Mechanical and Electrical Specifications

16

4.3 Simulation Environments

Many parameters are difficult, if not impossible, to reliably measure in a lab or production

Ambient magnetic fields vary tremendously in indoor environments. Determining filter sensitivities to

various input parameters can only be done in a simulated environment.

Accordingly, the subsequent sub-sections discuss environments that may

areas.

Pure Matlab

Matlab is commonly used in the early development of sensor fusion algorithms. It can be used to model

physical stimulus, expected responses and filter operation. See the next section for details concerning

sensor and environmental models used to construct stimulus.

Matlab Stimulus/Expected Response + Hardware

Once algorithms are functional, they are translated into C, optimized and then optimized again. The

result often makes use of fixed point arit

accurate results, a mixture of Matlab (used to generate test stimulus and expected response) and

hardware (used to run the filter) are used to determine many parameters.

Simulated values were computed with version 4.17 of the sensor fusion library. Version 4.22 should

have almost identical results. Version 5.00 is expected to have better dynamic tracking than indicated

in this datasheet, but simulations are still outstanding.

Figure 10. Mixed Simulation/Hardware Characterization

Unless stated otherwise elsewhere, parameters used to create the simulated sensors and environment

are:

• Earth magnetic field corresponding to U.S. zip code 85284 (Tempe, Arizona) on 7

as determined using the NOAA calculator at

— Declination: 10 degrees 39’ 36”

— Inclination: 59 degrees 32’ 53”

— Horizontal Intensity: 24.2976

— North Component (+N | -S): 23.8782

— East Component (+E | -W): 4.4945

— Vertical Component (+D | -U):

Mechanical and Electrical Specifications

Freescale

Sensor Fusion Library for Kinetis

Freescale

Simulation Environments

Many parameters are difficult, if not impossible, to reliably measure in a lab or production

Ambient magnetic fields vary tremendously in indoor environments. Determining filter sensitivities to

various input parameters can only be done in a simulated environment.

sections discuss environments that may be used to explore these

Matlab is commonly used in the early development of sensor fusion algorithms. It can be used to model

physical stimulus, expected responses and filter operation. See the next section for details concerning

r and environmental models used to construct stimulus.

Matlab Stimulus/Expected Response + Hardware-based Fusion

Once algorithms are functional, they are translated into C, optimized and then optimized again. The

result often makes use of fixed point arithmetic running on an MCU to compute results. To ensure bit

accurate results, a mixture of Matlab (used to generate test stimulus and expected response) and

hardware (used to run the filter) are used to determine many parameters.

ted with version 4.17 of the sensor fusion library. Version 4.22 should

have almost identical results. Version 5.00 is expected to have better dynamic tracking than indicated

in this datasheet, but simulations are still outstanding.

Mixed Simulation/Hardware Characterization

Unless stated otherwise elsewhere, parameters used to create the simulated sensors and environment

Earth magnetic field corresponding to U.S. zip code 85284 (Tempe, Arizona) on 7

as determined using the NOAA calculator at ngdc.noaa.gov/geomag-web

Declination: 10 degrees 39’ 36”

Inclination: 59 degrees 32’ 53”

24.2976 µT

23.8782 µT

4.4945 µT

U): 41.3285 µT

Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015

Freescale Semiconductor, Inc.

Many parameters are difficult, if not impossible, to reliably measure in a lab or production environment.

Ambient magnetic fields vary tremendously in indoor environments. Determining filter sensitivities to

be used to explore these

Matlab is commonly used in the early development of sensor fusion algorithms. It can be used to model

physical stimulus, expected responses and filter operation. See the next section for details concerning

Once algorithms are functional, they are translated into C, optimized and then optimized again. The

hmetic running on an MCU to compute results. To ensure bit-

accurate results, a mixture of Matlab (used to generate test stimulus and expected response) and

ted with version 4.17 of the sensor fusion library. Version 4.22 should

have almost identical results. Version 5.00 is expected to have better dynamic tracking than indicated

Unless stated otherwise elsewhere, parameters used to create the simulated sensors and environment

Earth magnetic field corresponding to U.S. zip code 85284 (Tempe, Arizona) on 7 November 2013