Datasheet

Mechanical and Electrical Specifications
16
4.3
Simulation Environments
Many parameters are difficult, if not impossible, to reliably measure in a lab or production
Ambient magnetic fields vary tremendously in indoor environments. Determining filter sensitivities to
various input parameters can only be done in a simulated environment.
Accordingly, the subsequent sub-
sections discuss environments that may
areas.
Pure Matlab
Matlab is commonly used in the early development of sensor fusion algorithms. It can be used to model
physical stimulus, expected responses and filter operation. See the next section for details concerning
senso
r and environmental models used to construct stimulus.
Matlab Stimulus/Expected Response + Hardware
Once algorithms are functional, they are translated into C, optimized and then optimized again. The
result often makes use of fixed point arit
accurate results, a mixture of Matlab (used to generate test stimulus and expected response) and
hardware (used to run the filter) are used to determine many parameters.
Simulated values were compu
ted with version 4.17 of the sensor fusion library. Version 4.22 should
have almost identical results. Version 5.00 is expected to have better dynamic tracking than indicated
in this datasheet, but simulations are still outstanding.
Figure 10.
Mixed Simulation/Hardware Characterization
Unless stated otherwise elsewhere, parameters used to create the simulated sensors and environment
are:
•
Earth magnetic field corresponding to U.S. zip code 85284 (Tempe, Arizona) on 7
as determined using the NOAA calculator at
—
Declination: 10 degrees 39’ 36”
—
Inclination: 59 degrees 32’ 53”
— Horizontal Intensity:
24.2976
— North Component (+N | -S):
23.8782
— East Component (+E | -W):
4.4945
— Vertical Component (+D | -
U):
Mechanical and Electrical Specifications
Freescale
Sensor Fusion Library for Kinetis
Freescale
Simulation Environments
Many parameters are difficult, if not impossible, to reliably measure in a lab or production
Ambient magnetic fields vary tremendously in indoor environments. Determining filter sensitivities to
various input parameters can only be done in a simulated environment.
sections discuss environments that may
be used to explore these
Matlab is commonly used in the early development of sensor fusion algorithms. It can be used to model
physical stimulus, expected responses and filter operation. See the next section for details concerning
r and environmental models used to construct stimulus.
Matlab Stimulus/Expected Response + Hardware
-based Fusion
Once algorithms are functional, they are translated into C, optimized and then optimized again. The
result often makes use of fixed point arit
hmetic running on an MCU to compute results. To ensure bit
accurate results, a mixture of Matlab (used to generate test stimulus and expected response) and
hardware (used to run the filter) are used to determine many parameters.
ted with version 4.17 of the sensor fusion library. Version 4.22 should
have almost identical results. Version 5.00 is expected to have better dynamic tracking than indicated
in this datasheet, but simulations are still outstanding.
Mixed Simulation/Hardware Characterization
Unless stated otherwise elsewhere, parameters used to create the simulated sensors and environment
Earth magnetic field corresponding to U.S. zip code 85284 (Tempe, Arizona) on 7
as determined using the NOAA calculator at
ngdc.noaa.gov/geomag-web
Declination: 10 degrees 39’ 36”
Inclination: 59 degrees 32’ 53”
24.2976
µT
23.8782
µT
4.4945
µT
U):
41.3285 µT
Sensor Fusion Library for Kinetis
MCUs, Rev. 0.7, 9/2015
Freescale
Semiconductor, Inc.
Many parameters are difficult, if not impossible, to reliably measure in a lab or production
environment.
Ambient magnetic fields vary tremendously in indoor environments. Determining filter sensitivities to
be used to explore these
Matlab is commonly used in the early development of sensor fusion algorithms. It can be used to model
physical stimulus, expected responses and filter operation. See the next section for details concerning
Once algorithms are functional, they are translated into C, optimized and then optimized again. The
hmetic running on an MCU to compute results. To ensure bit
-
accurate results, a mixture of Matlab (used to generate test stimulus and expected response) and
ted with version 4.17 of the sensor fusion library. Version 4.22 should
have almost identical results. Version 5.00 is expected to have better dynamic tracking than indicated
Unless stated otherwise elsewhere, parameters used to create the simulated sensors and environment
Earth magnetic field corresponding to U.S. zip code 85284 (Tempe, Arizona) on 7
November 2013