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The AMOS-IMU is an inertial measurement unit that can be used for precisely measuring the orientation of a device in a dynamic environment. It includes triaxial accelerometers, magnetometers, and angular rate (gyroscope) sensors that allow for the computation of 3-D orientation angles in real-time. In Nature Robotics Ltd. provides software libraries and individual calibration data for each AMOS-IMU device.
Please refer to the following documents concerning the AMOS-IMU and its individual component pieces:


AMOS_IMU_UserGuide.pdf: The main user guide for the AMOS-IMU.

altimu-10-v5-dimension-diagram.pdf: Dimension diagram of the circuit board used.

altimu-10-v5-schematic.pdf: Schematic diagram of the circuit board used.

LIS3MDL-AN4602.pdf: Application note for the 3-axis digital output magnetic sensor.

LIS3MDL.pdf: 3-axis ultra-low power, high performance digital output magnetic sensor.

LSM6DS33.pdf: iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope.

LPS25H.pdf: MEMS pressure sensor: 260-1260 hPa absolute digital output barometer.

UM10204.pdf: I2C-bus specification and user manual.


The AMOS-IMU uses an I2C communications interface, and functions as an I2C slave device. The software libraries and examples provided are for the Arduino and Raspberry Pi platforms, and can be found on our website here:

AMOS-IMU Orientation Module

  • Dimensions 38 mm x 20 mm x 16 mm
    Weight 9.1 g
    Interface I²C
    Minimum operating voltage 2.5V
    Maximum operating voltage 5.5V
    Measurement ranges ±125, ±245, ±500, ±1000, or ±2000°/s (gyro)
    ±2, ±4, ±8, or ±16 g (accelerometer)
    ±4, ±8, ±12, or ±16 gauss (magnetometer)
    26 kPa to 126 kPa (barometer)
    Angular Resolution ±0.1° 
    Supply Current  5 mA


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