3 x 36mm X 15mm

4 100mil(2.54mm) 600mil(15.24mm)

53 3 3 3 :1 GPS3

6:16g:2000/s180

76.1e-5g:7.6e-3/s

80.01g 0.05/s

90.01

10JY-901B
JY-901B GPS GPS

10 0.1Hz~200Hz
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 htttp://www.wit-motion.com
11TTL 240048009600192003840057600115200
230400460800921600.

120~VCCPWM 1us-65535us
1us

VCC 3.3V 5V
RX TTL
TX TTL
GND

4.1

USB
https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-13639062253.13.1zBE3L&id=236
77216794
https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-13639062253.19.1zBE3L&id=541
909874044

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USB-TTL USB-TTL

USB JY-901 USB +5V

RXDGND VCCTXGND

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115200

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JY901

4.2

4.2.1 USB (HC-06)

https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-13639062253.25.Q67SQc&id=530
255680661

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JY901

USB (HC-06) USB

USB (HC-06) JY901 JY901 LED
,, JY901 LED

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4.2.2 USB4.0

USB4.0
https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-13639062253.9.hzi7wu&id=53543
1541506

4.0 USB

http://www.elecmaster.net/forum.php?mod=viewthread&tid=20&extra=page%3D1

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4.2.3

APP

JY901

HC-06

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1234

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JY-901

0.01

3v~6v 3.3V/5V

IIC
2400bps~921600bps IIC 400K

200Hz

4 PWM

GPS NMEA-0183 GPS GPS-IMU

PCB

4 PCB

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 htttp://www.wit-motion.com

13V~6V

2<40mA

315.24mm X 15.24mm X 2mm

4 100mil(2.54mm) 600mil(15.24mm)

53 3 3 3 :1 GPS3

6: 16g: 2000/s 180

76.1e-5g:7.6e-3/s

80.01g 0.05/s

90.01

10JY-901B
JY-901B GPS GPS

10 0.1Hz~200Hz

11TTL 240048009600192003840057600115200
230400460800921600I2C IIC 400K

120~VCCPWM 1us-65535us
1us

VCC 3.3V 5V
RX TTL
TX TTL

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 htttp://www.wit-motion.com
GND
SCL I2C
SDA I2C
D0 0
D1 1
D2 2
D3 3

X Y
Z

5.1

5.1.1

USB TTL USB

USB JY-901 USB +5VTXDRXDGND

6050 VCCRXTXGND TXD RXD
( 6050 2 OFF )

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5.1.2

5.2 IIC

JY-901 IIC MCU IIC

IIC MCU IIC
4.7K VCC

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6.1

USB-TTL USB-TTL

9600

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->Auto
5Hz
9600

F
ctrl+F

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6.2

D2 VCC
LED 2 LED

JY-901 USB-TTL

6.3

/
0
/
/

/
AxOffsetAyOffset
AzOffsetGxOffsetGyOffsetGzOffset
FLASH
0/s

GxOffset X GyOffset Y

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X 360
Y 360 Z 360 HxOffsetHyOffsetHzOffset

FLASH

HxOffset
X HyOffset Y

0 JY-901B
0

6.4

2015 1 1 0:0:0.0
GPS GPS GPS 8
JY-901B JY-901

GPS
D1 GPSRXGPS GPS

6.5

10Hz 200Hz

6.6

9600

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 htttp://www.wit-motion.com

6.7 IIC

IIC 0x50 IIC

IIC 16 IIC

IIC

6.8 GPS

GPS GPS 9600

GPS GPS

GPS

6.9

JY-901 4

PWM
D1 GPSRX

DxStatus





PWM PWM
GPSRXD1

U=DxStatus/1024*Uvcc
Uvcc LDO 3.5VUvcc 3.3V
3.5VUvcc=-0.2V
DxStatus=1
DxStatus=1
DxStatus=1
DxStatus=0
PWM PWM PWM

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 htttp://www.wit-motion.com
us PWM
PWM us

6.10 LED

LED
LED LED

TTL RS232 RS232

240048009600()192003840057600115200230400460800
921600 1 0

7.1 :

7.1.1

0x55 0x50 YY MM DD hh mm ss msL msH SUM

YY20YY
MM
DD
hh
mm
ss
ms

ms=((msH<<8)|msL)
Sum=0x55+0x51+YY+MM+DD+hh+mm+ss+ms+TL

7.1.2

0x55 0x51 AxL AxH AyL AyH AzL AzH TL TH SUM

ax=((AxH<<8)|AxL)/32768*16g(g 9.8m/s2)
ay=((AyH<<8)|AyL)/32768*16g(g 9.8m/s2)
az=((AzH<<8)|AzL)/32768*16g(g 9.8m/s2)

T=((TH<<8)|TL) /100
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 htttp://www.wit-motion.com

Sum=0x55+0x51+AxH+AxL+AyH+AyL+AzH+AzL+TH+TL

1 16 ASCII
2 short
X Ax AxL AxH
Data DataH DataL
Data=((short)DataH<<8)|DataL DataH
short Data short

7.1.3

0x55 0x52 wxL wxH wyL wyH wzL wzH TL TH SUM

wx=((wxH<<8)|wxL)/32768*2000(/s)
wy=((wyH<<8)|wyL)/32768*2000(/s)
wz=((wzH<<8)|wzL)/32768*2000(/s)

T=((TH<<8)|TL) /100

Sum=0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL

7.1.4

0x55 0x53 RollL RollH PitchL PitchH YawL YawH TL TH SUM

x Roll=((RollH<<8)|RollL)/32768*180()
y Pitch=((PitchH<<8)|PitchL)/32768*180()
z Yaw=((YawH<<8)|YawL)/32768*180()

T=((TH<<8)|TL) /100

Sum=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+TH+TL

1. ,
X Y Z
z-y-x, z y x
2. 180 Z-Y-X
(Y )90 90 90
X 180

3.
X 90 X Y

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 htttp://www.wit-motion.com

7.1.5

0x55 0x54 HxL HxH HyL HyH HzL HzH TL TH SUM

x Hx=(( HxH<<8)| HxL)
y Hy=(( HyH <<8)| HyL)
z Hz =(( HzH<<8)| HzL)

T=((TH<<8)|TL) /100

Sum=0x55+0x53+HxH+HxL+HyH+HyL+HzH+HzL+TH+TL

7.1.6

0x55 0x55 D0L D0H D1L D1H D2L D2H D3L D3H SUM

D0 = (D0H<<8)| D0L
D1 = (D1H<<8)| D1L
D2 = (D2H<<8)| D2L
D3 = (D3H<<8)| D3L


:
U=DxStatus/1024*Uvcc
Uvcc LDO 3.5VUvcc 3.3V
3.5VUvcc=-0.2V

1
0
1
0
PWM us

7.1.7

0x55 0x56 P0 P1 P2 P3 H0 H1 H2 H3 SUM

P = (( P3<<24)| ( P2<<16)| ( P1<<8)| P0 Pa
H = (( H3<<24)| ( H2<<16)| ( H1<<8)| H0 cm

Sum=0x55+0x54+P0+P1+P2+P3+H0+H1+H2+H3

7.1.8

0x55 0x57 Lon0 Lon 1 Lon 2 Lon 3 Lat0 Lat 1 Lat 2 Lat 3 SUM

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Lon = ((Lon 3<<24)| (Lon 2<<16)| (Lon 1<<8)| Lon 0
NMEA8013 GPS ddmm.mmmmm(dd mm.mmmmm
)JY-901
dd=Lon/100000000;

mm.mmmmm=(Lon%10000000)/100000(%)

Lat = ((Lat 3<<24)| (Lat 2<<16)| (Lat 1<<8)| Lat 0 cm

NMEA8013 GPS ddmm.mmmmm(dd mm.mmmmm
)JY-901
dd=Lat/100000000;

mm.mmmmm=(Lat%10000000)/100000(%)

Sum=0x55+0x54+ Lon 0+ Lon 1+ Lon 2+ Lon 3+ Lat 0+ Lat 1+ Lat 2+ Lat 3

7.1.9

0x55 0x58 GPSHeightL GPSHeightH GPSYawL GPSYawH

GPSV0 GPSV 1 GPSV 2 GPSV 3 SUM

GPSHeight = ((GPSHeightH<<8)| GPSHeightL)/10 m
GPSYaw =( (GPSYawH <<8)| GPSYawL)/10
GPSV = (((Lat 3<<24)| (Lat 2<<16)| (Lat 1<<8)| Lat 0)/1000km/h

Sum=0x55+0x54+ GPSHeightL + GPSHeightH + GPSYawL + GPSYawH + GPSV0+ GPSV 1+
GPSV 2+ GPSV 3

7.1.10

0x55 0x59 Q0L Q0H Q1L Q1H Q2L Q2H Q3L Q3H SUM

Q0=((Q0H<<8)|Q0L)/32768
Q1=((Q1H<<8)|Q1L)/32768
Q2=((Q2H<<8)|Q2L)/32768
Q3=((Q3H<<8)|Q3L)/32768

Sum=0x55+0x59+Q0L+Q0H+Q1L +Q1H +Q2L+Q2H+Q3L+Q3H

7.1.11

0x55 0x59 SNL SNH PDOPL PDOPH HDOPL HDOPH VDOPL VDOPH SUM

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SN=((SNH<<8)|SNL)
PDOP=((PDOPH<<8)|PDOPL)/32768
HDOP=(( HDOPH<<8)| HDOPL)/32768
VDOP=(( VDOPH<<8)| VDOPL)/32768

Sum=0x55+0x59+ SNL + SNH + PDOPL + PDOPH + HDOPL + HDOPH + VDOPL + VDOPH

7.2

1. 9600 10Hz

2.
0xFF 0xAA Address DataL DataH

7.2.1

0x00 SAVE
0x01 CALSW
0x02 RSW
0x03 RATE
0x04 BAUD
0x05 AXOFFSET X
0x06 AYOFFSET Y
0x07 AZOFFSET Z
0x08 GXOFFSET X
0x09 GYOFFSET Y
0x0a GZOFFSET Z
0x0b HXOFFSET X
0x0c HYOFFSET Y
0x0d HZOFFSET Z
0x0e D0MODE D0
0x0f D1MODE D1
0x10 D2MODE D2
0x11 D3MODE D3
0x12 D0PWMH D0PWM
0x13 D1PWMH D1PWM
0x14 D2PWMH D2PWM
0x15 D3PWMH D3PWM
0x16 D0PWMT D0PWM
0x17 D1PWMT D1PWM
0x18 D2PWMT D2PWM
0x19 D3PWMT D3PWM

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 htttp://www.wit-motion.com
0x1a IICADDR IIC
0x1b LEDOFF LED
0x1c GPSBAUD GPS

0x30 YYMM
0x31 DDHH
0x32 MMSS
0x33 MS
0x34 AX X
0x35 AY Y
0x36 AZ Z
0x37 GX X
0x38 GY Y
0x39 GZ Z
0x3a HX X
0x3b HY Y
0x3c HZ Z
0x3d Roll X
0x3e Pitch Y
0x3f Yaw Z
0x40 TEMP
0x41 D0Status D0
0x42 D1Status D1
0x43 D2Status D2
0x44 D3Status D3
0x45 PressureL
0x46 PressureH
0x47 HeightL
0x48 HeightH
0x49 LonL
0x4a LonH
0x4b LatL
0x4c LatH
0x4d GPSHeight GPS
0x4e GPSYaw GPS
0x4f GPSVL GPS
0x50 GPSVH GPS
0x51 Q0 Q0
0x52 Q1 Q1
0x53 Q2 Q2
0x54 Q3 Q3

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 htttp://www.wit-motion.com

7.2.2

0xFF 0xAA 0x00 SAVE 0x00

SAVE
0
1

7.2.3

0xFF 0xAA 0x01 CALSW 0x00

CALSW
0
1
2
3 0

7.2.4

0xFF 0xAA 0x02 RSW 0x00

RSW
7 6 5 4 3 2 1 0
0x57 0x56 0x55 0x54 0x53 0x52 0x51 0x50
0 0 0 1 1 1 1 0

0x50
0 0x40
1 0x40
0x51
0 0x51
1 0x51
0x52
0 0x52
1 0x52
0x53
0 0x53
1 0x53
0x54
0 0x54
1 0x54
0x54 &
0 0x54
1 0x54
0x55
0 0x55
1 0x55
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 htttp://www.wit-motion.com
0x56
0 0x56
1 0x56
0x57
0 0x57
1 0x57

7.2.5

0xFF 0xAA 0x03 RATE 0x00

RATE
0x010.1Hz
0x020.5Hz
0x031Hz
0x042Hz
0x055Hz
0x0610Hz
0x0720Hz
0x0850Hz
0x09100Hz
0x0a200Hz
0x0b
0x0c

7.2.6

0xFF 0xAA 0x04 BAUD 0x00

BAUD
0x002400
0x014800
0x029600
0x0319200
0x0438400
0x0557600
0x06115200
0x07230400
0x08460800
0x09921600

7.2.7 X

0xFF 0xAA 0x05 AXOFFSETL AXOFFSETH

AXOFFSETLX
AXOFFSETHX

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AXOFFSET= (AXOFFSETH <<8) | AXOFFSETL

7.2.8 Y

0xFF 0xAA 0x06 AYOFFSETL AYOFFSETH

AYOFFSETLY
AYOFFSETHY
AYOFFSET= (AYOFFSETH <<8) | AYOFFSETL

7.2.9 Z

0xFF 0xAA 0x07 AZOFFSETL AZOFFSETH

AZOFFSETLZ
AZOFFSETHZ
AZOFFSET= (AZOFFSETH <<8) | AZOFFSETL

7.2.10 X

0xFF 0xAA 0x08 GXOFFSETL GXOFFSETH

GXOFFSETLX
GXOFFSETHX
GXOFFSET= (GXOFFSETH <<8) | GXOFFSETL

7.2.11 Y

0xFF 0xAA 0x09 GYOFFSETL GYOFFSETH

GYOFFSETLY
GYOFFSETHY
GYOFFSET= (GYOFFSETH <<8) | GYOFFSETL

7.2.12 Z

0xFF 0xAA 0x0A GXOFFSETL GXOFFSETH

GZOFFSETLZ
GZOFFSETHZ
GZOFFSET= (GZOFFSETH <<8) | GZOFFSETL

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7.2.13 X

0xFF 0xAA 0x0b HXOFFSETL HXOFFSETH

HXOFFSETLX
HXOFFSETHX
HXOFFSET= (HXOFFSETH <<8) | HXOFFSETL

7.2.14 Y

0xFF 0xAA 0x0c HXOFFSETL HXOFFSETH

HXOFFSETLX
HXOFFSETHX
HXOFFSET= (HXOFFSETH <<8) | HXOFFSETL

7.2.15 Z

0xFF 0xAA 0x0d HXOFFSETL HXOFFSETH

HXOFFSETLZ
HXOFFSETHZ
HXOFFSET= (HXOFFSETH <<8) | HXOFFSETL

7.2.16 D0

0xFF 0xAA 0x0e D0MODE 0x00

D0MODE
0x00
0x01
0x02
0x03
0x04 PWM

7.2.17 D1

0xFF 0xAA 0x0f D1MODE 0x00

D1MODE
0x00
0x01
0x02
0x03
0x04 PWM
0x05 GPS TX
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7.2.18 D2

0xFF 0xAA 0x10 D2MODE 0x00

D2MODE
0x00
0x01
0x02
0x03
0x04 PWM

7.2.19 D3

0xFF 0xAA 0x11 D3MODE 0x00

D3MODE
0x00
0x01
0x02
0x03
0x04 PWM

7.2.20 D0 PWM

0xFF 0xAA 0x12 D0PWMHL D0PWMHH

D0PWMHLD0
D0PWMHHD0
D0PWMH = (D0PWMHH<<8) | D0PWMHL
PWM us 1500us
D0PWMH 1500

7.2.21 D1 PWM

0xFF 0xAA 0x13 D1PWMHL D1PWMHL

D1PWMHLD1
D1PWMHHD1
D1PWMH = (D1PWMHH<<8) | D1PWMHL
PWM us 1500us 20000us
D1PWMH 1500

7.2.22 D2 PWM

0xFF 0xAA 0x14 D2PWMHL D2PWMHL

D2PWMHLD2
D2PWMHHD2
D2PWMH = (D2PWMHH<<8) | D2PWMHL
PWM us 1500us 20000us
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D2PWMH 1500

7.2.23 D3 PWM

0xFF 0xAA 0x15 D3PWMHL D3PWMHL

D3PWMHLD3
D3PWMHHD3
D3PWMH = (D3PWMHH<<8) | D3PWMHL
PWM us 1500us 20000us
D3PWMH 1500

7.2.24 D0 PWM

0xFF 0xAA 0x16 D0PWMTL D0PWMTH

D0PWMTLD0 PWM
D0PWMTHD0 PWM
D0PWMT = (D0PWMTH<<8) | D0PWMTL
PWM us 1500us 20000us
D0PWMH 1500D0PWMT 20000

7.2.25 D1 PWM

0xFF 0xAA 0x17 D1PWMTH D1PWMTL

D1PWMTLD1 PWM
D1PWMTHD1 PWM
D1PWMT = (D1PWMTH<<8) | D1PWMTL
PWM us 1500us 20000us
D1PWMH 1500D1PWMT 20000

7.2.26 D2 PWM

0xFF 0xAA 0x18 D2PWMTH D2PWMTL

D2PWMTLD2 PWM
D2PWMTHD2 PWM
D2PWMT = (D2PWMTH<<8) | D2PWMTL
PWM us 1500us 20000us
D2PWMH 1500D2PWMT 20000

7.2.27 D3 PWM

0xFF 0xAA 0x19 D3PWMTH D3PWMTL

D3PWMTLD3 PWM
D3PWMTHD3 PWM
D3PWMT = (D3PWMTH<<8) | D3PWMTL

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 htttp://www.wit-motion.com
PWM us 1500us 20000us
D3PWMH 1500D3PWMT 20000

7.2.28 IIC

0xFF 0xAA 0x1a IICADDR 0x00

IICADDR IIC 0x50IIC 7bit 0x7f

7.2.29 LED

0xFF 0xAA 0x1b LEDOFF 0x00

LEDOFF LED
0x01 LED
0x00 LED

7.2.30 GPS

0xFF 0xAA 0x1c GPSBAUD 0x00

GPSBAUDGPS
BAUD
0x002400
0x014800
0x029600
0x0319200
0x0438400
0x0557600
0x06115200
0x07230400
0x08460800
0x09921600

8 IIC

JY-901 IIC IIC 400khz

7bit 0x50 IIC IIC
GY-901 IIC
IIC 16 2

RegAddr
0x00 SAVE
0x01 CALSW
0x02 RSW

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 htttp://www.wit-motion.com
0x03 RATE
0x04 BAUD
0x05 AXOFFSET X
0x06 AYOFFSET Y
0x07 AZOFFSET Z
0x08 GXOFFSET X
0x09 GYOFFSET Y
0x0a GZOFFSET Z
0x0b HXOFFSET X
0x0c HYOFFSET Y
0x0d HZOFFSET Z
0x0e D0MODE D0
0x0f D1MODE D1
0x10 D2MODE D2
0x11 D3MODE D3
0x12 D0PWMH D0PWM
0x13 D1PWMH D1PWM
0x14 D2PWMH D2PWM
0x15 D3PWMH D3PWM
0x16 D0PWMT D0PWM
0x17 D1PWMT D1PWM
0x18 D2PWMT D2PWM
0x19 D3PWMT D3PWM
0x1a IICADDR IIC
0x1b LEDOFF LED
0x1c GPSBAUD GPS

0x30 YYMM
0x31 DDHH
0x32 MMSS
0x33 MS
0x34 AX X
0x35 AY Y
0x36 AZ Z
0x37 GX X
0x38 GY Y
0x39 GZ Z
0x3a HX X
0x3b HY Y
0x3c HZ Z
0x3d Roll X
0x3e Pitch Y
0x3f Yaw Z
0x40 TEMP
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 htttp://www.wit-motion.com
0x41 D0Status D0
0x42 D1Status D1
0x43 D2Status D2
0x44 D3Status D3
0x45 PressureL
0x46 PressureH
0x47 HeightL
0x48 HeightH
0x49 LonL
0x4a LonH
0x4b LatL
0x4c LatH
0x4d GPSHeight GPS
0x4e GPSYaw GPS
0x4f GPSVL GPS
0x50 GPSVH GPS
0x51 Q0 Q0
0x52 Q1 Q1
0x53 Q2 Q2
0x54 Q3 Q3

8.1 IIC

IIC
IICAddr<<1 RegAddr Data1L Data1H Data2L Data2H
IIC JY-901 Start
IIC IICAddr
RegAddr

IIC
JY-901
1

0 RegAddr 0x0eDataL 0x02DataH
0x00

7.1

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8.2 IIC

IIC
IICAddr<<1 RegAddr (IICAddr<<1)|1 Data1L Data1H Data2L Data2H
IIC JY-901 Start
IIC IICAddr
RegAddr(IICAddr<<1)|1
0x51 0xa1
SDA


RedAddr 0x3d 6

0x3d 0x9C,0x82,0x28,0xFF,0xE6,0x24 X
0x829CY 0xFF28Z 0x24E6 7.2.4
X -176.33Y -1.19Z 51.89

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