The Acc_Gyro(6 DOF) is a 6 degrees of freedom Inertial Measurement Unit (IMU), capable of measuring acceleration on all 3-axis as well as rotation rate about the X, Y and Z axis. Combining values from both accelerometer and gyroscope will allow you to obtain accurate values of inclination angles relative to the earth's surface (see Starlino's IMU guide).

Key Features and Components:

– LIS331AL (datasheet) – analog 3-axis 2G accelerometer

– LPR550AL (datasheet) – a dual-axis (Pitch and Roll), 500deg/second gyroscope

– LY550ALH (datasheet) – a single axis (Yaw) gyroscope

– Built-in 3.3V regulator, board can be used in both 3.3V and 5V projects

– Built-in analog high-pass and low-pass filters, for noise rejection and drift compensation

Dimensions: 1.8" x 0.8" (46 x 21 mm)

Supply current: < 10mA

Supply voltage: 3.3V to 6V

Accelerometer Module Specs:

Acceleration range: +/- 2g

Sensitivity: 478.5 mV/g

Zero-g-level: 1.65V  (+/- 6%)

Low pass filter(noise reduction): 50Hz

Gyroscope Module Specs:


GX4,GY4, GZ4: 4x (amplified) +/- 500deg/sec

GXF,GYF: 1x(non-amplified) +/- 2000deg/sec


GX4,GY4, GZ4: 4x (amplified) 2 mV/Deg/sec

GXF,GYF: 1x (non-amplified) 0.5 mV/Deg/sec

Zero-rate level: 1.23V

High pass-filter (drift compensation): 0.16Hz

Low pass-filter (noise reduction): 160Hz


Main Board Schematic (acc_gyro)

Add-on Board Schematic (gyro_yaw)

Pinouts & Connections with UsbThumb (see acc_gyro and gyro_yaw columns)

References/Sample Projects

Using Acc_Gyro Board with Arduino. Simplified Kalman Filter

A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications

Quadcopter Design using Acc_Gyro

1 thought on “Acc_Gyro 6DOF Analog IMU: 3 Axis Accelerometer + 3 Axis Gyro

  1. Ishaan V Maurya Reply

    Hello Sir/Ma’am,
    I am a member of Formula Student Racing Team and we require an inertial measurement unit for measuring our car’s acceleration and angular velocities. Can you provide me with the quote and lead time of the ACC_GYRO 6DOF ANALOG IMU.
    Thank you.

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