Module imu mod DSIDE

Overview

This extraction module has to read and extract data from inertial measurement unit (IMU) devices specific logs that are engaged in the CSPS processing topology.

Module nomenclature

The input stream of this extraction module is device-specific. The output streams consist in two physical streams. One of the physical stream carry the IMU translational accelerations when the second carry the gyroscopic angular velocities.

The three components of the translational acceleration are provided metre per second squared. The three components of the angular velocity coming from gyroscope are expressed in radian per second.

Module interface

This section gives a summary of the module interface in terms of streams and devices. The order of devices and streams is given as waited by the module. The devices interface is given by :

device( Physical ) Specific IMU sensor

The stream input interface is :

stream( Device specific | IMU ) Specific IMU sensor logs

and the stream output interface is :

stream( Physical | IMU ) Gyroscope velocities
stream( Physical | IMU ) Translational accelerations

The two output streams are attached.

Module operation

The IMU extraction module has to know the provided source device type in order to call the specific extraction sub-module. Currently, the IMU extraction module is able to handle the following devices :

• ADIS16375 sensor

Any IMU sensor that provides both translational acceleration and angular velocities can be implemented in the library.