Datasheet

Mechanical and Electrical Specifications
26 Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
Table 14. Sensor/Configuration Imposed Limitations
Characteristic Symbol Min Max Unit
Maximum Angular Rate
AR
max
–2000 +2000 dps
Linear Acceleration
LA
max
–4 +4
g
Magnetic Field
B
max
–1200 +1200 µT
It is believed that the fusion algorithms themselves have no upper limits on any of the parameters
above. These are strictly limits associated with the specific physical sensors used to characterize the
library.
4.8.5 9-Axis Parametrics
Table 15 provides guidance for the 9-axis (accelerometer/magnetometer/gyro) indirect Kalman filter
implementation.
NOTE:
All parametrics provided in the following table are based on build 4.17 simulations. Build 5.00 simulations
are still pending.
Table 15. 9-axis Sensor Fusion Performance Metrics
Characteristic Symbol Conditions(s) Min Typ Max Unit
Orientation static drift
O
SD
See Orientation Static Drift 0.05 degrees
Orientation static noise
O
SN
See Orientation Static Noise 1.21 degrees
RMS
Orientation dynamic drift
O
DD
See Orientation Dynamic Drift 0.17 degrees
Max angular Rate
AR
MAX
See Maximum Angular Rate
1600
Error!
Reference
source not
found.
dps
Orientation response delay
O
RD
See Orientation Response
Delay
<1
2
fusion
time
interval
Gyro offset step response
T
GOSR
See Gyro Offset Step
Response
3.76 seconds
Error in computed linear
acceleration
LAE See Error in Computed Linear
Acceleration
0.243
g
Compass heading
linearity
3
CH
l
See Compass Heading
Linearity and Accuracy
1.02 degrees
Compass heading
accuracy
CH
acc
1.37 degrees
Orientation magnetic
immunity - static device
O
mis
See Orientation Magnetic
Immunity (Static Device)
9.36 degrees
Orientation magnetic
immunity - moving device
O
mim
See Orientation Magnetic
Immunity (Moving Device)
8.98 degrees