1.

Varience - VMU931 – 99$

https://variense.com/product/vmu931/

Feature Value/Note Units

Number of axes 9

Diameter 31 mm

Thickness 8 mm

Weight 10 g

Sensing range ±2000, 16, ±4800 °/s , g, μT

Resolution 16 bit

Communication interface USB

This sensor is based on the latest MEMS technology, which is highly adaptive to various applications.
Real-time data logging, maximum sensitivity and automatic factory calibration ensure that the sensor
will fit your system proprely.

Can I log data remotely using the VMU931?

Yes, this might be possible using the Raspberry Pi Zero W board, for instance. The board costs
only $10 USD, and it has a micro SD card slot and built-in Wifi/Bluetooth transmission.

Does the VMU931 have on-board memory?

No. However, you can log data remotely using the Raspberry Pi Zero W board.

What is the maximum output data rate of the VMU931?

Some types of data (quaternions, Euler angles, and headings) limit the output rate of the
VMU931 to 200 Hz when activated. They must all be deactivated to attain an output rate of
1000 Hz.

Do I need the VMU Reader?

Yes, if you want the sensor data to display automatically. There is no need to develop your
own API or data logging tools.

What formats can you record the data in?

You can use the VMU Reader to export recorded data in two available formats (.txt or .csv).

Can multiple VMU931 sensors be added together in parallel?

Yes, the newest release of the VMU Reader supports multi-channel data acquisition.
 2. Lord Sensing Microstrain - 3DM-CV5-25
To get price it is necessary to contact sales
(Is not sold to Ukraine, but it is possible to buy to USA address and
resend to Ukraine in 2-3 days)
(https://www.microstrain.com/inertial/3dm-cv5-25 )

General

Integrated Triaxial accelerometer, triaxial gyroscope, pressure altimeter,temperature

sensors sensors

Data outputs Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, magnetic
field , ambient pressure, deltaTheta, deltaVelocity

Computed outputs:
Extended Kalman Filter (EKF): filter status, timestamp, attitude estimates (in
Euler angles, quaternion, orientation matrix) , linear and compensated
acceleration , bias compensated angular rate, pressure altitude, gravity-free
linear acceleration, gyroscope and accelerometer bias, scale factors and
uncertainties, gravity and magnetic models, and more.

Inertial Measurement Unit (IMU) Sensor Outputs

Accelerometer Gyroscope Magnetometer

Measurement ±8 g (standard) ±500°/sec(standard) ±2.5 Gauss

range ±2 g, ±4 g, ±20 g, ±250°, ±1000°/sec
±40 g (optional) (optional)

Non-linearity ±0.04% fs ±0.06% fs ±0.3% fs

Resolution 0.05 mg (+/- 8 g) <0.003°/sec (500 dps) --

Bias ±0.04 mg 8°/hr --

instability

Initial bias ±0.004 g ±0.1°/sec ±0.003 Gauss

error

Scale factor ±0.05±% ±0.05% ±0.1%

stability

Noise density 100 µg/√Hz 0.0075°/sec/√Hz (300°/sec) 100 µGauss/√Hz

Alignment ±0.05° ±0.05° ±0.05°
error

Adjustable 500 Hz (max) 500 Hz (max) -

bandwidth

Offset error 0.2% (typ) 0.1% (typ) --

over
temperature

Gain error 0.05% (typ) 0.06% (typ) --

over
temperature

Scale factor 0.04% (typ) 0.04% (typ) ±0.0015 Gauss

non-linearity 0.2% (max) 0.15% (max)
(@ 25° C)

IMU filtering Digital averaging filter (user adjustable) sampled at 2 kHz and scaled into
physical units ;coning and sculling integrals computed at 1 kHz

Sampling 2 kHz 2 kHz 50 Hz

rate

IMU data 1 Hz to 1000 Hz (sensor direct mode)

output rate

Pressure Altimeter

Range -1800 m to 10,000 m

Resolution < 0.1 m

Noise density 0.01 hPa RMS

Sampling 25 Hz
rate

Computed Outputs

Attitude accuracy EKF outputs: ±0.5° RMS roll and pitch, ±1° RMS heading (typ)
CF outputs: ±0.8° RMS roll and pitch, ±2° RMS heading (typ)

Attitude heading range 360° about all axes

Attitude resolution 0.05°

Attitude repeatability 0.5°

Calculation update 500 Hz

rate

Computed data output EKF outputs: 1 Hz to 500 Hz

rate CF outputs: 1 Hz to 500 Hz

Operating Parameters

Communication USB 2.0 (full speed) TTL serial (3.0 V dc, 9,600 bps to 921,600 bps,
default 115,200)

Power source + 3.2 to 5.2 V dc

350 mW (typical) 350 mW (typ)

Operating temperature -40 °C to +85 °C

Mechanical shock limit 500 g

Physical Specifications
Dimensions
38 mm x 24 mm x 9.7 mm
Weight
8 grams
Enclosure material
Aluminum

Regulatory compliance ROHS, CE

Integration

Connectors Data/power output: Samtec FTSH Series

(FTSH-105-01-F-D-K)
Software
MIP Monitor, MIP Hard and Soft Iron Calibration, Windows
XP/Vista/7/8/10 compatible

Compatibility Common protocol between 3DM-GX3, GX4, RQ1, GQ4, GX5, and
CV5

Software development MIP data communications protocol with sample code available (OS
kit (SDK) and platform independent)
 3. PhidgetSpatial RB-Phi-391 – 70$
3/3/3 3-Axis Compass/Gyroscope/Accelerometer
(https://www.robotshop.com/en/phidgetspatial-3-3-3-3-axis-compass-gyroscope-
accelerometer.html#Specifications )

PhidgetSpatial 3-axis compass, 3-axis gyroscope and 3-axis accelerometer all in one:
• Gyroscope Speed Max: ± 2000°/s
• Acceleration Measurement Max: ± 8 g
• Magnetic Field Max: 5.5 G
• Controlled By: USB (Mini-USB)

The PhidgetSpatial 3/3/3 3-Axis Compass/Gyroscope/Accelerometer combines the

functionality of a 3-axis compass, a 3-axis gyroscope, and a 3-axis accelerometer all in one
convenient package. It is an inexpensive alternative to PhidgetSpatial Precision 3/3/3, and is
ideal for applications where it's more important to know the general motion of an object rather
than the precise amounts.

Accelerometer:
• Acceleration Measurement Max: ± 8 g
• Acceleration Measurement Resolution: 976.7 μg
• Accelerometer White Noise σ: 2.8 mg
• Accelerometer Minimum Drift σ: 1.9 mg
• Accelerometer Optimal Averaging Period: 286 s

Gyroscope:
• Gyroscope Speed Max: ± 2000°/s
• Gyroscope Resolution: 0.07°/s
• Gyroscope White Noise σ: 0.59°/s
• Gyroscope Minimum Drift σ: 0.0019°/s
• Gyroscope Optimal Averaging Period: 8628 s

Magnetometer:
• Magnetic Field Max: 5.5 G
• Magnetometer Resolution: 3 mG
• Magnetometer White Noise σ: 1.2 mG
• Magnetometer Minimum Drift σ: 87 μG

Board:
• Controlled By: USB (Mini-USB)
• API Object Name: Accelerometer, Gyroscope, Magnetometer
• Current Consumption Max: 40 mA
• Sampling Speed Min: 1 s/sample
• Sampling Speed Max: 4 ms/sample
• Sampling Speed Min (Webservice): 1 s/sample
• Sampling Speed Max (Webservice): 12 ms/sample
• USB Voltage Min: 4.4 V DC
• USB Voltage Max: 5.3 V DC
• USB Speed: Full Speed
• Operating Temperature Min: -40 °C
• Operating Temperature Max: 85 °C