Freescale Sensor Fusion Library for Kinetis MCUs

Freescale Semiconductor, Inc.

— Total field: 47.9418 µT

• Ideal accelerometer model + simple noise

— Sample rate = 200 Hz

— milli-g noise on X,Y,Z

— 1 g = 9.80665 m/s

2 assumed

• Ideal magnetometer model + simple nose

— Sample rate = 200 Hz

— X, Y noise 0.85 µT; Z noise 1.3

• No hard/soft iron distortion

• Ideal gyroscope model and simple noise

— Sample rate 200 Hz

— X, Y, Z noise 0.3 dps

For all tests, the Freescale Matlab-based Trajectory & Sensor Simulation Toolkit (TSim) is used to

create DUT trajectories and simulated sensors readings.

Some of the tests require that magnetic calibration procedure is run before the test to initialize the

sensor fusion software magnetic buffer. Magnetic calibration is implemented as a trajectory made up of

a sequence of random rotations lasting 30seconds.

Benchtop Rotary Table

A variant on the Matlab-based system is shown

desktop rotary table and to post-process the fusion results into reports. Physical sensor readings are

used to drive the fusion routines. Because indoor environments vary magnetically, results may vary

from day to day as the setup is moved or electronics in the area cycle on and off.

Results will also change simply because the state of the magnetic buffer is continuously updated.

Figure

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

Ideal accelerometer model + simple noise

assumed

Ideal magnetometer model + simple nose

1.3 µT

Ideal gyroscope model and simple noise

based Trajectory & Sensor Simulation Toolkit (TSim) is used to

create DUT trajectories and simulated sensors readings.

Some of the tests require that magnetic calibration procedure is run before the test to initialize the

magnetic buffer. Magnetic calibration is implemented as a trajectory made up of

a sequence of random rotations lasting 30seconds.

based system is shown in Figure 11. In this case, Matlab is used to control a

process the fusion results into reports. Physical sensor readings are

used to drive the fusion routines. Because indoor environments vary magnetically, results may vary

moved or electronics in the area cycle on and off.

Results will also change simply because the state of the magnetic buffer is continuously updated.

Figure 11. Benchtop Rotary Table Setup

based Trajectory & Sensor Simulation Toolkit (TSim) is used to

Some of the tests require that magnetic calibration procedure is run before the test to initialize the

magnetic buffer. Magnetic calibration is implemented as a trajectory made up of

is used to control a

process the fusion results into reports. Physical sensor readings are

used to drive the fusion routines. Because indoor environments vary magnetically, results may vary

Results will also change simply because the state of the magnetic buffer is continuously updated.