The Pololu MinIMU-9 is an inertial measurement unit (IMU) that packs an L3G4200D 3-axis gyro and an LSM303DLH 3-axis accelerometer and 3-axis magnetometer onto a tiny 0.9″ × 0.6″ board. An I²C interface accesses nine independent rotation, acceleration, and magnetic measurements that can be used to calculate the sensor’s absolute orientation.
Note: This board has been replaced by the newer MinIMU-9 v2.
- L3G Arduino library
- This is a library for the Arduino that interfaces with our L3GD20H and L3GD20 3-axis gyro carriers as well as the gyros on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the L3G4200D and the L3GD20). It makes it simple to configure the device and read the raw gyro data.
- LSM303 Arduino library
- This is a library for the Arduino that interfaces with our LSM303D, LSM303DLHC, and LSM303DLM 3D compass and accelerometer carriers as well as the compass and accelerometer ICs on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the LSM303DLH and LSM303DLHC). It makes it simple to configure the device and read the raw accelerometer and magnetometer data, and it has a function for computing the tilt-compensated heading for those looking to use the LSM303 as a tilt-compensated compass.
- MinIMU-9 + Arduino AHRS
This Arduino program (sketch) allows an Arduino connected to a MinIMU-9 v3 or AltIMU-10 v3 (or older versions of those boards) to function as an attitude and heading reference system, calculating estimated roll, pitch, and yaw angles from sensor readings that can be visualized with a 3D test program on a PC. It is based on the work of Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel.
|Visualization of AHRS orientation calculated from MinIMU-9 readings.|