Hi Andrea,
As Felix stated, we have no option to directly plug an IMU on the Ti’s board, so the best option would be to use an IMU directly connected to your control computer.
The good news is that you can use the solo12/bolt IMU 3dm-cx5-25 in USB. The advantage is that later if you plan on using it with a low level access it would be much easier that using a GX version. For info, you can see the pain it was for @ferdinand-wood to interface a GX serie IMU Using IMU Lord Microstrain 3DM-GX4-45 - #4 by ferdinand-wood