You only need a board called the Teensy 4.0—a small microcontroller that runs an ARM Cortex-M7 at 600MHz—and a 6-axis/9-axis IMU (Inertial Measurement Unit) such as the MPU6050 or MPU9250. The total ...

2.2.2 Hardware implementation The sensing node utilizes the JY901S 9-axis inertial measurement unit. Built upon the MPU6050 core architecture, it integrates a 3-axis accelerometer, a 3-axis gyroscope, ...