What is OpenIMU?

• OpenIMU is an open software platform for development of high-performance navigation and localization applications on top of a family of low-drift pre-calibrated Inertial Measurement Units (IMU).
• OpenIMU hardware consists of a 3-axis rate sensor (gyro), 3-axis accelerometer platform, and 3-axis magnetometer module.
• The module contains a low-power embedded ARM Cortex-M4 CPU with floating-point math support. Extra IO and Ports make connection of external peripherals such as GPS, Odometer, and other more advanced sensors possible.
• The OpenIMU hardware comes in different form-factors including:

Hardware Configurations

Type	Part Number	Hardware Features
EZ	OpenIMU300ZI	Easy to Embed 3-5V UART/SPI Industrial IMU Module
CAN	OpenIMU300RI	Rugged, Waterproof 5-32V CAN/RS232 Industrial Module
SMT	OpenIMU330BI	Triple Redundant, SMT, 2°/Hr IMU

Open-Source Embedded Software

• OpenIMU hardware runs an open-source stack written on top of standard ARM Cortex libraries.
• OpenIMU300 use FreeRTOS while OpenIMU330 uses a simple real-time scheduler
• The open-source stack includes EKF (Extended Kalman Filter) algorithms that can be used directly or customized for application specific use.
• The overall system loop is typically configured to run at 800Hz ensuring high quality aliasing-free measurements for processing.
• Also included in the OpenIMU embedded software platform are drivers for various GPS receivers, customizable SPI, CAN, and UART messaging, and customizable settings that can be adjusted run-time and/or permanently.
• A number of predefined settings are defined for baud rate, output date rate, sensor filter settings, and XYZ axis transformations.
• The Core OpenIMU embedded software consists of the following:
  • FreeRTOS
  • Extended Kalman Filter Algorithms
  • High-Speed Deterministic Sampling
  • Messaging
  • GPS Drivers
  • Accurate Time Service
  • Sensor Filtering
  • Settings Module for Dynamic and Permanent Unit Configuration