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  • Overview
  • Orientation
  • Native silicon characteristics
  • DepthAI-exposed runtime behavior
  • Characterized noise parameters

BMI270

BMI270 is a 6-axis IMU with a triaxial accelerometer and triaxial gyroscope. In Luxonis software it is treated as a raw inertial sensor, without the same fused quaternion outputs exposed for BNO08X.

Overview

SpecValue
Axes6
Physical sensorsAccelerometer, gyroscope
MagnetometerNo
Sensor-side derived outputsNone exposed as sensor-side fused orientation outputs
Absolute heading on-sensorNo

Orientation

Use the drawing below as the vendor-axis reference for BMI270 acceleration and angular-rate directions.
BMI270 sensing axis orientation

Native silicon characteristics

SignalFull-scale optionsSensitivity / quantizationNoise densityNative ODR
Accelerometer+-2 / +-4 / +-8 / +-16 g16384 / 8192 / 4096 / 2048 LSB/g0.16 mg/sqrt(Hz) typ12.5 Hz to 1600 Hz
Gyroscope+-125 / +-250 / +-500 / +-1000 / +-2000 dps262.144 / 131.072 / 65.536 / 32.768 / 16.384 LSB/dps0.007 dps/sqrt(Hz) typ in performance modeup to 6400 Hz

DepthAI-exposed runtime behavior

SpecValue
Stable accelerometer request points25 / 50 / 100 / 200 / 250 Hz
Stable gyroscope request points25 / 50 / 100 / 200 / 250 Hz
Public max exposed report rateRequests above 400 Hz currently top out around 250 Hz
Rate rounding behaviorRequested rate rounds down to the next supported rate

Characterized noise parameters

AxisAccel noise densityAccel random walkAccel bias stabilityGyro noise densityGyro random walkGyro bias stability
X0.05003350196779850.00003733806840961230.06864587436890680.2933406982565760.2811061862804299.19265863311309
Y0.05472908998330010.00005082023540230150.110149070550650.2851866519120940.5243510507831739.68103400378115
Z0.06361346655752230.00002845205243916340.04464809431816040.3011846403727670.2503556393534246.93407320593193