Mechanical and Electrical Specifications

24

Figure 15. Gyro Offset Step Response for 6

4.8.3

Error in Computed Linear Acceleration

Estimation of linear acceleration in the 9

lasting less than 1 second. Continuous accelerations are inconsistent with modeled dynamics, and the

acceleration estimation error increases. The acceleration error starts leaking into the estimates of

orientation resulting in errors in gyro offset and magnetic disturbance estimates.

and Figure 18 present the true and 9

lasting 0.5 s, 1 s and 5 s respectively.

Figure 16. True and calculated linear acceleration, acceleration time 0.5 s

Mechanical and Electrical Specifications

Freescale

Sensor Fusion Library for Kinetis

Freescale

Gyro Offset Step Response for 6-Axis Accelerometer+Gyro algorithm

Error in Computed Linear Acceleration

Estimation of linear acceleration in the 9-axis algorithm is optimized for short duration accelerations

lasting less than 1 second. Continuous accelerations are inconsistent with modeled dynamics, and the

acceleration estimation error increases. The acceleration error starts leaking into the estimates of

in errors in gyro offset and magnetic disturbance estimates. Figure 16

present the true and 9-axis algorithm calculated linear acceleration for

respectively.

True and calculated linear acceleration, acceleration time 0.5 s

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

Freescale Semiconductor, Inc.

Axis Accelerometer+Gyro algorithm

or short duration accelerations

lasting less than 1 second. Continuous accelerations are inconsistent with modeled dynamics, and the

acceleration estimation error increases. The acceleration error starts leaking into the estimates of

Figure 16, Figure 17

axis algorithm calculated linear acceleration for accelerations

True and calculated linear acceleration, acceleration time 0.5 s