The inertial measurement unit is a device that measures the three-axis attitude angle (or angular rate) of the object and the acceleration.
Gyros and accelerometers are the main components of the IMU, and their accuracy directly affects the accuracy of the inertial system. In actual work, due to various unavoidable interference factors, the gyroscope and accelerometer generate errors. From the initial alignment, the navigation error increases with time, especially the position error. This is the inertial navigation system. The main drawback. Therefore, it is necessary to use external information to assist and realize combined navigation, so as to effectively reduce the problem of error accumulation over time. To increase reliability, you can also equip each axis with more sensors. In general, the IMU is to be mounted on the center of gravity of the object being measured.
In general, an IMU consists of three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration of an object's independent three-axis acceleration signal in the carrier coordinate system, while the gyroscope detects the angular velocity of the carrier relative to the navigational coordinate system. The signal measures the angular velocity and acceleration of the object in three dimensions and solves the attitude of the object. It has important application value in navigation.
IMUs are mostly used in devices that require motion control, such as cars and robots. It is also used in situations where precise displacement estimation is required, such as inertial navigation devices for submarines, airplanes, missiles, and spacecraft.
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