The purpose of the IMU is to measure the total accelerations
acting on and generated by the vehicle, the angular velocity of the
vehicle, and report these to the main processor.
Figure 2-22 The Inertial Measurement Unit
The IMU contains two sensors as described in Section 2.4.1. The
accelerometer and angular rate sensor triads are located within the
IMU housing. Analog signals from these sensors are transferred to the
6811 LPU by way of a New Micros 12 bit, 8 channel ADC board. This
data stream is then returned to the main processor by way of an RS422
serial interface. This data is returned to the main processor at a
rate of 220 Hz.
The IMU is located in the upper port rear of the electronics module.