Part
IMU
You might say: inertial measurement unit, accelerometer and gyro
An IMU combines accelerometers and gyroscopes to measure specific force and angular rate on three axes each.
- What it does
- It provides fast motion information for orientation, balance, odometry and state estimation.
- Ask
- How large are bias, noise, scale and temperature errors over the required time?
- Typical
- Bosch BMI088 provides 16-bit accelerometer and gyroscope outputs, selectable accelerometer range up to ±24 g and gyro range up to ±2,000°/s.
- Trouble
- A constant gyro bias integrates into heading drift; accelerometer bias and gravity separation make position drift rapidly after double integration.
What to look for
- Three-axis acceleration readings
- Three-axis angular-rate readings
- Heading drift from gyro bias
Sources
- Bosch Sensortec, BMI088 High-performance Inertial Measurement Unit, Technical specifications
BMI088 is offering a wide acceleration measurement range (up to 24 g), high vibration suppression ratio and vibration robustness, as well as high bias and temperature stability.
- Timothy D. Barfoot, State Estimation for Robotics, Chs. 6–8, inertial and visual-inertial state estimation
An inertial measurement unit has three linear accelerometers and three rate gyros that measure quantities in the sensor frame.
Use it on your project
teardown-apply: hold "IMU" (imu) from the teardown at https://teardownatlas.com/robotics/ against my project
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