Module imu mod DSIDE_v 0.1

Overview

This extraction module has to read and extract data from IMU devices specific logs that are considered in the CSPS topology.

Module nomenclature

The input stream of this extraction module is device-specific. The output streams consist, as shown on the following image, in two physical streams. One of the physical stream carry the IMU translational accelerations when the second carry the gyroscopic angular velocities.

The three components of the translational acceleration are provided in meters per square seconds. The angular velocity components coming from gyroscope are expressed in radians per seconds.

Module interface

This section gives a summary of the module interface in terms of streams and devices. The order of devices and streams is given as waited by the module. The devices interface is given by :

device( Physical ) Specific IMU sensor

The stream input interface is :

stream( Device specific | IMU ) Specific IMU sensor logs

and the stream output interface is :

stream( Physical | IMU ) Gyroscope velocities
stream( Physical | IMU ) Translational accelerations

The output streams are attached.

Module operation

The IMU extraction module has to know the input provided device type in order to call the specific extraction sub-module. Currently, the IMU extraction module is able to handle the following devices :

• ADIS16375 sensor