The Osmium MIMU4444, with 32 IMUs, is a massive inertial sensory array module with two mirrored 4x4 square IMU arrays. MIMU4444 is an ideal platform for carrying out research in motion sensing by using Sensor Fusion and Array Signal Processing methods. MIMU4444 is an easy to use and highly configurable hardware platform, serves the needs for niche applications, such as gait analysis, 3D motion capture, Structure from Motion (SfM) etc.

1. With the developments in Micro-Electrical-Mechanical-System (MEMS) fabrication technology,
miniaturization, cost reduction, and low power implementation of the inertial measurement units (IMU) have
become possible. This enables a new approach of realizing high precision sensor systems, which demand
performance better than what is offered by a single low cost sensor, by fusing the measurements of multiple such
low cost sensors. This approach results in enhanced measurement performance, reliability and integrity of the
overall sensor system. Advantages of multi IMU (MIMU) systems are described in [1].
The Osmium MIMU4444, with an array of on-board 32 IMUs, is a massive Multi-IMU (MIMU) inertial sensor
array module with on-board 32-bits floating point processing capability. The IMUs’ placement scheme, with
their sensitivity axes in the opposite directions, mitigates effect of systematic errors. The module is supported by
an open source embedded code written in C, which is easily configurable to run any user implemented
algorithm. The software is configurable to work as a standalone ZUPT-aided inertial navigation system and as a
displacement & heading change sensor. MATLAB code is also available for communication.
The main merits of Osmium MIMU4444 are the placement of IMUs in two mirrored 4x4 square arrays, the
ability to sample data from all IMUs in parallel and the on-board floating point processing capability. These
features and capabilities make MIMU4444 an ideal platform for carrying out research in motion sensing by
using Sensor Fusion and Array Signal Processing methods. MIMU4444 is an easy to use and highly configurable
hardware platform, serves the needs for niche applications, such as gait analysis, 3D motion capture, Structure
from Motion (SfM), autonomous robotics etc.
[1] Isaac Skog, John-Olof Nilsson and Peter Händel, “An Open-source Multi Inertial Measurement Unit (MIMU)
Platform”, in In Proc. 2014 IEEE ISISS, Laguna Beach, CA, USA, 25–26 Feb, 2014.
Feature summary:
• Massive 32 IMUs array: Two 4x4 arrays of nine-Axis
IMUs (Gyro + Accelero + Magnetometer)
• Processing using AT32UC3C 32-bits floating point
microcontroller with 512 Kb internal flash memory
• Parallel communication with 32 IMUs using 32 parallel
s/w I2C buses
• USB 2.0 communication through USB micro-B
connector
• Access to all the sensors’ data through USB
• IMUs’ orientation to minimize systematic errors
• JTAG programming and debugging through a dedicated
USB micro-B connector
• LED indications for power-up and general purpose
• Open source firmware to work as a standalone ZUPT-
aided INS
• Easily configurable firmware to run any user
implemented algorithm
• Power option: USB
• Size: 49.3mm x 26.6mm
Osmium MIMU4444
A Massive Inertial Sensor Array Module
R&D Centre: GT Silicon Pvt Ltd, D-201, Type 1, VH Extension, IIT Kanpur, Kanpur (UP), India, PIN – 208016, Tel: +91 512 259 5333
Email: info@inertialelements.com; URL: http://www.inertialelements.com/

2. Microcontroller
2
6
4x4 IMUs Array – Side 1
PMU
Xtal
16 MHz
I2
C#02
USB
JTAG
Micro B
Connector
3.3V
USB
Power Mgmt Unit
USB
Micro B
Connector
#16
#20
#24
#28
I2
C#00
I2
C#28
#00
#04
#08
#12
#02
#06
#10
#14
#18
#22
#26
#30
4x4 IMUs Array – Side 2
(As seen from Side 1)
#17
#21
#25
#29
#01
#05
#09
#13
#03
#07
#11
#15
#19
#23
#27
#31
I2
C
#03
2
2
.
.
.
2
2 2 2
I2
C
#01
I2
C
#29
. . .
Note: IMU #2 and #3 are on the
opposite sides of the board and
are mirrored with respect to
each other. Same is true for all
other IMU pairs.
16 parallel I2
C buses
16 parallel I2
C buses
Block Diagram
Let us know your customization requirement
Contact Us
R&D Centre:
GT Silicon Pvt Ltd
D-201, Type 1, VH Extension,
IIT Kanpur
Kanpur (UP), India, PIN – 208016
Tel: +91 512 259 5333
Fax: +91 512 259 6177
Email: info@inertialelements.com
URL: www.inertialelements.com
© 2015, GT Silicon Pvt Ltd, Kanpur, India
*MIMU4444 is based on an open source platform. For further details, visit www.openshoe.org