Mechanical and Electrical Specifications

26

Freescale

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

Freescale Semiconductor, Inc.

Table 14. Sensor/Configuration Imposed Limitations

Characteristic

Symbol

Min

Max

Unit

Maximum Angular Rate

ARmax

–2000

+2000

dps

Linear Acceleration

LAmax

–4

+4

g

Magnetic Field

Bmax

–1200

+1200

µ

T

It is believed that the fusion algorithms themselves have no upper limits on any of the parameters

above. These are strictly limits associated with the specific physical sensors used to characterize the

library.

4.8.5

9-Axis Parametrics

Table 15 provides guidance for the 9-axis (accelerometer/magnetometer/gyro) indirect Kalman filter

implementation.

NOTE: All parametrics provided in the following table are based on build 4.17 simulations. Build 5.00 simulations

are still pending.

Table 15. 9-axis Sensor Fusion Performance Metrics

Characteristic

Symbol

Conditions(s)

Min

Typ

Max

Unit

Orientation static drift

OSD

See Orientation Static Drift

—

0.05

—

degrees

Orientation static noise

OSN

See Orientation Static Noise

—

1.21

—

degrees

RMS

Orientation dynamic drift

ODD

See Orientation Dynamic Drift

—

0.17

—

degrees

Max angular Rate

ARMAX

See Maximum Angular Rate

—

1600

Error!

Reference

source not

found.

—

dps

Orientation response delay

ORD

See Orientation Response

Delay

—

<1

—

2fusion

time

interval

Gyro offset step response

TGOSR

See Gyro Offset Step

Response

—

3.76

—

seconds

Error in computed linear

acceleration

LAE

See Error in Computed Linear

Acceleration

—

0.243

—

g

Compass heading

linearity

3

CHl

See Compass Heading

Linearity and Accuracy

—

1.02

—

degrees

Compass heading

accuracy

CHacc

—

1.37

—

degrees

Orientation magnetic

immunity - static device

Omis

See Orientation Magnetic

Immunity (Static Device)

—

9.36

—

degrees

Orientation magnetic

immunity - moving device

Omim

See Orientation Magnetic

Immunity (Moving Device)

—

8.98

—

degrees