IMU

The IMU block describes the IMU used for IMU-aided pose. It only matters when ESTIMATOR_PROFILE is set to STANDARD_IMU_DUAL_ANTENNA_HEADING. For any other profile, the [IMU] block is not used.

The [IMU] block is required when using ESTIMATOR_PROFILE = STANDARD_IMU_DUAL_ANTENNA_HEADING. If it is missing, PpRx treats this as a configuration error.

Below is an example of the IMU block:

[IMU]
IMU_TYPE = BMI088
POS_IMU_B = 0 0.311 0
ORIENTATION_IMU_B = 0 0 0 1

IMU_TYPE

Default: None
Parameter Class: Operational Configuration
Technical Info: Selects the IMU hardware model providing accelerometer and gyroscope data to the pose filter.
Practical Tuning Info: Set to match the IMU hardware in use.

POS_IMU_B

Default: None
Parameter Class: Operational Configuration
Technical Info: Position of the IMU, in meters, expressed in the forward-left-up body frame centered at the PRIMARY antenna.
Practical Tuning Info: Measure the physical offset from the PRIMARY antenna phase center to the IMU and set accordingly.

ORIENTATION_IMU_B

Default: None
Parameter Class: Operational Configuration
Technical Info: Quaternion describing the IMU's orientation relative to the body frame.
Practical Tuning Info: ORIENTATION_IMU_B = 0 0 0 1 (identity) is only correct when the IMU's physical X, Y, and Z axes point forward, left, and up, respectively. If the IMU is mounted in a different orientation, set the quaternion to reflect the actual mounting rotation.