Inertial Measurement Unit

Overview

A fairly simple project - the creation of a small inertial measurement unit. It uses three Melexis rate gyros, a single Freescale accelerometer, and an AVR. The idea was to test how to use cheap, low-cost IMUs and improve their performance.

If you are interested in any of the following devices, this could be a useful reference:

• Melexis MLX90609 Gyro
• Freescale LIS3LV02DQ Accelerometer There is a separate page with Information on using the MLX90609 Gyro I’ve written up.

Schematic & PCB

You can download the Schematic & PCB in Eagle format: IMU_SCH_BOARD.zip

And gerbers of the board: IMU_Gebers.zip

Code

You can download code for the above project that compiles with WinAVR: IMU_C_Code.zip

There is also a MATLAB script that takes the output of that project, and puts it into an image of a square on the screen being rolled as the physical object does: rollsquare.m

The code is just a very simple test of the square being rolled!