Cuboid inertial measurement unit

A method of determining a rotation, comprising:

• receiving a rotational measurement from each of a plurality of MEMS gyroscopes positioned on a substrate of a cuboid inertial measurement unit, wherein the plurality of MEMS gyroscopes are arranged on the substrate as opposing pairs, and wherein the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are oriented in opposite directions of one another;
• comparing the measurements from the MEMS gyroscopes of each of the opposing pairs with one another;
• determining at least one of a mean or a median rotation value for the measurements of each of the opposing pairs of MEMS gyroscopes;
• comparing the at least one of the mean or the median rotation value with a threshold value;
• removing one or more of the at least one of the mean or the median rotation values based on the comparison;
• after removing the one or more of the at least one of the mean or median values, assigning a weight to the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes;
• and
• determining a rotation of the cuboid inertial measurement unit based on the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes and the respective weight for each of the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes.

An inertial measurement unit, comprising:

• a substrate;
• a plurality of MEMS gyroscopes arranged on the substrate as opposing pairs, wherein:
• the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are arranged on opposite sides of an axis of rotation of the substrate;
• the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are oriented in opposite directions of one another;
• and
• the plurality of MEMS gyroscopes are configured to measure a rotation of the substrate;
• at least one electrical circuit in communication with the plurality of MEMS gyroscopes;
• a processor;
• and
• a connector that is in communication with the at least one electrical circuit and that is coupled with the processor so as to electronically couple the plurality of MEMS gyroscopes with the processor, wherein the processor is configured to:
• receive a rotational measurement from each of the plurality of MEMS gyroscopes;
• compare the measurements from the MEMS gyroscopes of each of the opposing pairs with one another;
• determine at least one of a mean or a median rotation value for the measurements of each of the opposing pairs of MEMS gyroscopes;
• compare the at least one of the mean or the median rotation value with a threshold value;
• remove one or more of the at least one of the mean or the median rotation values based on the comparison;
• after removing the one or more of the at least one of the mean or median values, assign a weight to the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes;
• and
• determine a rotation of the inertial measurement unit based on the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes and the respective weight for each of the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes.