Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
1. The Sensor Fusion algorithm has no intrinsic limitation; this was the maximum value supported by the gryo in Freescale
testing.
2. Number of output sampling periods where one period = 40 ms
3. Linear sensors, which yields very good compass heading values were assumed. However experience shows that +/5
degrees are more realistic values.
4.8.6 6-axis Accelerometer + Magnetometer Parametrics
NOTE:
All parametrics provided in the following table are based on build 4.17 simulations. Build 5.00 is believed to
have similar performance.
Table 16. 6-axis Sensor Fusion Accel + Mag Performance Metrics
Characteristic Symbol Conditions(s) Min Typ Max Unit
Orientation static drift
O
SD
See Orientation Static Drift 0.0018 degrees
Orientation static noise
O
SN
See Orientation Static Noise 1.06 degrees
RMS
Orientation dynamic drift
O
DD
See Orientation Dynamic Drift 1.16 degrees
Orientation response delay
O
RD
See Orientation Response
Delay
<10 sample
periods
Er
ror!
Reference
source not
found.
2
Compass heading
linearity
CH
l
See Compass Heading
Linearity and Accuracy
1.20 degrees
Compass heading
accuracy
2
CH
acc
1.58 degrees
1. Number of output sampling periods where one period = 40 ms
2. Linear sensors, which yields very good compass heading values were assumed. However, experience shows that ±5
degrees are more realistic values.
4.8.7 6-axis Accelerometer + Gyro Parametrics
NOTE:
All parametrics provided in the following table are based on build 4.17 simulations. Build 5.00 is believed to
have similar static and improved dynamic performance.
Table 17. 6-axis Sensor Fusion Gyro + Accel Performance Metrics
Characteristic Symbol Conditions(s) Min Typ Max Unit
Orientation static drift
O
SD
See Orientation Static Drift 19.07 degrees
Orientation static noise
O
SN
See Orientation Static Noise 0.068 degrees
RMS
Orientation dynamic drift
O
DD
See Orientation Dynamic Drift 2.04 degrees
Max angular Rate
AR
MAX
See Maximum Angular Rate 1440 dps
Orientation response delay
O
RD
See Orientation Response
Delay
Error! Reference source not found.
<1 sample
periods
2
Gyro offset step response TBD See Gyro Offset Step
Response
3.76 seconds