Over the last years we have been working on a multi-IMU (MIMU) platform built from single chip IMUs. (The abbreviation is partially a play with the common MIMO (multiple-input-multiple-output) abbreviation within the field of communication.) The first generation of the platform with 18 IMUs (seen above) was presented at the ISISS conference 25–26 Feb 2014 in Laguna Beach CA, USA.
Isaac Skog, John-Olof Nilsson, and Peter Händel, An Open-source Multi Inertial Measurement Unit (MIMU) Platform, in In Proc. 2012 IEEE ISISS, Laguna Beach, CA, USA, 25–26 Feb, 2014.
The main merits of the platform is the combination of software and hardware which makes it possible to handle all IMUs in parallel. The multi-IMU platforms are to some extent a separate research track but has also constituted an experimental platform for the development of new OpenShoe modules. They also share all the embedded codes with the OpenShoe platforms.
From the experience with the first platform we have developed a second iteration of the platform, the MIMU4444v1 which measures 49.3x26.6[mm], contains 32 IMUs (4x4 IMUs on each side) and have standard connectors. The design files for the platform are found here:
The embedded software for the platform is achieved by compiling the code at sourceforge with the argument –DMIMU4444. Due to the large number of IMUs we have come to refer to this as Massive-MIMU (again playing with the Massive-MIMO term in communication).