Osmium MIMU4X4C / MIMU4X9C*

A Massive Inertial Sensor Array Module

The Osmium MIMU4X4C / MIMU4X9C is a variant of massive inertial sensory array module MIMU4444 / MIMU4492, with a 10-pins connector for primarily allowing access to UART and SPI IOs of the micro-controller. In short, MIMU4X4C / MIMU4X9C = MIMU4444 / MIMU4492 + 10-pins Connector. MIMU4X4C / MIMU4X9C, when used with the extension board BMBT4444, is capable of storing data in micro SD card, operating on battery power and most importantly, wireless communication with the application platform.

Product Brief

*The only difference between MIMU4X4C and MIMU4X9C is the IMU's model number. MIMU4X4C includes MPU-9150, whereas MIMU4X9C makes use MPU-9250. Firmware of MIMU4X4C is compatible with MIMU4X9C. MIMU4X4C's support material can be referred for MIMU4X92 also.

Highlighting Features

  • A Massive 32 IMUs array: Two 4x4 IMU arrays.
  • Array of nine-axis IMU (Gyro + Accelero + Magnetometer*).
  • IMUs’ placement and orientation to minimize systematic errors.
  • Parallel communication with IMUs using 32 parallel s/w I2C buses.
  • Sensor fusion and calibration compensation on-board.
  • Floating pt controller AT32UC3C with 512 Kb internal flash.
  • USB 2.0 data interface, All sensors accessible through USB.
  • JTAG programmable (needs dedicated JTAG cable).
  • Power with USB; LED indicators; 49.3mm x 26.6mm.
  • MIMU4X4C = MIMU4444 + 10-pins Connector.
  • MIMU4X9C = MIMU4492 + 10-pins Connector.
  • Access to UART and SPI IOs.
  • Access to power ports to enable battery operability.
*As of now, software support for magnetometer is not available.

Supporting Softwares

  • Open source embedded C code
  • Framework for sensors’ i/f and data comm
  • ZUPT based inertial navigation.
  • Command based data communication protocol.
  • Access to meaningful intermediate variables.
  • Easy to modify, highly modular s/w design.
  • Open source communication scripts for PC.


Please visit Support section for resources, tutorials, FAQs etc and Blog for more information on technology.


( An Extension Module to MIMU4X4C / MIMU4X9C)

Product Overview

The BMBT4444 serves the purpose of extension board for MIMU4X4C / MIMU4X9C. When used with MIMU4X4C / MIMU4X9C, it adds wireless communication interface (Bluetooth), data storage (Micro SD Card) and battery (Li-ion rechargeable) as another powering option to the inertial sensor array module.

Highlighting Features

  • Bluetooth version v3.0; Micro SD card holder*.
  • Power with Li-ion battery, USB; USB battery charging.
  • Power ON-OFF Switch; LED indicators for power and status.
  • JST battery connector; Option to disconnect Bluetooth.
  • 10-pins female connector (2.54 mm pitch) with UART, SPI and power IOs.
  • Size: 26.6mm x 16.7mm.
*As of now, software support for Micro SD Card is not available.

Functional Diagram


Please visit Support section for resources, tutorials, FAQs etc and Blog for more information on technology