Sensors Overview

The following table describes the sensors’ attributes:

Sensor	Measured quantity	Power consumption	Limitations	Availability
				Tag Piccolino	Tag Leonardo iMU / Tag iMU
Accelerometer	Acceleration [ms-2]	Very Low	Sensitive to vibrations
			Zero offset
Magnetometer	Strength of a magnetic field[T]	Medium	Sensitive to interference from nearby metallic objects
Gyroscope	Angular Velocity[rad s-1]	High	Slow Drifting
			Zero offset
Barometer	Atmospheric pressure[Pa]	Low	Temperature dependent
Thermometer	Temperature[°C]	Low	Temperature inside the Tag can be slightly different from ambient temperature

The table above indicates, that each sensor has pros and cons. Nevertheless, once the sensors are used together some limitations can be compensated thanks to data fusion.

Inertial sensors (Accelerometer, Magnetometer, Gyroscope) can be used in following three modes:

• Motion Detection
• 3D Oreintation
• Raw Data

Discrete sensor components are listed below.

• Accelerometer
• Barometer and thermometer
• Gyroscope
• Magnetometer