Construction
The term IMU is widely used to refer to a box containing three accelerometers and three gyroscopes and optionally three magnetometers. The accelerometers are placed such that their measuring axes are orthogonal to each other. They measure inertial acceleration, also known as G-forces.
Three gyroscopes are placed in a similar orthogonal pattern, measuring rotational position in reference to an arbitrarily chosen coordinate system.
Recently, more and more manufacturers also include three magnetometers in IMUs. This allows better performance for dynamic orientation calculation in Attitude and heading reference systems which base on IMUs.
Read more about this topic: Inertial Measurement Unit
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