Mechanical and Electrical Specifications

22

Freescale

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

Freescale Semiconductor, Inc.

Figure 13. Simulated Standard Deviation and Variance as f(constellation size)

4.7.3

Magnetic Calibration Performance Metrics

Table 13 provides some basic guidance with regard to performance of the magnetic calibration library

in a stand-alone configuration.

Table 13. Magnetic Calibration Performance Metrics

Characteristic

Symbol

Conditions

Min

Typ

Max

Unit

Compass heading linearity;

see Compass Heading

Linearity and Accuracy

TBD

—

—

< 5

—

degrees

Compass heading accuracy;

see Compass Heading

Linearity and Accuracy

TBD

—

< 5

—

degrees

NOTE:

The results shown in this table are more conservative than simulated numbers, and are more likely to be representative of

actual results.

4.8 Fusion Model Performance Metrics

4.8.1

Background

The six and nine-axis Kalman filters are optimized for calculation of device orientation. Unmodelled

sources of error will affect the other sensor outputs. Tradeoffs are a function of the Kalman filter

configuration and are subject to change.

Separate tables are presented for each of the sensor combination options provided by the Fusion

Library. Common test conditions and setups are used for all options.