Datasheet

Freescale Sensor F
usion Library for Kinetis MCUs
Freescale Semiconductor, Inc.
2.3
Accelerometer Plus Magnetometer
The accelerometer plus magnetometer configuration is often used as an electronic compass.
electronic compass is subject to the linear acceleration equals zero, assumption. Accuracy is
dependent upon negligible magnetic interference from the environment in which the sensors travel.
Figure 2.
Accelerometer plus
2.4
Accelerometer Plus Gyroscope
Using a gyroscope in addition to an accelerometer yields the ability to smoothly measure rotation in 3D
space, although the system can only yield orientation to some random horizontal global frame of
reference. That is, the system has no sense of magnetic north. Computation of yaw is not supported by
this configuration.
This configuration is commonly known as an Inertial Measurement Unit (IMU).
Figure 3.
Accelerometer Plus Gy
2.5
Accelerometer Plus Magnetometer Plus Gyroscope
Sometimes referred to as Magnetic, Angular Rate and Gravity (MARG), this subsystem offers an
optimal combination of sensors for smooth tracking of orientation and separation of gravity an
acceleration. This system is capable of yielding absolute orientation data with respect to magnetic
north.
usion Library for Kinetis MCUs
, Rev. 0.7, 9/2015
Accelerometer Plus Magnetometer
The accelerometer plus magnetometer configuration is often used as an electronic compass.
electronic compass is subject to the linear acceleration equals zero, assumption. Accuracy is
dependent upon negligible magnetic interference from the environment in which the sensors travel.
Accelerometer plus
magnetometer block diagram
Accelerometer Plus Gyroscope
Using a gyroscope in addition to an accelerometer yields the ability to smoothly measure rotation in 3D
space, although the system can only yield orientation to some random horizontal global frame of
reference. That is, the system has no sense of magnetic north. Computation of yaw is not supported by
This configuration is commonly known as an Inertial Measurement Unit (IMU).
Accelerometer Plus Gy
roscope Block Diagram
Accelerometer Plus Magnetometer Plus Gyroscope
Sometimes referred to as Magnetic, Angular Rate and Gravity (MARG), this subsystem offers an
optimal combination of sensors for smooth tracking of orientation and separation of gravity an
acceleration. This system is capable of yielding absolute orientation data with respect to magnetic
The accelerometer plus magnetometer configuration is often used as an electronic compass.
The
electronic compass is subject to the linear acceleration equals zero, assumption. Accuracy is
dependent upon negligible magnetic interference from the environment in which the sensors travel.
Using a gyroscope in addition to an accelerometer yields the ability to smoothly measure rotation in 3D
space, although the system can only yield orientation to some random horizontal global frame of
reference. That is, the system has no sense of magnetic north. Computation of yaw is not supported by
Accelerometer Plus Magnetometer Plus Gyroscope
Sometimes referred to as Magnetic, Angular Rate and Gravity (MARG), this subsystem offers an
optimal combination of sensors for smooth tracking of orientation and separation of gravity an
d linear
acceleration. This system is capable of yielding absolute orientation data with respect to magnetic