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 CAUSA.

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).

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