Accelerometer and Gyro Buying Guide - SparkFun Electronics

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Accelerometer and Gyro Buying Guide by Jimb0 | July 12, 2010 | 10 comments Skill Level:

Beginner

Accelerometers and gyros are becoming increasingly popular in consumer electronics, so maybe it's time you added them to your project! Scrolling through SparkFun's sensors category reveals a huge list of these sensors that might be perfect for your next project, if only you knew what they did, and which one best fit your project. The goal of this buying guide is to get you speaking the same language as these sensor's datasheets and to help you select the one that is best-suited for your needs.

What's an accelerometer measure? Well, acceleration. You know...how fast something is speeding up or slowing down. You'll see acceleration displayed either in units of meters per second squared (m/s2), or G-force (g), which is about 9.8m/s2 (the exact value depends on your elevation and the mass of the planet you're on). Accelerometers are used to sense both static (e.g. gravity) and dynamic (e.g. sudden starts/stops) acceleration. One of the more widely used applications for accelerometers is tilt-sensing. Because they are affected by the acceleration of gravity, an accelerometer can tell you how it's oriented with respect to the Earth's surface. For example, Apple's iPhone has an accelerometer, which lets it know whether it's being held in portrait or landscape mode. An accelerometer can also be used to sense motion. For instance, an accelerometer in Nintendo's WiiMote can be used to sense emulated forehands and backhands of a tennis racket, or rolls of a bowling ball. Finally, an accelerometer can also be used to sense if a device is in a state of free fall. This feature is implemented in several hard drives: if a drop is sensed, the hard drive is quickly switched off to protect against data loss. Now that you know what they do, let's consider what characteristics you should be looking for when selecting your accelerometer: Full-Scale Range One of the characteristics that stand out the most is the accelerometer's full-scale range the upper and lower limits of what the accelerometer can measure. In most cases, a smaller full-scale range means a more sensitive output; so you can get a more precise reading out of an accelerometer with a low full-scale range. You want to select a sensing range that will best fit your project, if your project will only be subjected to accelerations between +2g and -2g, a 250g-ranged accelerometer won't give you much, if any, precision. We have a good assortment of accelerometers, with maximum ranges stretching from 1g to 250g. Most of our accelerometers are set to a hard maximum/minimum range, however some of the fancier accelerometers feature selectable full-scale ranges.

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Interface This is another one of the more important specifications. Accelerometers will have either an analog, pulse-width modulated (PWM), or digital interface. Accelerometers with an analog output will produce a voltage that is directly proportional to the sensed acceleration. At 0g, the analog output will usually reside at about the middle of the supplied voltage (e.g. 1.65V for a 3.3V sensor). Generally this interface is the easiest to work with, as analog-to-digital converters (ADCs) are implemented in most microcontrollers. Accelerometers with a PWM interface will produce a square wave with a fixed frequency, but the duty cycle of the pulse will vary with the sensed acceleration. These are pretty rare; we've only got one in our catalog. Digital accelerometers usually feature a serial interface be it SPI or IC. Depending on your experience, these may be the most difficult to get integrated with your microcontroller. That said, digital accelerometers are popular because they usually have more features, and are less susceptible to noise than their analog counterparts. Number of axes measured This one's very straightforward: out of the three axes possible (x, y, and z), how many can the accelerometer sense? 2- and 3-axis accelerometers are the most common these days. I'd suggest three-axis accelerometers; they're really no more expensive than one or two, and extra information can't hurt. Bandwidth An accelerometer's bandwidth represents how often the sensor can be read reliably. Bandwidth requirements will really depend on the application, but usually 50-100Hz will suffice. Power Usage If your project is battery powered, you might want to consider how much power the accelerometer will consume. The required current consumption will usually be in the 100s of A range. Some sensors also feature sleep functionality to conserve energy when the accelerometer isn't needed. Bonus Features Many more recently developed accelerometers may have a few nifty features, beyond just producing acceleration data. These newer accelerometers may include features like selectable measurement ranges, sleep control, 0-g detection, and tap sensing. Analog Devices' ADXL203CE and ADXL213AE - Older, power hungry, expensive, but very reliable, dual-axis accelerometers ADXL203CE and ADXL213AE Accelerometer Full-Scale Maximum Power Bonus Interface Axes Range Bandwidth Requirements Features 1.7g Analog 2 500Hz 3-6V, 700-1100A 3-6V, 700-1100A Self test

ADXL203CE

ADXL213AE

1.2g

PWM

500Hz

Self test

Pros:

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Wide operating voltage range - can be used in both 3.3V and 5V systems. Less range means more resolution. If you need precise, low-g readings these are a good option. The ADXL213AE is the only accelerometer in our catalog with a PWM interface. Cons: Pricey - These are some of the most expensive accelerometers in the catalog. You can get comparable 3-axis accelerometers for cheaper. Power hungry - you'll notice that ~1mA is quite a bit in comparison to the other sensors in this category. Analog Devices' ADXL320, ADXL321, and the ADXL322 - Our recommendations for those determined to use a 2-axis accelerometer Accelerometer ADXL320 ADXL321 ADXL322 Full-Scale Maximum Power Interface Axes Range Bandwidth Requirements 2.4-6V, 5g Analog 2 500Hz 350-480A 2.4-6V, 18g Analog 2 500Hz 350-490A 2.4-6V, 2g Analog 2 500Hz 340-450A Bonus Features Self test Self test Self test

Pros: Wide operating voltage range - these will work in both 3.3V and 5V systems. Low-current consumption Good selection of ranges available. The 18g range of the ADXL321 is actually relatively high, and would be a good choice for projects with really fast starts and stops. For example, we strapped it to a model rocket. Easy-to-use analog interface Cons: Only 2-axis - I'd recommend the comparable (not to mention cheaper) ADXL335 3-axis accelerometer, if the 3g range works for your project. The 18g of the ADXL321 means it has a relatively low resolution, only use it if you're going to take advantage of the full range. Analog Devices' ADXL193 - That's a lot of g's! ADXL193 Breakout Board Accelerometer ADXL193 Full-Scale Maximum Power Bonus Interface Axes Range Bandwidth Requirements Features 3.5-6V, 250g Analog 1 400Hz Self test 1.5-2mA

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Pros: Yeah...250g. Even the above-mentioned model rocket was no match for the full-scale range of this sensor. Needless to say, if you have a project that requires an appearance by the ADXL193, you need to tell us about it! Wide operating voltage range Both the chip itself and the breakout board are very small Cons: 250g means a very low resolution - the sensitivity of this accelerometer is 8mV/g, meaning a 10-bit ADC (like Arduino's) will only be able to read data in steps of about 0.4g. This is definitely not the accelerometer to pick if you need to sense gravity or other small accelerations. 1-axis - If you're crazy project requires sensing huge accelerations in 2- or 3-axes, you may need multiples of these. High current consumption, upwards of 1mA Analog Devices' ADXL335 - Our 3-axis, analog accelerometer workhorse ADXL335 Breakout Board Accelerometer ADXL335 Full-Scale Maximum Power Bonus Interface Axes Range Bandwidth Requirements Features 1600 (x/y), 1.8-3.6V, 3g Analog 3 Self test 550 (z) Hz 350A

Pros: Very easy-to-use analog interface. 3-axis accelerometer - the first one on this list! Low-cost - when compared to the 2-axis accelerometers above, it's hard not to go with this one. The 3g range should provide a good balance of range and resolution. Low-current consumption - 0.35mA! We can't say enough good things about this accelerometer - we've put it into all sorts of other products Cons: The 3g range can be limiting for some projects. Can only be supplied with up to 3.6V. Freescale's MMA7260Q and the MMA7361 - Analog accelerometers, for those that can't make up their minds on what range they need MMA7260QMMA7361 Breakout Board

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Accelerometer

Full-Scale Interface Axes Range 1.5, 2, 4, MMA7260Q Analog 3 6g MMA7361 1.5, 6g Analog 3

Maximum Power Bonus Bandwidth Requirements Features 350 (x/y), 2.2-3.6V, G-select, 150 (z) Hz 500-800A sleep mode G-select, 400 (x/y), 2.2-3.6V, sleep mode, 300 (z) Hz 400-600A 0g detection

Pros: G-select! These sensors give you the flexibility to choose a measurement range that best suits your project. You can change the measuring range on-the-fly. The newer MMA7361 features a 0g detection interrupt. Perfect if you need to sense for free-fall. Easy analog interface Very low-price The sleep pin allows you to save power when you're not using the sensor The MMA7260Q has been a SparkFun engineer favorite for a while, and is featured on quite a few products (serial accelerometers, IMUs, UberBoards, etc.). Cons: The MMA7260Q has reached its end-of-life, and will be replaced by the comparable MMA7361. Unfortunately, the MMA7361 doesn't offer quite as much flexibility as it's predecessor, but it does have 0-g detection. More complex (though, still quite easy) to get up and running - they'll require a few extra wires. Analog Devices' ADXL345 and Bosch's BMA180 - Digital accelerometers with many great features BMA180ADXL345 Accelerometer Full-Scale Maximum Power Interface Axes Range Bandwidth Requirements Bonus Features Selectable measuring range, free-fall detection, 2.0-3.6V, tap/double-tap 40-145A detection, bandwidth selectable, programmable power modes Selectable ranges, 2-3.6V, programmable 650-975A digital filters, interrupt

ADXL345

2, 4, 8, 16g

SPI and I2C

3200Hz

BMA180

1, 1.5, 2, SPI and 3, 4, 8, I2C 16g

2400 Hz

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features, programmable power modes, free-fall detection, tap/double-tap detection, slope detection

Pros: A lot of flexibility in selecting your full-scale range Both give you the option to choose which of the two serial interfaces you'd like to use Digital interface is less susceptible to noise than analog Tiny...both physcially and power consumption-wise (40uA for the ADXL345!) So many features! The interrupts can be very handy depending on your project. Tap/double-tap detection means your accelerometer can work as a mouse button Very few external components necessary Cons: Digital interface may be more difficult to get up and running, but don't let that scare you off, we've got plenty of examples. May require more wires than the ADXL335, at least if you're planning on using all of the features. Pricier than the 3-axis analog sensors, but still not too expensive VTI's SCA3000 - The accelerometer of choice if accuracy is of utmost importance SCA3000 Breakout Board Accelerometer Full-Scale Maximum Power Interface Axes Range Bandwidth Requirements Bonus Features Selectable frequency response, temperature output, interrupt features

SCA3000

2g

SPI

300Hz

2.35-3.6V, 300-650A

Pros: This sensor offers the greatest accuracy of any of our accelerometers. Ambient temperature sensor is useful for further calibration of data Free-fall and motion detection interrupts are comparable to the ADXL345 and BMA180 The breakout board features a voltage regulator

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Cons: Digital interface may require a bit more work to get it running Higher price tag than other comparable sensors Only one range - may be limiting The chip itself is rather large, but the breakout board's still pretty small

SparkFun's Choices
Easiest to use: ADXL335 - Nothing required beyond providing power and reading the output voltages. The full-scale range should work fine for most projects. Analog: MMA7260/MMA7361 - The ability to choose your sensing range and change it on-the-fly can be a great luxury. Digital: BMA180 - A top-of-the-line sensor, hot out of the fab house. Lots of flexibility with 7 selectable sensing ranges. The interrupt features can also come in very handy.

Gyroscopes measure angular velocity, how fast something is spinning about an axis. If you're trying to monitor the orientation of an object in motion, an accelerometer may not give you enough information to know exactly how it's oriented. Unlike accelerometers gyros are not affected by gravity, so they make a great complement to each other. You'll usually see angular velocity represented in units of rotations per minute (RPM), or degrees per second (/s). The three axes of rotation are either referenced as x, y, and z, or roll, pitch, and yaw. In the past, gyros have been used for space navigation, missile control, under-water guidance, and flight guidance. Now they are starting to be used alongside accelerometers for applications like motion-capture and vehicle navigation. A lot of what was considered when selecting an accelerometer still applies to selecting the perfect gyro: Full-scale Range - Make sure the maximum angular velocity you're expecting to measure doesn't exceed the maximum range of the gyro. But also, in order to get the best possible sensitivity, make sure your gyro's range isn't much greater than what you're expecting. Interface - There's actually not much diversity in this section, 95% of the gyros we have feature an analog output. There are a few that have a digital interface - either SPI or I2C. Number of axes measured - Compared to accelerometers, gyros are a little behind the curve. Only recently have inexpensive, 3-axis gyros begun to appear on the market. Most of our gyros are either 1or 2-axis. When selecting those, you need to pay attention to which of the three axes the gyro will measure; for example, some two axis gyros will measure pitch and roll, while others measure pitch and yaw. Bonus Features - Not much in this section is going to blow you away. Many gyros feature a temperature output, which is very useful when compensating for drift.
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Analog Devices' ADXRS610, ADXRS613, and ADXRS614 - Old, expensive, reliable, single-axis gyros ADXRS61x Breakout Board Full-Scale Power Interface Axes Range Requirements 4.75-5.25V, ADXRS610 300/s Analog 1 (z) 3.5-4.5mA 4.75-5.25V, ADXRS613 150/s Analog 1 (z) 3.5-4.5mA 4.75-5.25V, ADXRS614 50/s Analog 1 (z) 3.5-4.5mA Gyro Bonus Features Analog temperature output, self test Analog temperature output, self test Analog temperature output, self test

Pros: Can be powered and interfaced at 5V Easy-to-use analog interface Analog temperature output can be very helpful in stabilizing the readings Cons: Expensive - you can get similar 2-axis gyros for cheaper. BGA package is difficult to solder (if you're not using the breakout board) Relatively large and old - not that being old is a problem, but as time has passed gyro manufacturers have been able to pack much more into a smaller package ST Microelectronics' LISY300AL and LY530AL - Our suggestion for those determined to use a single-axis gyro LY530AL Breakout Board Gyro LISY300AL Full-Scale Range 300/s Interface Axes Power Requirements Bonus Features

Self test, power-down 300/s and/or 1x and 4x outputs, LY530AL Analog 1 (z) 2.7-3.6V, 4.8mA 1200/s self test, power-down Analog 1 (z) 2.7-3.6V, 4.8mA

Pros: Power-down feature is a nice way to conserve battery life The LY530AL provides nice flexibility with two available measuring ranges 300/s is a good balance of range and resolution Very low-price - If all you need to measure is one axis, you can save money going with one of these. Relatively low current consumption

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These are both excellent single-axis gyros. We'd recommend the newer LY530AL due to the 4.5x output it offers. It also pairs really well with the LPR530AL 2-axis gyros a few sections below. Cons: Only 1-axis - there are 2-axis gyros available for not much more cost The LY530AL requires quite a few filtering components, if you're doing your own layout Melexis' MLX90609-75, MLX90609-150, and MLX90609-300 - Flexible, single axis gyros with a few bonus features

MLX90609 Breakout Board Gyro MLX90609-75 Full-Scale Range 75/s Interface Axes Analog and SPI Analog and SPI Analog and SPI 1 (z) Power Requirements 4.75-5.25V, 16-20mA 4.75-5.25V, 16-20mA 4.75-5.25V, 16-20mA Bonus Features Analog temperature output, self test Analog temperature output, self test Analog temperature output, self test

MLX90609-150

150/s

1 (z)

MLX90609-300

300/s

1 (z)

Pros: If you can't decide whether you want an analog or digital interface, you don't have to! A lot of features you won't find on any other gyros Good selection of ranges Analog temperature output can be very helpful in correcting for drift Cons: Price is significantly higher than other single-axis gyros Relatively high-current consumption Larger footprint than most of our gyros (though the breakout board still comes in at less than 1in2) Limited to 5V power and interface Invensense's IDG1215, IDG50, and the IXZ500 - Excellent all-around dual-axis gyros IXZ500 Breakout BoardIDG1215 Breakout Board Gyro Full-Scale Range Interface Axes Power Requirements Bonus Features

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IDG1215 IDG500

67/s 110/s and/or 500/s 110/s and/or 500/s

Analog Analog

2 (x/y)

2.7-3.3V, 7-9.5mA

2 2.7-3.3V, 7mA (x/y) 2 2.7-3.3V, 7mA (x/z)

IXZ500

Analog

Temperature sensor, auto-zero Temperature sensor, auto-zero, 1x and 4.5x outputs Temperature sensor, auto-zero, 1x and 4.5x outputs

Pros: Breakout boards feature voltage regulation Temperature outputs help in stabilizing the angular velocity output The two available ranges of the IDG and IXZ500's provide a great mix of resolution and range We've gotten a lot of mileage out of the IDG500, it's a great all-around sensor. Low-current consumption Cons: Quite a few external components are necessary to get them up and running The IDG1215 67/s full-scale range means excellent resolution, but may not be enough of a range for many projects Somewhat pricier than the ST dual-axis gyros ST Microelectronics' LPR/LPY503AL, LPR/LPY530AL, LPR/LPY5150AL - Two axis sensors that get the job done and offer a lot of variety LYPR530AL Breakout Board

Gyro LPR503AL

LPY503AL

LPR530AL

LPY530AL

Full-Scale Range 30/s (4x output) or 120/s 30/s (4x output) or 120/s 300/s (4x output) or 1200/s 300/s (4x output) or 1200/s

Interface Axes

Power Requirements

Bonus Features Self-test, power-down, 1x and 4x outputs Self-test, power-down, 1x and 4x outputs Self-test, power-down, 1x and 4x outputs Self-test, power-down, 1x and 4x outputs

2 Analog 2.7-3.6V, 6.8mA (x/y) Analog 2 2.7-3.6V, 6.8mA (x/z) 2 2.7-3.6V, 6.8mA (x/y) 2 2.7-3.6V, 6.8mA (x/z)

Analog

Analog

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1500/s (4x output) or 6000/s 1500/s (4x LPY5150AL output) or 6000/s LPR5150AL

Analog

2 2.7-3.6V, 6.8mA (x/y) 2 2.7-3.6V, 6.8mA (x/z)

Analog

Self-test, power-down, 1x and 4x outputs Self-test, power-down, 1x and 4x outputs

Pros: This line of sensors features good mixture of range and axes combinations - you should easily be able to find a sensor with the range and 2-axis-set that best fits your project. The LPR530AL is a great complement to the LY530AL for single plane, 3-axis angular velocity sensing Power-down feature is great for conserving battery life Easy analog interface Very low-cost Cons: As with a lot of these, all sensors require quite a few external filtering components These gyros seem to be a bit more susceptible to drift than the comparable Invensense gyros in the previous section LPYR540AH - Finally a 3-axis, analog output gyroscope!

LPYR540AH Breakout Board Gyro LPYR540AH Full-Scale Range Interface Axes 400/s (4x output) or 1600/s Analog Power Bonus Features Requirements Self-test, 1x and 4x outputs

3 2.7-3.6V, 10.8mA

Pros: 3-axis! This is one of the first 3-axis analog gyros to hit the general market. Not too expensive - If you need three axes of angular velocity sensing, you'll save money using just one of these, rather than two different sensors. Very easy-to-use analog interface Cons: No power-down feature, like we're used to with other analog STMicro gyros Low-availability at the moment Currently only the 400/1600/s sensor is available. Not a lot of resolution if you're trying to sense very

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slow rotations. High current-consumption compared to the ITG-3200 below Invensense's ITG-3200 - The mother of all gyros, 3-axis and loaded with features!

ITG-3200 Breakout Board Gyro Full-Scale Power Interface Axes Range Requirements I2 C 3 2.1-3.6V, 6.5mA Bonus Features Programmable low pass filter, optional external clock input, interrupt outputs, temperature sensor

ITG-3200 2000/s

Pros: 3-axis gyro! Triple-axis gyros are still pretty rare, so this one is very exciting. Comparably, very few external components required Very low current consumption, compared to the LPYR540AH above Very wide measuring range (2000/s), while still managing good resolution (16-bit ADCs on board) A lot of features no other gyros have available Temperature sensor built-in, great for drift compensation Sleep mode available, reducing current usage to 0.005mA Tiny! Cons: I2C may require more overhead to get up and running SparkFun's Choices Analog: Any of the analog ST gyros. Whether it's the three axis LPYR540AH or the single axis LY530AL, all of ST's gyros are very easy to work with, require very little power, and are dependable. The 1x/4x outputs offer great flexibility. Digital: The ITG-3200 is really top-of-the-line. If you need data from each axis of rotation and can deal with the serial interface we'd definitely recommend this sensor.

Gyroscopes and accelerometers are great, but alone they don't give you quite enough information to be able to comfortably calculate things like orientation, position, and velocity. To measure those and other variables many people combine the two sensors, to create an inertial measurement unit (IMU) which provides two to

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six degrees of freedom (DOF). IMUs are widely used in devices that require knowledge of their exact position, for example robotic arms, guided missiles, and tools used in the study of body motion. SparkFun's IMUs can really be broken down into two classes: simple IMU combo boards, which just mount an accelerometer and gyro onto a single PCB, and more complex units that interface a microcontroller with the sensors to produce a serial output. If you've glanced over the previous sections, you should know what kind of specifications to be looking for in IMUs: the number of axes (both for the accelerometer and gyro), the measuring range of the sensors, and the interface. Analog Devices IMU Combo Boards - pricey, solid, 3DOF boards IMU 3DOF Combo Board Accel Gyro Accel Gyro Bonus Accelerometer/Gyro # of # of Interface Power DOF Range Range Features Axes Axes 2 Self Test, 5g 1 (z) 50/s Analog 5V 3 ADXL320/ADXRS614 temperature (x/y) 2 Self Test, ADXL320/ADXRS613 5g 1 (z) 150/s Analog 5V 3 (x/y) temperature 2 Self Test, 5g 1 (z) 300/s Analog 5V 3 ADXL320/ADXRS610 (x/y) temperature 2 Self Test, ADXL203/ADXRS614 1.7g 1 (z) 50/s Analog 5V 3 (x/y) temperature 2 Self Test, ADXL203/ADXRS613 1.7g 1 (z) 150/s Analog 5V 3 (x/y) temperature 2 Self Test, ADXL203/ADXRS610 1.7g 1 (z) 300/s Analog 5V 3 (x/y) temperature

Pros: All of the Analog Devices' sensors are very solid and reliable This is the only combo board you'll find with a 5V operating range. With all of the range combos, you should be able to find something that perfectly fits your project. Cons: Expensive, not a lot of bang for your buck - if you have your heart set on a combo board, I'd really recommend the 5DOF IDG500/ADXL335 combo The ADXL203 is relatively power-hungry As the market has grown all of these sensors have gotten better and cheaper; who wants three degrees of freedom when you can get five or six for cheaper! IMU 5 Degrees of Freedom IDG500/ADXL335 - A combination of two superstar, analog sensors IDG500/ADXL335 5DOF

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Accel Gyro Accel Gyro Bonus # of # of Interface Power DOF Range Range Features Axes Axes 500/s 2 Self Test, IDG500/ADXL335 3 3g and Analog 3.3V 5 (x/y) temperature 110/s IMU Combo Board

Pros: This board combines two of our favorite sensors All outputs are analog An analog temperature output is available from the IDG500 sensor Two available gyro ranges provide good resolution and maximum range Comparatively low-cost Small! This board packs a lot of inertia sensing into less than one square inch of space. Cons: Limited to just 3g - this is a good balance of sensitivity and range for many projects, but may be too low for others Not a 6DOF! ArduIMU Sensor Board - 6DOF (Main) - Just a 4DOF, but easily expandable to 5 or 6 IMU Combo Board ArduIMU Sensor Board - 6DOF (Main) Accel Gyro Accel Gyro # of # of Interface Power Range Range Axes Axes 3 3g 1 (z) 300/s Analog 3.3V Bonus Features Self test, expandable to 6DOF

DOF

Pros: Makes use of the ADXL335, one of our favorite accelerometers Simple, analog interface Mates directly with the popular ArduPilot UAV Controller, providing it with information necessary to implement an AHRS (attitude heading reference system) for unmanned aerial vehicles A lot of support is provided on the DIY Drones Community website Low-price for a combo board Cons: The name of this guy is a little misleading -- this board alone provides a triple-axis accelerometer and a single-axis gyro, so four degrees of freedom. However, combining it with a couple ArduIMU Daughter boards, provides the full 6-degrees of freedom.

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Designed mostly for use with the ArduPilot, but don't let that stop you if this IMU seems perfect for your project IMU 6DOF Razor - A super-tiny, inexpensive 6DOF IMU 6DOF Razor IMU Combo Board IMU 6DOF Razor Accel Gyro Accel # of # of Range Axes Axes 3 3g 3 Gyro Range 300/s and 1200/s Bonus Features Self-test, power-down

Interface Power

DOF

Analog

3.3V

Pros: It's a 6DOF! Packs a lot of punch into a tiny board. Not only is it less than one square inch, it's also much thinner (hence the 'Razor' nickname) than any of the other PCBs. Again makes use of the ADXL335 - noticing a pattern here? We really like that sensor! Combines the LPR530AL and the LY530AL to provide three axes of gyro sensing Nine analog outputs in total A common 3.3V source powers all three sensors All chips consume very low amounts of current Low-cost - the cheapest 6DOF in our catalog Power-down control for both gyros, to save power when they're not in use Cons: Without multiplexing, many popular microcontrollers (Arduino, ATmega328/168) won't be able to read all 9 outputs. The board has no voltage regulators, you have to provide exactly 3.3V to the board. Limited to just the 3g on the accelerometer outputs The STMicro gyros are somewhat more susceptible to noise than Invensense's 6DOF v4 Sensor Board - The sensor guts of the beastly 6DOF v4, also includes three axes of magnetometer output 6DOF Sensor Board IMU Accel Gyro Accel Gyro Bonus Combo # of # of Interface Power DOF Range Range Features Board Axes Axes 6DOF 3.3V regulator, 1.5g, 3.3V-16V v4 Accelerometer 6 (+3 3 2g, 4g, 3 500/s Analog (3.3V Sensor g-select, 3-axis magnetic) or 6g interface) Board magnetometer

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Accelerometer and Gyro Buying Guide - SparkFun Electronics

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Pros: It's actually a 9DOF! HMC105x magnetometers, and their supporting circuitry, are placed on the board. The magnetometer can be used as a compass, providing the IMU's orientation with regard to Earth's magnetic field. This information is incredibly helpful if you need to know a device's exact position. On-board voltage regulator output to all sensors - you can power the board at anywhere between 3.3V and 16V. Built with sensors that we view as top-of-the-line Two IDG500s, mounted perpendicularly to each other offer three axes of gyro outputs Access to the MMA7260Q's g-select pins, so you can choose the acceleration sensing range that best fits your project Cons: Only the 500/s outputs of the IDG500s are broken out Yeah...it's pricey It is tailor made to be seated on the 6-DOF Controller Board, but that shouldn't stop you from using it for your own pursuits, if it fits your project well. IMUs with a Serial Output All of the previous IMUs have all had an analog interface - one analog output per axis per sensor. This means you'll need 3-6 (or more) ADCs to be able to read all of the data. If you don't have enough ADC inputs available for all of that, you may want to consider one of these IMUs, which all interface a processor with the sensors, compiling all of the information into a single serial output. All of these IMUs come with firmware of our own design, but you're free to customize the firmware as much as you'd like and program them yourself. WiTilt v3.0 - A fully enclosed, LiPo battery powered, bluetooth enabled 4DOF WiTilt Accel Gyro Accel Gyro # of # of Interface Range Range Axes Axes

IMU

Power

Bonus Features DOF

WiTilt v3.0

1.5g, 2g, 4g, or 6g

Fully enclosed, LiPo charging LiPo, circuit, selectable Bluetooth requires 150/s acceleration range, (SPP) 5V for report on threshold charging optionality, setable output frequency

Pros: On-board processor is the popular ATmega328 All components of the WiTilt are fully enclosed in a sexy, compact case. This means everything will

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Accelerometer and Gyro Buying Guide - SparkFun Electronics

http://www.sparkfun.com/tutorials/167

stay in the correct place, and be safe from any tampering. Uses the MMA7260Q accelerometer, which features four selectable ranges The included LiPo battery should be able to hold a charge for up to 12 hours of run-time A wireless bluetooth output should work with any bluetooth-compatible computer or bluetooth device that supports Serial Port Profile (SPP) Our firmware is loaded with features - you can set the WiTilt to only report accelerations beyond a particular threshold, set the output frequency, set the accelerometer range, and more! Cons: Does not include a 5V LiPo charger. The connector is a bit funky, you'll likely need to purchase a barrel-jack to 2-pin JST adapter. Somewhat high price tag Only 4DOF - not really a huge negative, but there are a lot of 6DOF options here MMA7260Q is being phased out, to be replaced by the MMA7361, meaning it will lose the 2 and 4g ranges. Atomic IMU 6 Degrees of Freedom - XBee Ready - A versatile 6DOF, can output over a hardwired serial connection, or wirelessly using XBees Atomic 6DOF IMU Accel Gyro Accel Gyro # of # of Interface Range Range Axes Axes

IMU

Power

Bonus Features DOF

Atomic IMU 6DOF

1.5g, 2g, 4g, or 6g

Versatile serial output, can be powered with Serial, any of our includes LiPos, 300/s 3.3-10VDC XBee selectable headers acceleration range, settable output frequency

Pros: On-board processor is the popular ATmega328, and access to the programming pins is provided if you want to customize the firmware Input power is regulated via a 3.3V LDO voltage regulator The serial output of this IMU is very versatile. An XBee, a very popular and easy-to-use wireless transceiver, can be placed directly onto the IMU giving it a wireless input/output abilities. The serial output is also routed to a 6-pin header, which can be interfaced with another microcontroller's UART, an FTDI basic board (to connect it to a computer's USB port), or even one of our Bluetooth Mates (making it bluetooth compatible). Designed to be powered by our line of JST-connected LiPo batteries Uses the MMA7260Q accelerometer, meaning you have four selectable g-ranges

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Accelerometer and Gyro Buying Guide - SparkFun Electronics

http://www.sparkfun.com/tutorials/167

Very low-price considering what is offered Well explained datasheet and an example PC program available to interface with the IMU Our firmware allows you to select the output frequency, acceleration range, and output mode Cons: Gyros mounted perpendicularly to board may have some inherent error The board is relatively large MMA7260Q is being phased out, to be replaced by the MMA7361, meaning it will lose the 2 and 4g ranges. IMU 6 Degrees of Freedom - v4 with Bluetooth Capability - A beast of a 6DOF (9DOF really) with Bluetooth output capabilities IMU 6DOF v4 - Bluetooth Compatible Accel Gyro Accel Gyro # of # of Interface Range Range Axes Axes

IMU

Power

Bonus Features DOF

IMU 6DOF - v4

1.5g, 2g, 4g, or 6g

Bluetooth or hardwired output, 3-axes of Bluetooth magnetometer, 500/s 3.3-10VDC 6 (9) or Serial input voltage regulated, selectable output frequency

Pros: The only IMU to feature an ARM processor - the LPC2148 - it has a lot of processing power. If you want to write your own custom firmware, it can be easily reprogrammed The sensor board also includes HMC1052x magnetic sensors, which can be used can be used as a compass, providing the IMU's orientation with regard to Earth's magnetic field. This information is incredibly helpful if you need to know a device's exact position. Bluetooth output, wireless is very nice If you don't want to use the bluetooth, a hard-wired serial interface is also available Uses the MMA7260Q accelerometer, meaning you have four selectable g-ranges IDG500 gyros are really excellent, analog gyros Can be powered with any of our JST-connected LiPo batteries, or any power source 3.3-16VDC It's cool looking! Cons: The two-stack design is cool-looking, but a little clunky. It's relatively large and expensive Only the 500/s outputs of the IDG500s are used Magnetometer outputs are very susceptible to noise over the bluetooth output. If this data is of extreme importance to you, I'd suggest using the hard-wired interface.

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Accelerometer and Gyro Buying Guide - SparkFun Electronics

http://www.sparkfun.com/tutorials/167

MMA7260Q is being phased out, to be replaced by the MMA7361, meaning it will lose the 2 and 4g ranges. 9 Degrees of Freedom - Razor IMU - AHRS Compatible - A brand new, small and inexpensive 9DOF that's Arduino-compatible 9DOF Razor IMU Accel Gyro Accel Gyro # of # of Interface Range Range Axes Axes

IMU 9 DOF Razor IMU

Power

Bonus Features DOF

16g

300/s

Serial

Arduinocompatible, 3.3-16VDC optional AHRS code, 3-axis magnetometer

Pros: ATmega328 processor includes the Arduino bootloader, so you can easily program whatever firmware you want onto the IMU With the work of Jordi Munoz and many others, the 9DOF Razor can become an Attitude and Heading Reference System (AHRS). This enables the 9DOF Razor to become a very powerful control mechanism for UAVs, autonomous vehicles and image stabilization systems. From the serial output you can choose to interface the 9DOF with another microprocessor, or a computer via USB, an XBee, or even a Bluetooth. The ADXL345, is top-of-the-line and loaded with features LY530AL and LPR530AL combination means no perpendicular mounting of gyros necessary The 3-axis HMC5843 is an excellent magnetometer which works great as a compass Comparatively, very low-cost On-board reset switch, and ON/OFF control switch Our most recent addition to the IMU category Can be powered with any of our JST-connected LiPo batteries Cons: The STMicro gyros are more susceptible to drift than their Invensense equivalents The shipped firmware is pretty basic, but there is some great example AHRS code available You'll need a 3.3V FTDI Basic Breakout to program it as an Arduino SparkFun's Choices IMU Combo Board: IMU 6DOF Razor - Ultra-Thin IMU - The fact that it's cheaper than just about all other combo boards, which all actually have fewer features, makes this a pretty easy decision. This board just packs so much punch into a small package, the other combo boards really pale in comparison. The IMU 5 Degrees of Freedom IDG500/ADXL335 gets runner up here. The IDG500 is a fantastic sensor, and we really love the ADXL335. If you can do without that last gyro output,

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Accelerometer and Gyro Buying Guide - SparkFun Electronics

http://www.sparkfun.com/tutorials/167

you'll save a few dollars going with this board. IMU w/ Integrated Microprocessor: 9 DOF - Razor IMU - It's hard to pick one in this category, because each IMU has it's own stand-out features. However, I think the relatively low-price, cutting-edge sensors, and versatility of the 9DOF makes it really hard to beat. The market for accelerometers, gyros, and IMUs is rapidly changing. A year or so ago, just the thought of a 2-axis gyro was pretty mind-blowing; now we're beginning to see sensors that combine both a 3-axis accelerometer and a 3-axis gyro into one single chip. Needless to say, we're really excited about what the future holds for this category. We'll be updating the list as new sensors become available to us. Thanks for taking the time to read this, we hope it was informative and made your decision easier. If you have any questions or concerns, please don't hesitate to add a comment down below, or drop us an email.

Login to post comments. Dinuka | July 18, 2010 at 1:15 AM 5

This is what I like about SFE. No Crap. They are not afraid to tell us about the cons of their products. Good technical support. My only worry is the high shipping cost to Asian countries like Sri Lanka. BTW Many thanks for the detailed guide.

Pizzafuchs | November 16, 2010 at 1:59 PM

Totally agree! This is an excellent guide, as always at SparkFun :-) Member53350 | November 30, 2010 at 1:32 AM 2

Can somebody please explain what exactly is a gyro/accelerometer drift ? It is not something you can find in the datasheeet. I thought it is maybe the error you get when digitally integrating a signal over time, but now I am not sure. Does anybody know ? help... dustynrobots | December 3, 2010 at 1:54 PM 2

Great guide! Do you have any preferred references for using the raw data from the accelerometers and gyros (and magnetometers) to get position, velocity, and orientation? I'm guessing the DIY Drones community might have some of this done already? I have a commercial IMU unit I can get the raw data from, but their calculations are "proprietary" - I'm thinking of scrapping that and starting with one of these!

Sam R. | January 1, 2011 at 9:28 AM Its way more fun that way!!

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Accelerometer and Gyro Buying Guide - SparkFun Electronics

http://www.sparkfun.com/tutorials/167

ExplodingLemur | January 2, 2011 at 12:07 PM

Yep, Ardupilot (DIY Drones) would be one reference (they use the Direction Cosine Matrix algorithm), another would be Paparazzi (uses a Kalman filter). Hm, and I believe there's DCM code for the Razor 9DOF IMU, check that product page.

dustynrobots | February 17, 2011 at 1:37 PM

Thanks! I'll have to translate things from UAVs into my biomechanics world, but it looks like most of the work is already done.

ToniK | April 28, 2011 at 1:38 PM

Also, check out the firmware for the KinetaMap. It is designed for biomechanical type stuff, so that will probably help even more. RocketGeekLyons | January 22, 2011 at 1:28 PM 1

As a high power rocketry enthusiast, these products set me to drooling over the idea of building my ideal flight computer. The biggest issues are Z axis maximum G ratings (I need something on the order of 100-150G's) and gyro rates (here I need on the order of 3600 deg/sec). The components are getting there, but the ranges aren't yet. For a UAV, it looks like what is needed is here already, for rocketry - particularly for active guidance control on a bird pulling 70 G's off the pad it just isn't looking ready yet. rusteze | March 25, 2011 at 4:35 AM 1

Great guide, very objective considering you're supposed to be salespeople ;) Just noticed the link for your recommended IMU Combo Board, IMU 6DOF Razor, points to a depreciated product. You may want to update the link to point to the newer version sku:SEN-10010

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