The SGPM01 is a module developed based on a high-performance gyroscope and accelerometer for lawn mower inertial navigation, with a built-in 3-axis gyroscope and a 3-axis accelerometer sensor. Epson also has a low-cost small heading angle output sensor based on QMEMS sensors, which is the inertial navigation high-performance gyroscope sensor GGPM6083STD used in swimming pool robots.
GGPM6083STD is a gyroscope module developed based on high-performance gyroscope sensors, relying on high-precision sensors, high-performance processors and advanced digital signal processing algorithms, the module outputs a very stable heading angle, real-time attitude and temperature. The module supports UART data communication, adopts stamp half-hole SMD interface, 1524*17.81mm overall dimensions.
GGPM6083STD Product Features:
High-precision yaw angle gyroscope module.
Output triaxial acceleration value, triaxial angular velocity value, attitude angle (pitch, roll, yaw).
Digital communication interface UART
Product size: 15*17mm
Low power consumption. Kalman filter.
Multiple calibrations specific to pool robots.
Low-cost, high-precision heading angle output.
An algorithm optimized for swimming pool robots to work on the wall.
Applications of GGPM6083STD.
Inertial navigation systems.
High-performance inertial navigation sweeper.
Pool robots.
Block diagram of the product. 
Large ratings. Operating temperature range: -20-85 degrees Celsius.
Storage operating temperature range: -40-85 degrees Celsius.
Operating voltage vcc-gnd: -03v ～ 6.5v
Recommended operating parameters.
Operating temperature range: -20-85 degrees Celsius.
Storage operating temperature: 0-40 degrees Celsius.
Recommended Operating Voltage: 33v
Specifications of GGPM6083STD.
The product appearance dimensions of GGPM6083STD.
Pin definition. 
Mode of operation. 
Data format. 
Application Notes:
The installation angle of the module should be as horizontal as possible, and the normal of the module is parallel to the axis of rotation of the machine.
The module must be installed reliably to ensure that it does not loosen during the working process.
Try not to be close to the heat source, areas with large heat generation or large heat changes, such as the power supply part, the motor drive power part, and the main MCU, these places usually generate more heat, and the heat and cold are uneven.
During the operation, try to be as smooth as possible, avoid large collisions, avoid sudden large-angle rotation, and try to follow (stop, accelerate, constant speed, deceleration, stop). Such movement behavior guarantees the smoothness of the movement.
In the process of work, try to avoid rotation in one direction, try to make the total angle of rotation and the value of * small, especially in the process of obstacle avoidance to avoid rotation in one direction, when it is found that the angle value of rotation in one direction is relatively large, then find the appropriate opportunity to rotate back in the opposite direction, and try to make the total angle value value reach * small value.
Piezoelectric Man is an authorized supplier of EPSON Epson (China), welcome to consult and purchase the inertial navigation high-performance gyroscope sensor GGPM6083STD for swimming pool robots.