Feasibility Study of Multi Inertial Measurement Unit

Ariel Larey, Eliel Aknin, Itzik Klein

Research output: Contribution to journalArticlepeer-review


An inertial measurement unit (IMU) typically has three accelerometers and three gyroscopes. The output of those inertial sensors is used by an inertial navigation system to calculate the navigation solution–position, velocity and attitude. Since the sensor measurements contain noise, the navigation solution drifts over time. When considering low cost sensors, multiple IMUs can be used to improve the performance of a single unit. In this paper, we describe our designed 32 multi-IMU (MIMU) architecture and present experimental results using this system. To analyze the sensory data, a dedicated software tool, capable of addressing MIMUs inputs, was developed. Using the MIMU hardware and software tool we examined and evaluated the MIMUs for: (1) navigation solution accuracy (2) sensor outlier rejection (3) stationary calibration performance (4) coarse alignment accuracy and (5) the effect of different MIMUs locations in the architecture. Our experimental results show that 32 IMUs obtained better performance than a single IMU for all testcases examined. In addition, we show that performance was improved gradually as the number of IMUs was increased in the architecture.
Original languageEnglish
Issue number1
StatePublished - 2020


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