The Inertial Measurement Unit (IMU) plays a crucial role in drone navigation by providing critical data about the drone's orientation, motion, and position ¹. The key roles of IMU are ² ¹ ³:

- *Attitude Determination*: The IMU measures the rotation angular velocity through a gyroscope, which helps the drone determine its attitude, that is, the aircraft's orientation and tilt angle in space. This is important for flight control, self-stabilization, and navigation.

- *Acceleration Measurement*: The accelerometer built into the IMU can measure the linear acceleration of the drone, that is, the rate of change of speed. By integrating the acceleration signal, the speed and position of the drone can be derived. This is critical for navigation, trajectory planning, and autonomous flight.

- *Angular Velocity Measurement*: The gyroscope is a key component in the IMU and is used to measure the angular velocity of the drone, that is, the rotation speed around each axis. By integrating the angular velocity signal, the rotation angle and heading of the UAV can be derived. This is crucial for attitude control, stable flight, and course navigation.

- *Magnetic Field Measurement*: The magnetometer in the IMU can measure the Earth’s magnetic field, helping the drone determine its orientation relative to the magnetic north pole. This plays an important role in navigation, positioning, and heading control, especially in the absence of a GPS signal.