Question

An Inertial Measurement Unit (IMU) is an important sensor used in aerial robotics. A typical IMU will contain an accelerometer and a rate gyro. Which of the following information does a robot get from an IMU? (Select all that apply. Choose only quantities that are directly reported by the IMU. Do not include quantities that can be computed from the IMU measurements but cannot be obtained directly. Additional research to find information about IMUs is allowed and encouraged!)

• Position
• Orientation
• Linear velocity
• Angular velocity
• Linear acceleration
• Angular acceleration

Answer 1

Solution :

An IMU contains an accelerometer and a rate gyro. Accelerometer measures linear acceleration, a rate gyro measures angular velocity . These are the only two quantities IMU will actually measures.

• Position
• Orientation
• Linear velocity
• Angular Velocity
• Linear acceleration
• Angular acceleration

The other properties whether positions, Velocities (or) accelerations have to be calculated by the controller.

For e.g. Integrating an acceleration gives a velocity and integrating again position.

There is an exception, If the Robot is held with no. acceleration then IMU can be used as an orientation sensor also.

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