An inertial measurement unit (IMU) is a device that measures the three-axis attitude angle and acceleration of an object. Normally, an IMU contains three single-axis gyros and three single-axis accelerometers. The accelerometer detects the acceleration signals of an object in the independent three-axis of the carrier coordinate system, and the gyro detects the angular velocity signal of the carrier relative to the navigation coordinate system. , Measure the angular velocity and acceleration of the object in three-dimensional space, and use this to solve the pose of the object. It has very important application value in navigation.
Theoretical mechanics tells us that all motion can be decomposed into a linear motion and a rotary motion, and this inertial measurement unit is used to measure these two motions, linear motion can be measured by an accelerometer, and rotary motion is measured by a gyro. The wonderful combination of the two makes the inertial measurement unit come into being.
Equipping more sensors for each axis in the IMU can improve its reliability. Generally speaking, the IMU should be installed on the center of gravity of the measured object. The IMU is mostly used on devices that require motion control, such as cars and robots. It is also often used in situations that require precise displacement estimation using attitudes, such as inertial navigation equipment for submarines, aircraft, missiles, and spacecraft.
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