---
title: "Align IMU data with the Vicon world"
canonical: "https://help.vicon.com/space/Nexus218/406489087/Align%20IMU%20data%20with%20the%20Vicon%20world"
format: markdown
---
If required, you can align the global angle outputs from IMUs to the Vicon world. This enables global angles from the IMUs to correspond to specific segments within Nexus.

Before you begin, ensure you have calibrated your system in the usual way (see [Calibrate a Vicon system](https://vicon-help.atlassian.net/wiki/spaces/Nexus218/pages/406488164)) and that the IMUs have **Global Angle** output selected (see [Select the required axes)](https://vicon-help.atlassian.net/wiki/spaces/Nexus218/pages/406488960/Stream+live+data+from+Vicon+IMUs#selectAxes).

To align IMU data with the Vicon world, complete these steps.

- [Attach a Vicon IMU to a Vicon Active wand](#AttachIMUToWand)
- [Align the IMU and Vicon worlds](#AligntheIMUandViconworlds)
- [Align Vicon IMUs with segments](#AlignViconIMUswithsegments)

###   
> Macro (anchor)

Attach a Vicon IMU to a Vicon Active wand

The Vicon IMU alignment clip enables you to attach a Vicon IMU to an Active Wand.

> ⚠️ **Active Wand compatibility**  
> ⚠️ Note that this procedure is not compatible with Vicon Active Wand (dual-sided). For information on the equivalent steps for Vicon Active Wand (dual-sided), please contact [Vicon Support](mailto:support@vicon.com).

> ![IMUAlignmentClip.png](media://f6396db3-3811-49b2-8567-ac3feb19453c)

> Macro (scroll-pagebreak)


    **To attach a Vicon IMU to a wand:**


1. Locate the hole above the wand handle as indicated in the following image.
2. With the IMU figure facing up, attach the clip to the wand.
3. Slide the clip down, so that the clip attachment is inserted securely in the hole.
4. Insert a Vicon IMU into the IMU clip.

### > Macro (anchor)

Align the IMU and Vicon worlds

1. In the Nexus **System** tree, under **Devices**, select the sensor you inserted into the clip (see [Attach a Vicon IMU to a Vicon Active wand](#AttachIMUToWand)).
2. In the **Communications** pane, click the **IMeasureU** tab and in the **Alignment** pane, under **World Alignment**, click **Start**.
  :check_mark: **Tip**: If the **Start** button is not enabled, make sure:
  - You've selected a sensor in the ** System ** tree (see Step 1).
  - The sensor has Global Angle output enabled (ie, **Global Angle** is selected – see [Select the required axes](https://vicon-help.atlassian.net/wiki/spaces/Nexus218/pages/406488960/Stream+live+data+from+Vicon+IMUs#selectAxes)).
  - Your Nexus system includes at least two calibrated cameras.
3. In your capture volume, wave the wand for several seconds.  
In the ** Alignment ** pane, Alignment Residual is displayed beneath the Stop button.
4. Under **World Alignment**, click ** Stop**. The IMU world for the selected sensor is aligned to the Vicon world for the L-frame object.

### > Macro (anchor)

Align Vicon IMUs with segments

1. In the **System** tree, select the sensor that is now aligned with the Vicon world, and on the **IMeasureU** tab, in the **Alignment** pane, under **Update Alignments**, click **Copy**.
  This copies the world alignment values from the aligned IMU to all the others.You can now attach the selected IMU to the required segment. In this example the IMU is associated with a Subject segment.
2. In the **Subjects Resources** pane, select the subject segment (in this case, Forearm) that you want to associate with the IMU.
3. In the **Alignment** pane, under **Segment Alignment**, click **Start**.  
The **Start** button changes to display **Align to Segment**.
4. Click **Align to Segment**.  
The selected IMU is now aligned with the selected Subject segment (in this case, Forearm).
5. For each IMU that you want to align to a segment, select the IMU in the System tree and then repeat Steps 2–4 above.