Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs
Freescale Semiconductor, Inc.
3.3
Terms and Acronyms
Term
DUT Device Under Test
ENU
A global frame of reference described by X =
g
abbreviation for gravities. 1 standard gravity
the local gravimetric field, which can vary by 1/2 percent depending upon altitude and latitude.
gauss
CGS system unit for measuring magnetic field strength. 100
IMU
Inertial Measurement Unit = acce
Kinetis
Freescale family of ARM
®
-
based MCUs
MagCal Magnetic Calibration
MARG
Magnetic Angular Rate Gravity = IMU + magnetometer
MCU Micro-Controller Unit
microTesla
The Tesla is the SI unit for measuring magnetic field strength. 1E
NED
A global frame of reference described by X =
pitch
In the Aerospace/NED frame of reference, defined as a rotation about the Y
RHR Right Hand Rule—
a standard convention for describing the positive/negative sense of rotations about an axis
of rotation. See
http://en.wikipedia.org/wiki/Right_hand_rule
roll In the Aero
space/NED frame of reference, defined as a rotation about the X
RPY
Roll, Pitch, and Yaw. In the Aerospace/NED frame of reference these are defined as rotations about the X
axis,Y axis, and Z axis
SI
International System of Units (meter, kilogram,
SLERP
Spherical Linear intERP
olation
SysTick
A feature of the ARM
®
processor; a
clock cycle.
tilt Angle from vertical
UART
Universal Asynchronous Receiver / Transmitter, also known as SCI (Serial Communications Interface)
yaw
In the Aerospace/NED frame of reference, defined as a rotation about the Z
Freescale Sensor Fusion Library for Kinetis MCUs
, Rev. 0.7, 9/2015
Terms and Acronyms
Definition
A global frame of reference described by X =
East, Y = North, Z = Up
abbreviation for gravities. 1 standard gravity
= 9.80665 m/s
2
. Accelerometers are
commonly trimmed using
the local gravimetric field, which can vary by 1/2 percent depending upon altitude and latitude.
CGS system unit for measuring magnetic field strength. 100 µT = 1 gauss.
Inertial Measurement Unit = acce
lerometer + gyro
based MCUs
Magnetic Angular Rate Gravity = IMU + magnetometer
The Tesla is the SI unit for measuring magnetic field strength. 1E
–
4 Tesla = 100 µT = 1 gauss
A global frame of reference described by X =
North, Y = East, Z = Down
In the Aerospace/NED frame of reference, defined as a rotation about the Y
-axis
a standard convention for describing the positive/negative sense of rotations about an axis
http://en.wikipedia.org/wiki/Right_hand_rule
.
space/NED frame of reference, defined as a rotation about the X
-axis
Roll, Pitch, and Yaw. In the Aerospace/NED frame of reference these are defined as rotations about the X
International System of Units (meter, kilogram,
second, ...)
olation
- See http://en.wikipedia.org/wiki/SLERP
processor; a
clock timer which for the purposes of
this discussion, 1 sysTick =
Universal Asynchronous Receiver / Transmitter, also known as SCI (Serial Communications Interface)
In the Aerospace/NED frame of reference, defined as a rotation about the Z
-axis
commonly trimmed using
the local gravimetric field, which can vary by 1/2 percent depending upon altitude and latitude.
µT = 1 gauss
a standard convention for describing the positive/negative sense of rotations about an axis
Roll, Pitch, and Yaw. In the Aerospace/NED frame of reference these are defined as rotations about the X
this discussion, 1 sysTick =
1 CPU
Universal Asynchronous Receiver / Transmitter, also known as SCI (Serial Communications Interface)