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bosch 6轴陀螺仪开发手册The BMI055 is an inertial measurement unit (IMU) for the detection of movements and rotations in 6 degrees of freedom (6DoF). It reflects the full functionality of a triaxial, low-g acceleration sensor and at the same time it is capable to measure angular rates. Both – acceleration and angular rate – in three perpendicular room dimensions, the x-, y- and z-axis.