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:
|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:
- Extended Kalman Filter Algorithms
- High-Speed Deterministic Sampling
- GPS Drivers
- Accurate Time Service
- Sensor Filtering
- Settings Module for Dynamic and Permanent Unit Configuration