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

OSD

See Orientation Static Drift

—

0.0018

—

degrees

Orientation static noise

OSN

See Orientation Static Noise

—

1.06

—

degrees

RMS

Orientation dynamic drift

ODD

See Orientation Dynamic Drift

—

1.16

—

degrees

Orientation response delay

ORD

See Orientation Response

Delay

—

<10

—

sample

periods

Er

ror!

Reference

source not

found.

2Compass heading

linearity

CHl

See Compass Heading

Linearity and Accuracy

—

1.20

—

degrees

Compass heading

accuracy2

CHacc

—

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

OSD

See Orientation Static Drift

—

19.07

—

degrees

Orientation static noise

OSN

See Orientation Static Noise

—

0.068

—

degrees

RMS

Orientation dynamic drift

ODD

See Orientation Dynamic Drift

—

2.04

—

degrees

Max angular Rate

ARMAX

See Maximum Angular Rate

—

1440

—

dps

Orientation response delay

ORD

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