The Pololu MinIMU-9 v6: Compact 3-Axis Gyro, Accelerometer, & Magnetometer is a sophisticated inertial measurement unit that integrates a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer into a diminutive 0.8" x 0.5" board. This unit is designed to provide nine independent measurements of rotation, acceleration, and magnetic fields, which can be utilized to ascertain the sensor's absolute orientation. The MinIMU-9 v6 is engineered to be compatible with a range of voltages from 2.5 to 5 V, thanks to its onboard voltage regulator and level-shifting circuit. The standard 0.1" pin spacing facilitates seamless integration with common solderless breadboards and perf boards.
The MinIMU-9 v6 employs STs LSM6DSO and LIS3MDL sensors, which are noted for their performance but are typically challenging for students and hobbyists to use due to their small size and low operating voltages. This board addresses these challenges by incorporating additional electronics to ensure ease of use while maintaining a compact form factor. The MinIMU-9 v6 is designed to be a drop-in replacement for its predecessor, the MinIMU-9 v5, in many applications, although some software modifications may be necessary.
This unit is also pin-compatible with the AltIMU-10 v6, which includes similar features with the addition of a digital barometer. The MinIMU-9 v6 and the AltIMU-10 v6 can share code, making them interchangeable in many scenarios. The onboard sensors offer a range of configurable options and sensitivities, and they can be accessed through a shared I²C interface, allowing for individual addressing of the sensors. The MinIMU-9 v6 is capable of providing comprehensive data for creating an attitude and heading reference system (AHRS), with the gyro offering precise rotation tracking and the accelerometer and compass providing a stable frame of reference to counteract gyro drift.
The carrier board is equipped with a low-dropout linear voltage regulator that supplies the necessary 3 V for the sensors and can provide power to external devices. The I²C clock and data lines are level-shifted to match the logic voltage level of the supplied VIN, simplifying the interface with 5 V systems. The alignment of the sensor axes on the board is optimized to support sensor fusion calculations, enhancing the accuracy of orientation data.
Please note that the MinIMU-9 v6 should be handled with care, and it is recommended to familiarize oneself with the datasheets of the LSM6DSO and LIS3MDL sensors before use to ensure proper operation and to avoid potential damage.
