IMU (Pi compatible)
- Odianosen Okojie
#1 Contender : Adafruit LSM6DS33 6-DOF Accel + Gyro IMU
General Requirements/Preferences
Requirements | Preferences |
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<$100 for a single module / <$10 for a component | 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)
This is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes and sometimes magnetometers.
Used to maneuver aircraft, UAVs, spacecraft, satellites etc.
For more detailed reading: https://www.vectornav.com/resources/what-is-an-imu
Rasberry Pi
Tiny computer
Rugged
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
Common Communication Protocols
I2C or I2C (Inter Integrated Circuit Protocol)
SPI (Serial Peripheral Interface)
CAN (Controller Area Network)
UART (Universal Asynchronous Receiver/Transmitter
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 circuit
Need for “ruggedness”
Find out what “ruggedness” means
How does packaging factor into requirements
Surface vs Chassis Mount
Necessary grades/standards of IMU
IMU Name | Size | Performance | Communication | Price per unit | Packaging | Physical | Electrical | Datasheet | Additional Links |
Sparkfun 9DOF IMU Breakout - ICM-20948
Digikey part no. - SEN-15335 |
| Accelerometer, Gyroscope, Magnetometer | I2C, SPI | $21.52 | Module |
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| https://media.digikey.com/pdf/Data Sheets/Sparkfun PDFs/SEN-15335_Web.pdf |
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Adafruit LSM6DS33 6-DOF Accel + Gyro IMU |
| Accelerometer, Gyroscope | I2C, SPI | $7.56 | Module |
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| https://media.digikey.com/pdf/Data Sheets/Adafruit PDFs/4480_Web.pdf |
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ADAFRUIT 9-DOF Orientation IMU F |
| Accelerometer, Gyroscope, Magnetometer | I2C, SPI, UART | $25.33 | Module |
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BMX160 9-AXIS Sensor Module
Digikey part no. - 1738-SEN0373-ND |
| Accelerometer, Gyroscope, Magnetomete | I2C, SPI | $17.65 | Module, Chassis Mount | Operating temp range of -40 to 85 C |
| https://dfimg.dfrobot.com/nobody/wiki/0f2bdd8aacaa02cbd40a61a8ebba9e76.pdf |
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Rasberry Pi Sense Hat |
| Accelerometer, Gyroscope, Pressure, Humidity, Temperatire | I2C, SPI | $39.95 | Hat | Operating temp range of -40 to 85 C | 1.9 to 3.6 V from datasheet Consumes around 4 mA (just the IMU on the hat)
| https://www.st.com/resource/en/datasheet/lsm9ds1.pdf
| https://www.mathworks.com/help/supportpkg/raspberrypiio/ref/working-with-raspberry-pi-sense-hat.html
https://www.raspberrypi.org/documentation/hardware/sense-hat/ |
OpenIMU300ZI | (24 mm X 37mm) | Accelerometer, Gyro, Magnetometer | SPI and UART, USB i think | $231.34 (free shipping) |
| Operating temp range of -40 to 85 C | Operating range of 3.0 V to 5.5 V | Must use proprietary software to code. (it’s FREE) Can simulate IMU with OpenIMU | |
VN-100 | Rugged- (45 mm X 44 mm) SMD - (24 mm X 22mm) | Accelerometer, Gyro, Compass, Barometer |
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| Surface Mount or Rugged (plug and play) | -40 to 85 C | 3.2 to 5.5V or to 14V for rugged |
| Outputs real time drift free attitude solution |
LSM9DS0 (BerryIMU) | (4 X 4 X 1.0 mm) | Accelerometer, Gyroscope, Magnetic field, temperature sensor | I2C and SPI |
| LGA | 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
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OpenIMU330BI | (15 mm X 11 mm) | Accelerometer, Gyro | SPI and UART | $184.68 (free shipping) | Surface Mount |
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| Same as above | |
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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 |
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| 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 | LGA | 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 | LGA |
| Operating range of 2.4V to 3.6V | https://media.digikey.com/pdf/Data%20Sheets/Bosch/BST-BMI090L-DS000-00.pdf |
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ICM20948 |
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| LGA i think |
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Code Examples (interfacing with Rasberry Pi)
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