OpenIMU335RI - Triple-Redundant Rugged Industrial CAN Module



OpenIMU335 Module

The ACEINNA OpenIMU335RI is an easy-to-use high-performance 6-DOF (9 DOF is optional) open inertial platform packaged in a rugged sealed over-molded plastic housing. The OpenIMU335RI includes triple-redundant 3-Axis MEMS accelerometers and rate gyros which are fully calibrated over the operating temperature range. A 3-axis magnetic sensor is also available as an option. The processing power is provided by a 168MHz ARM M4 CPU with a Floating Point Unit. The OpenIMU335RI runs the OpenIMU open-source stack that includes an optimized 16-state Kalman Filter for Attitude and GPS-Aided PositionVelocity-Time (PVT) measurement. A free tool-chain based on VS Code supports PC, MAC, and Ubuntu.

  • Hardware
    • 0.1 degrees of accuracy over temperature and angle
    • Precision 3-axis MEMS Accelerometer
    • Low-Drift 3-axis MEMS angular rate sensor
    • Triple-redundant architecture with fault detection
    • 3-axis AMR Magnetometer (Optional)
    • CAN 2.0 and RS232 Interfaces
    • 168 MHz ARM M4
    • Wide Temp Range, -40C to +85C
    • Wide Supply Voltage Range, 9 V – 32 V
    • IP67 Ampseal Connector
    • High Reliability, MTBF > 50k hour

  • Firmware and Firmware Support
    • In-System Firmware Upgrade
    • Open Source Tool Chain
    • Open Source Algorithms (VG / AHRS / INS)
    • Built in 16-State Open Source Extended State Kalman Filter
    • Open Community & Support
    • Aceinna Navigation Studio Interface

The default coordinate frame for the OpenIMU335RI is given in the below image. The coordinate frame can be changed via RS-232 or CAN message. Refer to the user manual of the part for details.


OpenIMU335RI Default Coordinate Frame

OpenIMU335 Product Page

The OpenIMU335RI product page is at: Refer to this page for a product summary and direct links to the datasheet, user manual and DBC file for the CAN interface.


The datasheet of the OpenIMU335RI can be downloaded from this datasheet link. Refer to this document for:

  • Detailed Specifications
    • Performance
    • Electrical
    • Physical
    • Environmental
    • EMC
  • Features
  • Qualifacation Plan Summary
  • Module Dimensions
  • Part Ordering Information

User Manual

The user manual for the OpenIMU335RI can be downloaded from this user manual link. Refer to this document for details of the:

  • Electrical and Mechanical Interfaces
  • Theory of Operation
  • Safety Features
  • CAN Inferface and CAN Messages
  • RS-232 Interface and RS-232 Messages
  • Bootloader
  • Warranty and Support Information

OpenIMU Development Environment

For details of the OpenIMU development environment refer to:

Ready to Use Applications

To learn about Ready-to-Use-Apps available for immediate download to your OpenIMU, please see the following pages:

  1. Information about rady-to-Use-Applications
  2. Run the OpenIMU server before uploading or using a prebuilt app
  3. Upload a prebuilt app to your OpenIMU