IMUs Flashcards
What is an IMU?
Inertial measurement unit (IMU) The IMU is a sensor that measures triaxial acceleration and triaxial angular velocity. The IMU consists of an accelerometer, which can output linear acceleration signals on three axes in space, and a gyroscope, which can output angular velocity signals on three axes in space.
What is the breakdown of an IMU’s.
Accelerometers
Rate Gyroscopes
Magnetometers
What is Linear Acceleration
Linear acceleration is defined as the uniform acceleration caused by a moving body in a straight line.
What is gravitational field?
The gravitational field is the gravitational force per unit mass that would be exerted on a small mass at that point. It is a vector field, and points in the direction of the force that the mass would feel.
What is angular velocity?
angular frequency vector, is a vector measure of rotation rate, that refers to how fast an object rotates or revolves relative to another point, i.e. how fast the angular position or orientation of an object changes with time.
What is the process called that allows us to achieve position and oreintation data estimates from an IMU?
Sensor fusion.
What is the process called that allows us to achieve position and oreintation data estimates from an IMU?
This process is called sensor fusion.
Define the term free fall in physics.
When an object is thrown or launched upwards it must come down due to gravity if that is the only force acting upon it. Because when it is going upwards the object decelerates upwards, thats why it is slowing down and has to stop at the top (when V=0). And then when it is coming downwards the object is accelerating downwards, which is why it is going fast towards the ground. This whole process off the initial and final phases is pushed together and called freefall.
How does an Accelerometer work?
By sensing the acceleration of gravity and then you can calculate the direction of which the object is facing.
What does MEMs stand for?
Micro-Electro-Mechanical Systems.
Define sensor fusion.
Sensor fusion is the combining of sensory data or data derived from disparate sources such that the resulting information has less uncertainty than would be possible when these sources were used individually.
Why are IMU’s useful? (their advantages)
They are low cost and low power, and therefore are used in smart and wearable devices.
