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An Inertial Measurement Unit (IMU) is an important sensor used in aerial robotics. A typical IMU...

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Mechanical Engineering

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

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

Answer & Explanation Solved by verified expert
4.4 Ratings (550 Votes)

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.

Ignore any spelling mistake. If you like my efforts, give thumps up.
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