WitMotion Shenzhen Co.

, Ltd | Datasheet

Bluetooth AHRS IMU sensor | WT901BLECL

The Robust Acceleration, Angular velocity, Angle & Magnetic
filed Detector

The WT901BLECL is a Bluetooth 5.0 multi-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

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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Tutorial Link

Google Drive

Link to instructions DEMO:

WITMOTION Youtube Channel
WT901BLECL 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

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com
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 Contents

Tutorial Link............................................................................................................................. - 2 -
Contact....................................................................................................................................... - 2 -
Application................................................................................................................................ - 2 -
Contents.................................................................................................................................... - 3 -
1 Overview............................................................................................................................... - 4 -
2 Features................................................................................................................................. - 5 -
3 Specification.........................................................................................................................- 6 -
3.1 Parameter................................................................................................................. - 6 -
3.2 Size.............................................................................................................................. - 8 -
3.3 Axial Direction......................................................................................................... - 9 -
4 Port Definition................................................................................................................... - 10 -
5 Casing Specification....................................................................................................... - 11 -
6 Communication Protocol.............................................................................................. - 12 -
6.1 Data Format.......................................................................................................... - 12 -
6.1.1 Data Packet(Default)............................................................................. - 12 -
6.1.2 Single Return Register Data Packet................................................ - 15 -
6.2 Commands............................................................................................................. - 18 -
6.2.1 Read Register Value............................................................................... - 18 -
6.2.2 Calibration..................................................................................................- 18 -
6.2.3 Save Settings........................................................................................... - 19 -
6.2.4 Return Rate............................................................................................... - 19 -
6.3 Register Address................................................................................................. - 20 -

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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1 Overview

WT901BLECL’s scientific name is AHRS IMU sensor. A sensor measures 3-axis

angle, angular velocity, acceleration, magnetic field. Its strength lies in the
algorithm which can calculate three-axis angle accurately.

WT901BLECL is an CE certified accelerometer. It is employed where the highest

measurement accuracy is required. WT901BLECL 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, free software

for Windows computer, APP for Android smartphones, iOS APP for iPhone,
communication protocol for project development

• WITMOTION sensors have been praised by thousands of engineers as a

recommended attitude measurement solution

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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2 Features

 Built-in WT901BLE module, for detailed parameters, please refer to the

instructions.

 The baud rate of this device is 115200 and cannot be changed.

 The module consists of a high precision gyroscope, accelerometer and

geomagnetic field sensor. The product can solve the current real-time
motion posture of the module quickly by using the high-performance
microprocessor, advanced dynamic solutions and Kalman filter algorithm.

 The advanced digital filtering technology of this product can effectively

reduce the measurement noise and improve the measurement accuracy.

 Maximum 50Hz data output rate. Output content can be arbitrarily selected,
the output speed 0.2Hz~ 50Hz adjustable.

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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3 Specification

3.1 Parameter

Parameter Specification

 Voltage 3.3V-5V

 Current <40mA

 Battery 250mAh, 3.7V

 Working hour A. Play 10h at 1 charge (battery)

B. Power source of 5V
 Size 51.3mm x36mm X15mm/
2.02" x 1.41" x 0.59"
 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
Time, Quaternion
 Output frequency 0.2Hz--200Hz
 Interface Type-C
 Bluetooth Bluetooth Coverage range: ≤50m
Built-in Chip: nRF52832
Version: nRF Bluetooth 5.0
 Baud rate 115200(default, can not be changed )

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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Measurement Range & Accuracy

Sensor Measurement Range Accuracy/ Remark

 Accelerometer X, Y, Z, 3-axis Accuracy: 0.01g

±16g Resolution: 16bit
Stability: 0.005g

 Gyroscope X, Y, Z, 3-axis Resolution: 16bit

±2000°/s Stability: 0.05°/s

 Magnetometer X, Y, Z, 3-axis 0.15µT/LSB typ. (16-bit)

±4900µT

 Angle/ Inclinometer X, Y, Z, 3-axis Accuracy:X, Y-axis: 0.05°

X, Z-axis: ±180° Z-axis: 1°(after magnetic
Y ±90° calibration)
(Y-axis 90° is singular
point)

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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3.2 Size

Parameter Specification Tolerance Comment

Length 51.3 ±0.2

Width 36 ±0.2
Unit: millimeter.
Height 15 ±0.2

Weight 20 ±0.2 Unit: gram

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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3.3 Axial Direction

The coordinate system used for attitude angle settlement is the northeast
sky coordinate system. Place the module in the positive direction, as shown
in the figure below, direction forward is the X-axis, the direction left is the
Y-axis, and direction upward is the Z-axis. Euler angle represents the
rotation order of the coordinate system when the attitude is defined as
Z-Y-X, that is, first turn around the Z-axis, then turn around the Y-axis, and
then turn around the X-axis. Counterclockwise rotation is positive.

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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4 Port Definition

PIN Function

 Type-C 3.3-5V input supply

Wired Connection with TTL Singal Communication

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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5 Casing Specification

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6 Communication Protocol

6.1 Data Format

Module upload Flag=0x61 (Angle, Angular velocity, Acceleration) data

default.

Flag=0x71(Magnetic field) need to send the corresponding register

instruction.

Upload data format of Bluetooth: uploads up to 20 bytes per data

6.1.1 Data Packet(Default)

Packet Flag bit axL axH …… YawL YawH

heading 1Byte 1Byte
0x55 Flag 0xNN 0xNN …… 0xNN 0xNN

Note: 0xNN is an accurate value received. Data return sequence:

Acceleration X Y Z, Angular velocity X Y Z, Angle X Y Z, low byte first, high byte
last.

Flag = 0x61 Data content: 18Byte is Acceleration, Angular velocity, Angle.

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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 0x55 Packet header
0x61 Flag bit
axL X Acceleration low 8 byte
axH X Acceleration high 8 byte
ayL Y Acceleration low 8 byte
ayH Y Acceleration high 8 byte
azL Z Acceleration low 8 byte
azH Z Acceleration high 8 byte
wxL X Angular velocity low 8 byte
wxH X Angular velocity high 8 byte
wyL Y Angular velocity low 8 byte
wyH Y Angular velocity high 8 byte
wzL Z Angular velocity low 8 byte
wzH Z Angular velocity high 8 byte
RollL X Angle low 8 byte
RollH X Angle high 8 byte
PitchL Y Angle low 8 byte
PitchH Y Angle high 8 byte
YawL Z Angle low 8 byte
YawH Z Angle high 8 byte

Acceleration calculation method: Unit: g

ax=((axH<<8)|axL)/32768*16g(g is Gravity acceleration, 9.8m/s2)

ay=((ayH<<8)|ayL)/32768*16g(g is Gravity acceleration, 9.8m/s2)
az=((azH<<8)|azL)/32768*16g(g is Gravity acceleration, 9.8m/s2)

Angular Calculation method: Unit:°/s

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

Angle Calculation method: Unit: °

Roll(X axis)Roll=((RollH<<8)|RollL)/32768*180(°)
Pitch(Y axis)Pitch=((PitchH<<8)|PitchL)/32768*180(°)
Yaw angle(Z axis)Yaw=((YawH<<8)|YawL)/32768*180(°)

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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 Note:

1. The coordinate system used for attitude angle settlement is the

northeast sky coordinate system. Place the module in the positive direction, as
shown in Chapter 3.3, direction forward is the X-axis, the direction left is the
Y-axis, and direction upward is the Z-axis. Euler angle represents the rotation
order of the coordinate system when the attitude is defined as Z-Y-X, that is,
first turn around the Z-axis, then turn around the Y-axis, and then turn around
the X-axis.

2. Although the range of the roll angle is ± 180 degrees, in fact, since
the coordinate rotation sequence is Z-Y-X, when expressing the attitude, the
range of the pitch angle (Y-axis) is only ± 90 degrees, and it will change to less
than 90 after exceeding 90 degrees Degrees while making the X-axis angle
greater than 180 degrees. For detailed principles, please Google Euler angle and
posture-related information.

3. Since the three axes are coupled, they will show independent changes
only at small angles, and the attitude angles will change at large angles. For
example, when the Y-axis is close to 90 degrees, even if the attitude only
rotates around the Y-axis, the angle of the axis will also change greatly, which
is an inherent problem with Euler angles indicating attitude.

Description:
1. The data is sent in hexadecimal not ASCII code.
2. Each data is transmitted in order of low byte and high byte, and the two
are combined into a signed short type data. For example, the X-axis
acceleration data Ax, where AxL is the low byte and AxH is the high byte.
The conversion method is as follows:

For example:
Assuming that Data is actual data, DataH is the high byte part, and DataL is
the low byte part, then: Data = ((short) DataH << 8) | DataL. It must be
noted here that DataH needs to be converted to a signed short data first and
then shifted, and the data type of Data is also a signed short type, so that it
can represent negative numbers.

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6.1.2 Single Return Register Data Packet

Single return data packet needs to send register instruction first:

FF AA 27 XX 00

--XX is register number. The register number please refer to 6.3. Example
as below:

Function Instruction
Read Magnetic Field FF AA 27 3A 00
Read Quaternion FF AA 27 51 00
Read Temperature FF AA 27 40 00

After sending the instructions, the module will turn back a data packet 0x55
0x71. There are register addresses and 7 registers data (Fixed upload 8
registers). Return data format as below:

Start register(2 byte) + register data(16 byte, 8 registers)

Start Start Start Start ...... No.8 No.8

Packet Sign register register (No.1) (No.1) register register
header low byte high register register data data
byte data data low high
low byte high byte byte byte
0x55 0x71 RegL RegH 0xNN 0xNN ...... 0xNN 0xNN

Note: 0xNN is an accurate value, low byte first, high byte last.

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6.1.2.1 Magnetic Field Output

0x55 0x71 0x3A 0x00 HxL HxH HyL HyH HzL HzH ......

Calculated formular：Unit: mG

Magnetic field (x axis) Hx=(( HxH<<8)| HxL)

Magnetic field (y axis) Hy=(( HyH <<8)| HyL)
Magnetic field (z axis) Hz =(( HzH<<8)| HzL)

For example: Send instruction to read magnetic field in APP: FF AA 27

3A 00 (Please refer to 6.1.2)
The module return data to APP: 55 71 3A 00 68 01 69 00 7A 00 00 00 00 00
00 00 00 00 00 00 Total: 20 bytes.

Calculate the no.5 to no.10 bytes as described above, magnetic field x=360,
y=105, z=122

6.1.2.2 Quaternion Output

0x55 0x71 0x51 0x00 Q0L Q0H Q1L Q1H Q2L Q2H Q3L Q3H

Calculated formular：

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

Checksum：

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

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6.1.2.3 Temperature Output

0x55 0x71 0x40 0x00 TL TH ......

Calculated formular：

T=((TH<<8)|TL) /100℃

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6.2 Commands

6.2.1 Read Register Value

FF AA 27 XX 00 Read register value

--XX is register.
For example::
Read magnetic field：FF AA 27 3A 00
Read quaternion： FF AA 27 51 00
Read temperature： FF AA 27 40 00

After send instructions, the module turns back a data packet 0x55 0x71.
There are register addresses and 7 registers data (Fixed upload 8 registers).

6.2.2 Calibration

FF AA 01 01 00 Accelerometer Calibration
FF AA 01 07 00 Magnetic Calibration
FF AA 01 00 00 Quit the calibration

For example, to calibrate the magnetic field,

Step 1. Send FF AA 01 07 00

Step 2. Rotate the sensor 360 degree around three axis

(it is recommended to rotate 3 circle, 360 degree *3)

Step 3. Send FF AA 01 00 00 to quit the calibration

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6.2.3 Save Settings

FF AA 00 SAVE 00 Save Settings

SAVE：Set
0：Save current configuration
1：Restore default configuration and save

6.2.4 Return Rate

FF AA 03 RATE 00 Set return rate

RATE：return rate
0x01：0.2Hz
0x02：0.5Hz
0x03：1Hz
0x04：2Hz
0x05：5Hz
0x06：10Hz(default)
0x07：20Hz
0x08：50Hz

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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6.3 Register Address

Address Symbol Function

0x00 SAVE Save current configuration

0x01 CALSW Calibration
0x02 RSV Reserved
0x03 RATE Return rate
0x04 BAUD UART Baud rate
0x05 AXOFFSET X Acceleration zero offset
0x06 AYOFFSET Y Acceleration zero offset
0x07 AZOFFSET Z Acceleration zero offset
0x08 GXOFFSET X Angular velocity zero offset
0x09 GYOFFSET Y Angular velocity zero offset
0x0a GZOFFSET Z Angular velocity zero offset
0x0b HXOFFSET X Magnetic field zero offset
0x0c HYOFFSET Y Magnetic field zero offset
0x0d HZOFFSET Z Magnetic field zero offset
0x0e D0MODE D0
0x0f D1MODE D1
0x10 D2MODE D2
0x11 D3MODE D3
0x12 RSV Reserved
0x13 RSV Reserved
0x14 RSV Reserved
0x15 RSV Reserved
0x16 RSV Reserved
0x17 RSV Reserved
0x18 RSV Reserved
0x19 RSV Reserved
0x1a RSV Reserved
0x1b RSV Reserved
...... ...... ......
0x30 YYMM Year, Month
0x31 DDHH Date, Hour
0x32 MMSS Minute, Second
0x33 MS Millisecond

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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0x34 AX X Acceleration
0x35 AY Y Acceleration
0x36 AZ Z Acceleration
0x37 GX X Angular velocity
0x38 GY Y Angular velocity
0x39 GZ Z Angular velocity
0x3a HX X Magnetic field
0x3b HY Y Magnetic field
0x3c HZ Z Magnetic field
0x3d Roll X Angle
0x3e Pitch Y Angle
0x3f Yaw Z Angle
0x40 TEMP Module temperature
0x41 D0Status D0 Status
0x42 D1Status D1 Status
0x43 D2Status D2 Status
0x44 D3Status D3 Status
0x49 RSV Reserved
0x4a RSV Reserved
0x4b RSV Reserved
0x4c RSV Reserved
0x4d RSV Reserved
0x4e RSV Reserved
0x4f RSV Reserved
0x50 RSV Reserved
0x51 Q0 Quaternion Q0
0x52 Q1 Quaternion Q1
0x53 Q2 Quaternion Q2
0x54 Q3 Quaternion Q3

WT901BLECL | Datasheet v22-04015 | www.wit-motion.com

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