Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs
Freescale Semiconductor, Inc.
— Total field: 47.9418 µT
•
Ideal accelerometer model + simple noise
— Sample rate = 200 Hz
— milli-g noise on X,Y,Z
— 1 g = 9.80665 m/s
2
assumed
•
Ideal magnetometer model + simple nose
— Sample rate = 200 Hz
— X, Y noise 0.85 µT; Z noise
1.3
• No hard/soft iron distortion
•
Ideal gyroscope model and simple noise
— Sample rate 200 Hz
— X, Y, Z noise 0.3 dps
For all tests, the Freescale Matlab-
based Trajectory & Sensor Simulation Toolkit (TSim) is used to
create DUT trajectories and simulated sensors readings.
Some of the tests require that magnetic calibration procedure is run before the test to initialize the
sensor fusion software
magnetic buffer. Magnetic calibration is implemented as a trajectory made up of
a sequence of random rotations lasting 30seconds.
Benchtop Rotary Table
A variant on the Matlab-
based system is shown
desktop rotary table and to post-
process the fusion results into reports. Physical sensor readings are
used to drive the fusion routines. Because indoor environments vary magnetically, results may vary
from day to day as the setup is
moved or electronics in the area cycle on and off.
Results will also change simply because the state of the magnetic buffer is continuously updated.
Figure
Freescale Sensor Fusion Library for Kinetis MCUs
, Rev. 0.7, 9/2015
Ideal accelerometer model + simple noise
assumed
Ideal magnetometer model + simple nose
1.3
µT
Ideal gyroscope model and simple noise
based Trajectory & Sensor Simulation Toolkit (TSim) is used to
create DUT trajectories and simulated sensors readings.
Some of the tests require that magnetic calibration procedure is run before the test to initialize the
magnetic buffer. Magnetic calibration is implemented as a trajectory made up of
a sequence of random rotations lasting 30seconds.
based system is shown
in Figure 11. In this case, Matlab
is used to control a
process the fusion results into reports. Physical sensor readings are
used to drive the fusion routines. Because indoor environments vary magnetically, results may vary
moved or electronics in the area cycle on and off.
Results will also change simply because the state of the magnetic buffer is continuously updated.
Figure
11. Benchtop Rotary Table Setup
based Trajectory & Sensor Simulation Toolkit (TSim) is used to
Some of the tests require that magnetic calibration procedure is run before the test to initialize the
magnetic buffer. Magnetic calibration is implemented as a trajectory made up of
is used to control a
process the fusion results into reports. Physical sensor readings are
used to drive the fusion routines. Because indoor environments vary magnetically, results may vary
Results will also change simply because the state of the magnetic buffer is continuously updated.