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Freescale Sensor Fusion Library for Kinetis MCUs

Freescale Semiconductor, Inc.

5.9 Orientation Response Delay

5.9.1

Waveform Definitions

90°Input Change in Orientation

The 90°input orientation change waveform is defined as:

• From any starting orientation

• Through the center of mass of the accelerometer

• A change in one of roll, pitch or yaw (global frame)

• Orientation change = ±90°

• Orientation change is linear in time

• Transition period = 1.0 seconds

• Propagation delays are measured from the 1/2 point (±45°)

Output Orientation Changes

When measuring changes in orientation, there are many ways to get from orientation A to orientation B.

It is assumed that output orientation changes should track input orientation changes. The Fusion

Library will inherently output those values. However, to

propagation delays, the 50% point in computed orientations changes is defined as shown in

Figure 21. Propagation delays are measured at the plane that bi

5.9.2

Intent

Orientation response delay is measured from change in physical orientation to the related change in

fusion orientation output.

5.9.3

Procedure

Using 90°input orientation change as defined in

measured from the 50% point on the input wav

defined in Output Orientation Changes

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

Orientation Response Delay

Waveform Definitions

The 90°input orientation change waveform is defined as:

of the accelerometer

A change in one of roll, pitch or yaw (global frame)

Orientation change is linear in time

Transition period = 1.0 seconds

Propagation delays are measured from the 1/2 point (±45°)

When measuring changes in orientation, there are many ways to get from orientation A to orientation B.

It is assumed that output orientation changes should track input orientation changes. The Fusion

Library will inherently output those values. However, to avoid any ambiguity when measuring

propagation delays, the 50% point in computed orientations changes is defined as shown in

Propagation delays are measured at the plane that bisects and is perpendicular to SLERP

Orientation response delay is measured from change in physical orientation to the related change in

Using 90°input orientation change as defined in 90°Input Change in Orientation, the response delay is

measured from the 50% point on the input waveform to the 50% point of the output waveform as

Output Orientation Changes.

When measuring changes in orientation, there are many ways to get from orientation A to orientation B.

It is assumed that output orientation changes should track input orientation changes. The Fusion

avoid any ambiguity when measuring

propagation delays, the 50% point in computed orientations changes is defined as shown in Figure 21.

sects and is perpendicular to SLERPA–B

Orientation response delay is measured from change in physical orientation to the related change in

, the response delay is

eform to the 50% point of the output waveform as

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