IMU - Seanmatthews/rowboat1 GitHub Wiki

Requirements

Due to the high cost of IMUs, these are mostly nice-to-haves\

• ROS supported\
• < $1000
• Resistant to electromagnetic disturbance\
• GPS-integrated (but does not require GPS for operation)\

Resources

• Comparison list: http://damien.douxchamps.net/research/imu/
• ROS-supported sensors: http://wiki.ros.org/Sensors
• http://www.chrobotics.com/library/accel-position-velocity
• Converting between noise density and angular error: http://www.rcgroups.com/forums/showthread.php?t=1220872

Pending inquiries

• http://openrov.dozuki.com/Answers/View/214/Use+IMU+with+other+vehicles

Potentials

• http://store.openrov.com/products/openrov-imu-depth-module $120
• http://landing.kvh.com/imu '97 $???, Probably too much > $3000
• https://www.sparkfun.com/categories/160 $20 - $80
• http://www.x-io.co.uk/products/x-imu/
• http://www.phidgets.com/products.php?product_id=1044 $140
• http://www.microstrain.com/inertial/3dm-gx4-15 $1700
• http://www.mouser.com/ProductDetail/Analog-Devices-Inc/ADIS16480BMLZ/ $2200
• https://www.spartonnavex.com/product/gedc-6e/ '97 $1350\
• http://www.robotshop.com/en/6-dof-gyro-accelerometer-imu-mpu6050.html '97 $10
• http://store.invensense.com/ProductDetail/MPU9250-InvenSense-Inc/487537/ '97 < $10
• http://www.sensonor.com/gyro-products/inertial-measurement-units/stim300.aspx '97 $???\
• http://www.chrobotics.com/shop/gp9-ahrs '97 $500\
• https://learn.adafruit.com/adafruit-10-dof-imu-breakout-lsm303-l3gd20-bmp180 '97 $30\
• http://www.tanenhausassociates.com/advantages-1-1/\
• http://www.siliconsensing.com/products/inertial-modules-systems/dmu30/\ \

IMUs I like based on not enough research\

• http://www.acmesystems.it/DAISY-7\
• http://www.chrobotics.com/shop/gp9-ahrs\ '97 looks like velocity is computed using GPS only
  '97 earlier version is ROS supported\
• http://www.tanenhausassociates.com/advantages-1-1/\ '97 May not be available for purchase\
• http://www.vectornav.com/products/vn100-rugged/specifications\ '97 $1200\
• http://www.tanenhausassociates.com/advantages-1-1/\ '97 Received an email response from this company. They will release their product at the end of Q3.
  
  
  \

RoboSub Team-used IMUs\

\f1\fs36 \cf2 \expnd0\expndtw0\kerning0 SparkFun 9DOF Razor\

\f2\fs24 \cf0 \expnd0\expndtw0\kerning0 Phidget Spatial Precision Inertial Measurement Unit \f3 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0 VectorNav VN-100 \f1\fs24 \expnd0\expndtw0\kerning0 \

• KVH \f2\fs32 \expnd0\expndtw0\kerning0 DSP-1750 FOG \f1\fs24 \expnd0\expndtw0\kerning0 \

\fs32 \expnd0\expndtw0\kerning0 LORD MicroStrain 3DM- GX4-25 AHRS, and a custom team designed compass and IMU. \fs24 \expnd0\expndtw0\kerning0 \

\fs32 \expnd0\expndtw0\kerning0 Xsens Mti IMU \fs24 \expnd0\expndtw0\kerning0 \

\fs30 \expnd0\expndtw0\kerning0 3DM-GX3-25 \fs24 \expnd0\expndtw0\kerning0 \

\f2\fs20 \expnd0\expndtw0\kerning0 Lord MicroStrain 3DM-GX3-25 + KVH 1775 FOG IMU\

• PNI TRAX\

\fs32 \expnd0\expndtw0\kerning0 ADIS16480 \f1\fs24 \expnd0\expndtw0\kerning0 \

\fs32 \expnd0\expndtw0\kerning0 MPU6050 6DOF IMU by Invensense \fs24 \expnd0\expndtw0\kerning0 \

\fs32 \expnd0\expndtw0\kerning0 Sparton GEDC-6 IMU \fs24 \expnd0\expndtw0\kerning0 \

\f2 \expnd0\expndtw0\kerning0 VN-200 Rugged GPS/INS\

\f1\fs32 \expnd0\expndtw0\kerning0 Microstrain 3DMGX1 \fs24 \expnd0\expndtw0\kerning0 \

\f3\fs32 \expnd0\expndtw0\kerning0 MPU6050 AHRS (Triple Axis Accel- erometer and Gyro Breakout \f1\fs24 \expnd0\expndtw0\kerning0 by sparkfun)\

\f2\fs32 \expnd0\expndtw0\kerning0 MPU9250 9'ad axis IMU \uc0\u8232 - S \f1 \expnd0\expndtw0\kerning0 parton GEDC-60 AHRS \fs24 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0

• 20 Sparton AHRS-8 \f1\fs24 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0

\f3\fs30 \expnd0\expndtw0\kerning0 CH Robotics'92 CHR- 6dm \f1\fs24 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0

\f1 \expnd0\expndtw0\kerning0 OceanServer OS5000-T accelerometer/compass \fs24 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0

\f1\fs30 \expnd0\expndtw0\kerning0 MPU-9150 IMU \fs24 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0

\f4 \expnd0\expndtw0\kerning0 Phidget High Precision unit and a Sparton AHRS-8 \f1\fs24 \expnd0\expndtw0\kerning0 \

\f2\fs32 \expnd0\expndtw0\kerning0

• Sensonar STIM300 9-axis inertial measurement unit + PNI TCM MB compass \

\f1 \expnd0\expndtw0\kerning0 Xsens MTi Attitude and Hearing Reference System (AHRS), a Honeywell HMC6343 3-axis compass \fs24 \expnd0\expndtw0\kerning0 \

\fs32 \expnd0\expndtw0\kerning0

\fs26 \expnd0\expndtw0\kerning0 DFRobot IMU chip \fs32 \expnd0\expndtw0\kerning0 \uc0\u8232 \

\f2 \expnd0\expndtw0\kerning0 \

\f1\fs24 \expnd0\expndtw0\kerning0
\uc0\u8232
}