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Example imu unit acc gyro 6dof on top of mcu processing unit usbthumb

Introduction This guide is intended to everyone interested in inertial MEMS Micro-Electro-Mechanical Systems sensors in particular Accelerometers and Gyroscopes as well as combination IMU devices Inertial Measurement Unit Example IMU unit AccGyro DOF on top of MCU processing unit UsbThumb providing USB Serial connectivity I'll try try to cover few basic but important topics in this article - what does an accelerometer measure - what does a gyroscope aka gyro measure - how to convert analog-to-digital ADC readings that you get from these sensor to physical units those would be g for accelerometer deg s for gyroscope - how to combine accelerometer and gyroscope readings in order to obtain accurate information about the inclination of your device relative to the ground plane Throughout the article I will try to keep the math to the minimum If you know what Sine Cosine Tangent are then you should be able to understand and use these ideas in your project no matter what platform you're using Arduino Propeller Basic Stamp Atmel chips Microchip PIC etc There are people out there who believe that you need complex math in order to make use of an IMU unit complex FIR or IIR ?lters such as Kalman ?lters ParksMcClellan ?lters etc You can research all those and achieve wonderful but complex results My way of explaining things require just basic math I am a great believer in simplicity I think a system that is simple is easier to control and monitor besides many embedded devices do not have the power and resources to implement complex algorithms requiring matrix calculations I'll use as an example a new IMU unit that GadgetGangster just launched ?? the Acc Gyro Accelerometer Gyro IMU We'll use parameters of this device in our examples below This unit is a good device to start with because it consists of devices C- LIS AL data sheet ?? a triaxial G accelerometer - LPR AL data sheet ?? a dual-axis pitch and roll deg sec gyroscope Together they represent a -Degrees of Freedom Inertial Measurement Unit Now that's a fancy name Nevertheless behind the fancy name is a very useful combination device that we'll cover and explain in detail below Part Accelerometer To understand this unit we'll start with the accelerometer When thinking about accelerometers it is often useful to image a box in shape of a cube with a ball inside it You may imagine something else like a cookie or a donut but I'll imagine a ball If we take this box in a place with no gravitation ?elds or for that matter with no other ?elds that might a ?ect the ball's position ?? the ball will simply oat in the middle of the box You can imagine the box is in outer-space far-far away from any cosmic bodies or if such a place is hard to ?nd imagine at least a space craft orbiting around the planet where everything is in weightless state From the picture above you can see that