> For the complete documentation index, see [llms.txt](https://berkeley-humanoid-lite.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://berkeley-humanoid-lite.gitbook.io/docs/in-depth-contents/imu-comparision.md).
# IMU Comparision
In this page we list the performance characteristics of the BNO085 IMU, which we originally used, and the IM10A IMU, which is the upgraded one that already provides USB interface.
| Parameter | Unit | BNO085 | IM10A |
| ------------------------------------------------- | ------------- | --------- | ------------- |
| **Accelerometer** | | | |
| Range | g | ±16 | ± 16 |
| Resolution | mg / LSB | 1 | 0.5 |
| RMS Noise | mg | 0.16 | 0.75 \~ 1 |
| Static Zero Drift | mg | ± 150 | ± 20 \~ 40 |
| Bandwidth | Hz | 8 \~ 1000 | 5 \~ 256 |
| **Gyroscope** | | | |
| Range | °/s | ± 2000 | ± 2000 |
| Resolution | (°/s) / (LSB) | 0.0625 | 0.061 |
| RMS Noise | °/s | 0.014 | 0.028 \~ 0.07 |
| Static Zero Drift | °/s | ± 1 | ± 0.5 \~ 1 |
| Bandwidth | Hz | 12 \~ 523 | 5 \~ 256 |
| **Magnetometer** | | | |
| Range | Gauss | ± 13 | ± 2 |
| Resolution | Gauss / LSB | 0.003 | 0.0667 |