Inertial Systems

Precise Navigation Made Simple

ACEINNA’s inertial solutions deliver high precision in an easy-to-use open source development environment. Our fully temperature calibrated solutions deliver the performance needed to sense the real-world motion of today’s intelligent systems.

Inertial Measurement Units (IMU)

Open IMU solutions offer best-in-class IMU performance with fully customizable, open source algorithms.

Tilt Sensors

Ruggedized, environmentally sealed inertial sensors that can survive tough construction, agriculture and industrial applications.

Inertial Navigation Systems (INS)

GNSS & IMU sensors combined to deliver cm level accuracy positioning and inertial positioning estimation.

Navigation Studio

Simulate -> Code & Deploy -> Analyze Navigation Systems


Easily create a virtual IMU, motion trajectory and navigation algorithm simulations.

Code & Deploy

Customize and deploy algorithms directly on ACEINNA’s OpenIMU hardware using Free VS Code Extension. Implement an INS Kalman Filter.


Connect ACEINNA OpenIMU directly to ACEINNA Navigation Studio to record and analyze real-world results.

OpenIMU Development Platform

Link to OpenIMU



The ACEINNA OpenIMU335RI is an easy-to-use high-performance 6-DOF (9 optional) open inertial platform packaged in a rugged sealed over-molded plastic housing. The OpenIMU335RI includes triple-redundant 3-Axis MEMS accelerometers and rate gyros which are fully calibrated over the operating temperature range. A 3-axis magnetic sensor is also available as an option (contact Aceinna for further details).

The processing power is provided by a 168MHz ARM M4 CPU with a Floating Point Unit. The OpenIMU335RI runs the OpenIMU open-source stack that includes an optimized 16-state Kalman Filter for Attitude and GPS-Aided Position Velocity-Time (PVT) measurement. A free tool-chain based on VS Code supports PC, MAC, and Ubuntu.

Data Sheet
User Manual
OpenIMU Manual
DBC File for Firmware 07.02.00
Evaluation Kit
# of Axis                                                               6 (9 optional)
Product Type Rugged / Sealed
Size 65 x 66 x 27mm
Interface CAN / RS232
Connector Style Ampseal 16 6-pos
Gyro Range 400 +/- deg/sec
Gyro In-Run Bias Stability 1.3 deg/hr
Gyro Non-Linearity 0.1%
Gyro Bandwidth 5-50 Hz
Gyro Bias Over Temp 0.1 deg/sec
Gyro Angular Random Walk 0.1 deg/√hr
Accel Range 8 +/-g
Accel Bandwidth 5-50 Hz
Magnetic Field Range (optional)  8 +/-Gauss
Features and Benefits
  • 0.1º accuracy over temperature and angle
  • Precision 3-axis MEMS Accelerometer
  • Low-Drift 3-axis MEMS angular rate sensor
  • Triple-redundant architecture with fault detection
  • 3-axis AMR Magnetometer (Optional)
  • CAN 2.0 and RS232 Interfaces
  • 168 MHz ARM M4 processor
  • Open Source Tool Chain / Algorithms (VG/AHRS/INS)
  • Built in 16-State Open Source EKF
  • Open Community & Support
  • Wide Temp Range, -40C to +85C
  • Wide Supply Voltage Range, 9 V – 32 V
  • IP67 Ampseal Connector
  • High Reliability, MTBF > 50k hours
  • Autonomous Vehicles
  • Self-Driving Taxis / Delivery Vehicles
  • Construction Vehicles - Boom, Bucket and Cab Attitude
  • Agriculture Vehicles and Implements
  • Forklifts
  • Robotics Control / Feedback
  • Antenna / Camera Gimballing and Stabilization