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Document Type:Tutorial NI Supported:Yes Publish Date:Dec10,2008

Inertial Measurement Unit


Aninertialmeasurementunit(IMU)isasensorthatisusedtomeasurelinearaccelerationandorientation(roll,pitchandyawangles).Linearaccelerationismeasuredwiththeuseofasetof3 accelerometersthatareplacedorthogonallytooneanotherandtheorientationismeasuredusingagyroscope.

Figure 1.AnIMUsensormeasureslinearaccelerationandorientation TheangularvelocityandaccelerationoftherobotcanbederivedbydifferentiatingtheorientationmeasurementsreadbytheIMU.Thisangulardataisparticularlyimportantforunderwateror aeronauticmobilerobotstomaneuverandmaintainstabilityastheymovearoundintheirenvironments.Similarly,thelinearpositionandvelocityoftherobotcanbederivedbyintegratingthelinear accelerationmeasurements.Thisinformationisimportanttoaccuratelydeterminewheretherobotislocatedandhowitismovingwithinitsenvironment. LabVIEWprovidesdriversforIMUsensorsfromtopvendorsincludingMicrostrain.Thesedriverscanbedownloadedfrom NationalInstrument'sInstrumentDriverNetwork .Eachdrivercontainsan exampleprogramwhichwillhelpyougetupandrunningquickly.TheblockdiagrambelowshowshowdataacquisitionwithaMicrostrain3DM-GIMUsensorisaccomplishedinLabVIEW.Among theavailableVIs,thedriverfortheMicrostrainIMUallowstheusertoconfiguretheorientationoftheIMU,performcalibrationandreaddatathatisrepresentedasmatrix,quaternion,orasseparate variables.Todownloadthisexamplecode,referto Microstrain3DM-GX1atni.com/idnet.

Figure 2.Microstrain3DM-GDXConfigureandReadDataExampleinLabVIEW Todownloadtheexamplecodeabove,refertoGarminGPSSeriesatni.com/idnet.

References Siegwart,RolandandNourbakhsh,IllahR.IntroductiontoAutonomousMobileRobots,Cambridge,Massachusetts:MITPress,2004. Legal Thistutorial(this"tutorial")wasdevelopedbyNationalInstruments("NI").AlthoughtechnicalsupportofthistutorialmaybemadeavailablebyNationalInstruments,thecontentinthistutorialmay notbecompletelytestedandverified,andNIdoesnotguaranteeitsqualityinanywayorthatNIwillcontinuetosupportthiscontentwitheachnewrevisionofrelatedproductsanddrivers.THIS TUTORIALISPROVIDED"ASIS"WITHOUTWARRANTYOFANYKINDANDSUBJECTTOCERTAINRESTRICTIONSASMORESPECIFICALLYSETFORTHINNI.COM'STERMSOFUSE( http://ni.com/legal/termsofuse/unitedstates/us/).

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