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IMU 1
MicroElectroMechanical Systems (MEMS) Inertial Measurement Unit (IMU)
Attitude relative to gravity vector
Magnetic heading Rotational velocity Translational acceleration
IMU 2
Absolute rotational attitude of object
Direct measurement of angular velocity
Direct measurement of translational acceleration
Positives
IMU 3
Does not provide – absolute location translational velocity rotational acceleration
Data communication Medium resolution < 150 Hz
Negatives
IMU 4
Vehicle navigation Intercontinental ballistic missiles (ICBM) Nuclear submarines Cruise missiles
MEMS Automotive Consumer products
History of IMUs
IMU 16
Signal Analog voltage (0 to 3V) Fixed frequency, variable duty cycle Digital (internal A/D converter)
Nominal Bandwidth 550 Hz for accelerometer 150 Hz for gyro 50 Hz for magnetometer
MEMS IMU Outputs
IMU 18
Triaxial accelerometer Triaxial gyro Triaxial magnetometer
Required to determine spin about gravity vector
Three-Dimensional (3D) IMU
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IMU 19
Triaxial accelerometer ±3g, 300 mV/g, 550 Hz
Triaxial gyro ±300 deg/sec (dps), 3.3mV/dps, 140 Hz
Triaxial magnetometer 50 Hz
On-board CPU, serial I/O
9DOF Board – Sparkfun
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