JY901B: A 9-Axis High-Precision Attitude Sensor Module Based on the MPU9250 Chip

The JY901B is a 9-axis high-precision attitude sensor module built around the MPU9250 chip. It integrates a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer, and can be expanded to support barometric pressure and GPS-related functions. It is suitable for scenarios such as UAVs and robots. Its detailed parameters are compiled from public industry technical documents and actual measurement data, as follows:

Parameter Category	Specific Parameters
Core Configuration	Core chip: MPU9250, integrating a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer; Built-in attitude resolver and dynamic Kalman filtering algorithm, which can reduce measurement noise; Attitude measurement stability reaches 0.01°, and measurement accuracy is better than that of conventional inclinometers; Equipped with a built-in voltage stabilization circuit, with pin levels compatible with 3.3V/5V embedded systems.
Power Supply Parameters	Operating voltage range: 3V - 6V, suitable for most embedded and portable devices; Operating current: < 40mA, with power consumption control adapting to battery-powered scenarios.
Measurement Performance	1. Measurement Range: Accelerometer range (selectable): ±2/4/8/16g; Angular velocity range (selectable): ±250/500/1000/2000°/s; Angle range: ±180° for X and Z axes, ±90° for Y axis; Magnetic field range: 4900μT; 2. Accuracy: Accelerometer stability: 0.01g; Angular velocity stability: 0.05°/s; 3. Resolution: Accelerometer resolution up to 6.1e-5g; Angular velocity resolution up to 7.6e-3°/s.
Data Transmission	1. Interfaces: Supports two digital interfaces—UART (TTL level) and I2C; The I2C interface supports a full-speed rate of 400K; 2. Baud Rate: UART rate is adjustable from 2400bps to 921600bps, with a factory default baud rate of 9600bps; 3. Output Frequency: Data output frequency is adjustable from 0.1Hz to 200Hz, supporting on-demand selection of input content to adapt to different dynamic measurement needs.
Data Output	Basic output data includes time, acceleration, angular velocity, angle, magnetic field, and port status; As an expanded version, it can also output barometric pressure and altitude data; After connecting to GPS, it can obtain information such as latitude, longitude, and ground speed, forming a GPS-IMU integrated navigation unit.
Physical Specifications	Standard dimensions: 15.24mm × 15.24mm × 2mm; Pads adopt a stamp hole design, with a vertical spacing of 2.54mm and a horizontal spacing of 15.24mm, suitable for embedded installation on PCB boards.
Expansion & Control	1. Equipped with 4 expansion ports, which can be configured as analog input (0~VCC), digital input, digital output, and PWM output respectively; PWM output period: 1μs - 65535μs, resolution: 1μs; 2. Supports gyroscope and magnetic field calibration functions; Calibration parameters can be saved to internal FLASH and will not be lost after power-off; The upper computer software can realize operations such as automatic baud rate search, data recording, and 3D attitude display.

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JY901B: A 9-Axis High-Precision Attitude Sensor Module Based on the MPU9250 Chip

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