Caracterización del sensor IMU (Inertial measurement unit) BNO055

Abstract

The purpose of this project is to carry out the characterization of the inertial measurement unit (IMU) by implementing the Allan variance method, which is based on statistical analysis of the measurements obtained with the IMU sensor. An IMU is a device made up of an accelerometer, which measures the changes in force produced by the movement of the device; a gyroscope, which is responsible for recording the variation in the position of the axes represented by the IMU and a magnetometer, which interacts with the Earth's magnetic field. The data provided by the IMU will be read by means of a raspberry pi board, these are of utmost importance for the navigation of high-end land vehicles (cars, trucks and motorcycles), air (aircraft and helicopters), maritime and space (extraterrestrial exploration), allowing them to orient and move as safely and accurately as possible. In the same way, the program that is developed for the management of the IMU sensor provides a very useful tool whose objective is not only to obtain, manage and manipulate the data offered by the IMU, but will also allow it to be characterized, applying the ALLAN VARIANCE statistical method. For the development of this program, one of the most used programming languages at this time, such as Python, has been used.