Osmium MIMU4844 / MIMU4492*

A Massive IMU Array Platform

The Osmium MIMU4844 / MIMU4492 - contains 32 IMUs, with two mirrored 4x4 square IMU arrays. MIMU4844 / MIMU4492 is an ideal platform to implement very high precision motion sensing by using Sensor Fusion and Array Signal Processing methods. It is an easy to use and highly configurable sensor-array platform, serves the needs for niche applications, such as gait analysis, 3D motion capture, Structure from Motion (SfM) etc. It is supported with open-source software for foot mounted pedestrian navigation.

*The only difference between MIMU4844 and MIMU4492 is the IMU's model number. MIMU4844 includes 9-axis IMU ICM-20948, whereas MIMU4492 makes use 9-axis IMU MPU-9250. Communication interface of MIMU4844 is fully compatible with MIMU4492. MIMU4444's (a previous version) support material can be referred for MIMU4844 and MIMU4492 also.

Highlighting Features

  • A Massive 32 IMUs array: Two 4x4 IMU arrays.
  • Array of nine-axis IMU (Gyro + Accelero + Magnetometer).
  • IMUs’ placement and orientation to minimize systematic errors.
  • Parallel communication with IMUs using 32 parallel s/w I2C buses.
  • Sensor fusion and calibration compensation on-board.
  • Floating pt controller AT32UC3C with 512 Kb internal flash.
  • USB 2.0 data interface, All sensors accessible through USB.
  • JTAG programmable (needs dedicated JTAG cable).
  • Power with USB; LED indicators; 49.3mm x 26.6mm.

Supporting Softwares

  • Open source embedded C code
  • Framework for sensors’ i/f and data comm
  • ZUPT based inertial navigation.
  • Command based data communication protocol.
  • Access to meaningful intermediate variables.
  • Easy to modify, highly modular s/w design.
  • Open source communication scripts for PC.

Functional Diagram

Multi-IMU Array Platforms

There are typically three categories of multi-sensor systems. First, classical sensors system with different types of collocated sensors, e.g. a positioning system making use of a collocated inertial sensor, a pressure sensor and a GPS. Second, sensor joint systems wherein multiple same type of sensors coordinate to predict state of a system, e.g. estimating motion of a robotic or a human arm using multiple sensors attached to different positions, for capturing a versatile motion. The third kind of multi sensors system consists of collocated sensors with the same properties. The redundancy due to multiple sensors, results not only in enhanced noise performance of the system, but also allows the multi sensor system to achieve what single sensor system can not, e.g. a two dimensional array of accelerometers on a rigid circuit board can produce rotational information. On the one hand enhancing capabilities, shrinking size and reducing cost of MEMS sensors favor redundancy, but on the other hand data communication, processing and calibration compensation pose system level challenges.


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