During my academic studies, I am studying the INS part. First of all, INS means a comprehensive category combined with IRU and inertial navigation computer. The IRU is a sensor that uses a gyroscope and accelerometer to detect rotational attitude changes.
But the problem is the IMU. It is written that the IMU also works by detecting changes in the attitude of the aircraft, including the gyroscope, accelerometer, and even the magnetometer.
So, are IRU and IMU the same concept? I looked elsewhere, but I couldn't figure it out.