LSM6DSV

LSM6DSV is a 6-axis IMU with a triaxial accelerometer and triaxial gyroscope. It includes ST's low-power sensor-fusion path and can provide a 6-axis game rotation vector, gravity vector, and gyroscope bias, but without a magnetometer it does not provide a magnetically referenced 9-axis absolute heading on its own.

Vendor documentation: LSM6DSV datasheet

Overview

Spec	Value
Axes	6
Physical sensors	Accelerometer, gyroscope
Magnetometer	No
Sensor-side derived outputs	Game rotation vector, gravity vector, gyroscope bias
Absolute heading on-sensor	No

Orientation

Use the drawing below as the vendor-axis reference for LSM6DSV acceleration and angular-rate directions.

Native silicon characteristics

Signal	Full-scale options	Sensitivity / quantization	Noise density	Native ODR
Accelerometer	+-2 / +-4 / +-8 / +-16 g	0.061 / 0.122 / 0.244 / 0.488 mg/LSB	60 ug/sqrt(Hz) typ in high-performance mode	up to 7680 Hz
Gyroscope	+-125 / +-250 / +-500 / +-1000 / +-2000 / +-4000 dps	4.375 / 8.75 / 17.5 / 35 / 70 / 140 mdps/LSB	2.8 mdps/sqrt(Hz) typ	up to 7680 Hz

DepthAI-exposed runtime behavior

Luxonis treats runtime behavior for LSM6DSV as platform-specific. Do not assume the silicon max ODR is equal to the host stream rate.

Spec	Value
Validated runtime values	Document separately from silicon-native ODR
Public max exposed report rates	Use product-specific validation data
Rate rounding behavior	Validate per product and software version

Characterized noise parameters

Axis	Accel noise density	Accel random walk	Accel bias stability	Gyro noise density	Gyro random walk	Gyro bias stability
X	0.0265581027090947	0.000010093945255527	0.00908348979687702	0.16962473704429	0.0415246279899921	1.9938014488291
Y	0.0248946412822367	0.0000102126378842322	0.0115752711877888	0.162065795356986	0.0553796640289008	1.94429340491937
Z	0.0325070710518501	0.000020894079359336	0.0154330840172653	0.141726916752152	0.0522673667125027	2.20512465921074

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