Requirements/Preferences
Requirements | Preferences |
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<$100 for a single module / <$10 for a componet | Chassis mount over surface mount because surface mount would require its own custom PCB |
Accelerometer and Gyroscope | Magnetometer |
Compatible with Rasberry Pi | USB (with Pi)/ I2C/ SPI |
For Pi module - Input voltage of 5V Other - Input voltage of 12V or 3V3 (notation for 3.3V) | |
Reusable | |
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Key Words
IMU (Inertial Measurement Unit)
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Used to maneuver aircraft, UAVs, spacecraft, satellites etc.
Rasberry Pi
Tiny computer
Rugged
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This could mean protection from harsh environments like moisture, extreme temperatures, mechanical shock and vibration etc
Surface Mount
Anything that sits on top of the PCB at a specific place
Chassis Mount
Has a connector to the module and can sit wherever.
LGA (Land Grid Array)
Type of surface mount packaging for integrated circuits
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Common Communication Protocols
I2C or I2C (Inter Integrated Circuit Protocol)
SPI (Serial Peripheral Interface)
CAN (Controller Area Network)
UART (Universal Asynchronous Receiver/Transmitter
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We only want accelerometer and gyroscope and that can be connected to Rasberry Pi. Some IMUS come with a magnetometer which helps to give more accurate orientation measurements.
Ideally be reused but cost and size are bigger factors.
In terms of current needs and longevity an industrial or tactical IMU may be preferred.
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Ongoing Research and Questions
What’s our budget??Research on Kalman filtering algorithms (appears in most industrial grade IMUs from research so far)
Max size of circuitNeed for “ruggedness”Find out what “ruggedness” meansHow does packaging factor into requirements
Surface vs Chassis MountNecessary grades/standards of IMU
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IMU Name | Size | Performance | Communication | Price per unit | Packaging | Physical | Electrical | Datasheet | Additional Links | |||||||||
Rasberry Pi Sense Hat | Accelerometer, Gyroscope, Pressure, Humidity, Temperatire | $39.95 | https://www.mathworks.com/help/supportpkg/raspberrypiio/ref/working-with-raspberry-pi-sense-hat.html | |||||||||||||||
LSM9DS0 (BerryIMU) | (4 X 4 X 1.0 mm) | Accelerometer, Gyroscope, Magnetic field, temperature sensor | I2C and SPI |
| Operating temp range of -40 to 85 C | Operating range of 2.4V to 3.6V | ||||||||||||
LSM9DS1 | (3.5 X 3 X 1.0 mm) | Accelerometer, Magnetometer, Gyroscope, Temperature sensor | I2C and SPI | LGA | Operating temp range of -40 to 85 C | Operating range of | ||||||||||||
OpenIMU300ZI | (24 mm X 37mm) | Accelerometer, Gyro, Magnetometer | SPI and UART | $231.34 (free shipping) | Operating temp range of -40 to 85 C |
| Must use proprietary software to code. (it’s FREE) Can simulate IMU with OpenIMU | |||||||||||
OpenIMU330BI | (15 mm X 11 mm) | Accelerometer, Gyro | SPI and UART | $184.68 (free shipping) | Same as above | |||||||||||||
VN-300 | Rugged- (45 mm X 44 mm) SMD - (24 mm X 22mm) | Accelerometer, Gyro, Compass, Barometer | -40 to 85 C | 3.2 to 5.5V or to 14V for rugged | Tactical Grade | |||||||||||||
UNIK GY-85 |
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Waveshare 10 DOF |
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X-Y-G |
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10 DOF Mems |
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DIYmall 9 axis |
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Pololu MiniIMU | 0.8" X 0.5" |
| I2C | 15.95 |
| Operate below 3.6 V Minimum of 4 pins |
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Pololu AltIMU-10 |
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Redshift Labs UM7-LT Orientation Sensor |
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Redshift Labs UM7 Orientation Sensor |
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LSM9DS1TR | (3.25 X 3 X 1.0 mm) | Measures acceleration, angular rate, magnetic field, temperature | I2C and SPI | 9.45 | Operating temp range of -40 to 85 C | Operating range of 1.9V to 3.6V | https://www.digikey.ca/htmldatasheets/production/1639232/0/0/1/lsm9ds1-datasheet.html |
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BMI090L | (3 X 4.5 X 0.95 mm) | Gyroscope, accelerometer | I2C and SPI | 19.74 |
| Operating range of 2.4V to 3.6V | https://media.digikey.com/pdf/Data%20Sheets/Bosch/BST-BMI090L-DS000-00.pdf |
| LSM9DS0 (BerryIMU) | (4 X $ X 1.0 mm) | Accelerometer, Gyroscope, Magnetic field, temperature sensor | I2C and SPI |
| Operating temp range of -40 to 85 C | Operating range of 2.4V to 3.6V | |||
BMX160 |
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| https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMX160-DS000.pdf |
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ICM20948 |
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