Introduction

Taobotics TB-Series Industrial 9-Axis IMU features anti-magnetic interference, factory precision calibration, 0.1° RMS high accuracy, and 800 Hz high-frequency output. It supports output of acceleration, angular velocity, magnetometer data, and attitude angles, making it widely suitable for robotics, UAVs, unmanned vehicles, and more. The module offers hardware trigger functionality, enabling microsecond-level synchronization with LiDAR, cameras, RTK, and other devices. It supports multiple communication interfaces (USB-C, TTL, RS232, RS485) and is compatible with ROS, Python, and C++ for seamless integration with various acquisition systems. The upper-computer software allows real-time data display, recording, waveform analysis, and parameter configuration. Built to industrial-grade standards, it delivers exceptional cost-effectiveness.

Product Features

Designer and manufacturer of mobile robots, shipped to over 50 countries worldwide

Magnetic-interference immunity

Proprietary 9-axis magnetic-disturbance-rejection algorithm, ensuring reliable operation in dynamic magnetic fields (e.g., motors and loudspeakers)

High-precision factory calibration

Integrates a high-precision 9-DoF fusion algorithm with raw-data–based calibration (nonlinearity and cross-axis/non-orthogonality compensation) to achieve 0.1° RMS accuracy.

Microsecond-level hardware trigger (TB100)

Supports microsecond-level I/O hardware triggering, enabling microsecond synchronization with LiDAR,industrial cameras, and RTK sensors, resulting in more accurate SLAM mapping.

Extensive industrial interfaces (TB100)

Supports multiple communication interfaces including USB Type-C, TTL, RS-232, and RS-485.Flexibly compatible with a wide range of devices, including embedded systems, industrial PCs (IPCs), controllers.

Secondary Development

Provides cross-platform drivers for ROS, Python, and C++

Host software (PC UI)

The matched upper computer is simple and intuitive, supporting data display, data recording, waveform analysis, parameter configuration, and more. It comes with pre-set parameters for typical scenarios,allowing for one-click configuration based on the application context.

Featured in renowned datasets

TBA9 (formerly Handsfree A9) is included in the M2DGR multi-modal robotics dataset (1k+ stars on GitHub).

https://github.com/SJTU-ViSYS/M2DGR

Applications

Application Case

Technical parameters

Category	Parameter	TBA9	TB100
Sensor	3-axis: Gyroscope	✓	✓
	3-axis: Accelerometer	✓	✓
	3-axis: Magnetometer	✓	✓
Features	Sensor Data Fusion	✓	✓
	IO Pulse Hardware Trigger	×	✓
	Parameter Configuration for Scene-based Data Fusion	✓	✓
	Vibration Resistance	✓	✓
	Basic Factory Calibration	✓	✓
	Desktop GUI Configuration Software	✓	✓
	Python Examples & ROS Driver Package	✓	✓
Interface	USB Interface	✓	✓
Interface	485/232/TTL	×	✓
Output	Calibrated Raw Data Output	✓	✓
	Roll, Pitch, Yaw Angle Output	✓	✓
	Adjustable Output Frequency	✓	✓
Typical Performance	Static Accuracy (Roll-Pitch, ° RMS)	<0.1	<0.2
	Static Accuracy (Heading, ° RMS)	<0.5	<0.8
	Dynamic Accuracy (Roll-Pitch, ° RMS)	<0.5	<0.8
	Dynamic Accuracy (Heading, °/min)	< 0.1	< 0.1
	Bias Stability (Roll-Pitch, °/h)	0.2	0.2
	Bias Stability (Heading, °/h)	5	7
Operating Conditions	Temperature (°C)	-40~85	-40~85
Electrical & Physical Parameters	Voltage (V)	5 (Typ.) 4.7~5.3	5 (Typ.) 4.7~5.3
	Current (mA)	＜60	＜150
	Power (W)	＜0.3	＜0.8
	Communication	USB TTL Serial Port	USB Type-C (Virtual COM), UART (TTL/RS232/RS485 configurable)
	Vibration Range (G)	±8	±10
	Axis Count	9	9
	Dimensions (L x W x H, mm)	34 x 48 x 16	25 x 25 x 9
	Weight (g)	28	16
	Specification	RoHS, IP50	RoHS, No IP Rating
	Housing Material	Aluminum Alloy	Aluminum Alloy
	Startup Time (Cold Start, Dynamic Mode, s)	7	3.2
	Startup Time (Cold Start, Static Mode, s)	15	10 ~ 30 (Default 30s, Configurable)
	Output Frequency (Hz)	Max 150, Adjustable	Max 800, Adjustable
	Serial Baud Rate (bps)	2400~921600	USB Type-C Virtual COM (Auto Baud Rate), TTL (2400-921600), RS232 (2400-460800), RS485 (2400-921600)
Gyroscope	Measuring Range (X, Y, Z axis, °/s)	±2000	±2000
	Resolution (°/s)	0.06	0.01
	Bandwidth (Hz)	Max 256	Min 68
	Bias Stability (X, Y, Z axis, °/h)	10	5.5
	Nonlinearity (% FS)	0.3	<0.2
	Acceleration Sensitivity (°/s/g)	–	<0.1
Accelerometer	Measuring Range (g)	±8	±10
	Resolution (mg)	0.2	0.4
	Bandwidth (Hz)	256	Min 70
	Noise (mg)	≤50	≤12
	Noise Density (µg /√Hz)	500	190
	Bias Instability (mg)	–	0.05
	Zero Temperature Drift (mg)	–	<5.5
	Nonlinearity (% FS)	0.5	0.5
Magnetometer	Measuring Range (Gauss)	±1.3	±1.3
	Resolution (Gauss)	0.001	0.001
	Internal Sampling Rate (Hz)	Max 160	Max 75
	Nonlinearity (% FS)	0.1	0.1

Model	TB-B6	TB-B9	TB-A9
Operating Voltage	4.7-5.5V	4.7-5.5V	4.7-5.5V
Operating Current	5.0mA	5.0mA	5.0mA
Communication Interface	USB	USB	USB
Seismic Range	±8g	±8g	±8g
Waterproof Level	/	/	IP65
ROS Topic	IMU	IMU/MAG	IMU/MAG
Number of axes	6	9	9
Frequency output	200Hz	200Hz	300Hz
Baud Rate	921600	921600	921600
Pitch/roll angle accuracy (Static)	0.7°RMS	0.7°RMS	0.1°RMS
Pitch/roll angle accuracy (Dynamic)	2.5°RMS	2.5°RMS	0.5°RMS

Dimensions and Pinout