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 | ✓ | ✓ |
| 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 |
