Design and implementation of a 9-axis inertial measurement unit

  title={Design and implementation of a 9-axis inertial measurement unit},
  author={Pei-Chun Lin and Chi-Wei Ho},
  journal={2009 IEEE International Conference on Robotics and Automation},
We report on a 9-axis inertial measurement unit (IMU) which utilizes 3-axis angular velocity measurements from rate gyros and 6-axis linear acceleration measurements from three 2-axis accelerometers. This system is capable of deriving linear acceleration, angular acceleration and angular velocity via simple matrix operations, and it also releases the requirement of accelerometer installation at the center of mass as in the traditional IMU. An optimal configuration of the system is proposed… CONTINUE READING

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