The CHIMU developed by Ryan Mechatronics. Here is the link:

Including 3 axis gyro, 3 axis accelerometer, and 3 axis compass. But it seems that there are no kalman filter implemented. However, the price is cheaper than previously posted VN-100:

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3D Robotics
Comment by Chris Anderson on November 14, 2009 at 9:02am
Interesting. They don't have a datasheet up so it's hard to say much about the hardware, but given that it outputs quaternians and euler angles, I'm guessing it does have a kalman filter of some sort implemented.

Comment by William Premerlani on November 14, 2009 at 9:37am
There is a fair bit of information in the user's manual at the Ryan Mechatronics website.

According to the user's manual, you need to furnish velocity information to the CHIMU in order for it to compensate for centrifugal effects. This is done by either furnishing an analog signal proportional to velocity, or via the digital communications interface.
Comment by Sergey on November 15, 2009 at 12:17pm
Looks interesting too. I can make good guess about 3x magnetometer and 3x accelerometer
I'm wondering what gyro do they use? The IC looks quite big. Any idea ?
Comment by Kostas Alexis on November 16, 2009 at 1:59am
I think the gyro is ADXRS from AD

Comment by William Premerlani on November 16, 2009 at 7:53am
@Sergey and kostalexis,
The gyro is from Analog Devices. Since it is a 3 axis device, it must be one of the newer ones from AD.
Tests that were done on the ADXRS610 showed that it was immune to heli vibrations, so I would expect the gyro on the CHIMU to be immune to heli vibrations as well.

Comment by Brian Wolfe on November 16, 2009 at 8:59am
Why do we think it's an Analog devices three axis gyro? The users manual say it uses two gyro chips to sens the three axis but doesn't state the manufacturer. It does say the rate limit is 500deg/S. I don't think Analog Devices is selling any multi axis mems gyro "chips" although they do have some modules on their site. I'd be very interested if they did however.


Comment by William Premerlani on November 16, 2009 at 2:49pm
I thought it was an Analog Devices gyro, because the largest chip on the board was packaged exactly like the single axis AD gyros that I have on my "greenboard", and I thought I could make out a part number that matched a number on AD's website. But you are right, AD does not make any multi axis gyro chips.
So, I was wrong. I apologize.

Comment by William Premerlani on November 16, 2009 at 2:56pm
I took a closer look at the photo in the manual and compared it with photos on the SparkFun website....
The large chip on the board is definitely an Analog Devices ADXRS613. That's a single axis gyro.


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