inertial sensors there are several different sensors that can be used in an imu theses sensors include but are not limited to accelerometers gyroscopes compass pressure and temperature the pins device 100 is responsible for gathering the necessary data to determine location measuring the several degrees of freedom of an object to arrive to the desired location information usually does this an object has six degrees of freedom in space three of them determine the position while the other three determine the altitude of the object the three linear axes determine the position x y and z the three rotational axes determine the altitude theta pitch psi yaw and phi roll the pins device 100 is responsible for measuring these variables that are necessary to track an object in three dimensions these six axes are usually measured indirectly through their first or second moments for example theta psi and phi are derived through the measurement of their first moment or angular velocity rather than angular position x y and z are usually measured through their second moment or linear acceleration rather than linear position thus the pins device 100 relies on the motion of the object in order to determine its position the pins device 100 can be designed to output at least one type of data such as sensor data motion commands position location and or the like the radio channel 102 is responsible for sending the output data of the pins device 100 over the air to the host 104 typically residing at the base or dispatcher station this communication is bi directional meaning that.