> For the complete documentation index, see [llms.txt](https://docs-7.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-7.phoenixlidar.com/lidarmill-desktop/user-interface/windows/raw-imu.md).

# Raw IMU

The Raw IMU Window provides a graphical interpretation of the IMU sensor motion. 

* This is useful when checking for external vibrations the IMU may be experiencing, and can be used during real-time scanning or in post-processing (for .nav files only). 
* SpatialExplorer has the ability to display the IMU sensor motion in the frequency domain using Fast Fourier transform analysis (freq) or in the time domain (with a scale of 1g/45deg/s or 10g/450deg/s).

![](/files/-M_gb4sv7AYcGb4JsLiU)

* Selecting the freq option will display the continuous IMU motion in the frequency domain. 
* This is done by applying FFT analysis to the IMU data. 
* The X-axis represents Frequency in Hertz, with each rectangular block indicating an increase of 10 Hz. 
* The Y-axis is the amplitude of the wave. 
* Excess vibrations will be noticeable as large spikes.

![IMU Visualization in freq mode‌](/files/-M_gb8ZGaEvAqs4ZZmGB)

* Selecting the 1g/45deg/s mode will display the raw IMU data in the time domain. 
* The upper 3 line graphs show raw accelerometer values, while the lower 3 line graphs show the gyroscope values. 
* The graphs are colored according to the native IMU axes: X-axis (red), Y-axis (green), and Z-axis (blue). 
* In the example shown below, since the Y-axis (green) accelerometer data is drawn around -1g, we can conclude that the IMU Y-axis is pointing downwards in this setup.

![IMU Visualization in 1g/45deg/s mode‌](/files/-M_gbCBX_wVqu4qABSFO)

* Selecting the 10g/450deg/s mode will also display the raw IMU data in the time domain but at a larger scale. 
* This mode is useful when you need to visualize the raw IMU data that is displayed off the chart in the 1g/45deg/s mode. 
* Identifying this data is extremely important as it might threaten to saturate the IMU sensors, which could cause the navigation solution to fail.

![IMU Visualization in 10g/450deg/s mode](/files/-M_wIacqRDTh7_Amb--S)