Freescale Sensor Fusion Library for Kinetis MCUs

Freescale Semiconductor, Inc.

2.3 Accelerometer Plus Magnetometer

The accelerometer plus magnetometer configuration is often used as an electronic compass.

electronic compass is subject to the linear acceleration equals zero, assumption. Accuracy is

dependent upon negligible magnetic interference from the environment in which the sensors travel.

Figure 2. Accelerometer plus

2.4 Accelerometer Plus Gyroscope

Using a gyroscope in addition to an accelerometer yields the ability to smoothly measure rotation in 3D

space, although the system can only yield orientation to some random horizontal global frame of

reference. That is, the system has no sense of magnetic north. Computation of yaw is not supported by

this configuration.

This configuration is commonly known as an Inertial Measurement Unit (IMU).

Figure 3. Accelerometer Plus Gy

2.5 Accelerometer Plus Magnetometer Plus Gyroscope

Sometimes referred to as Magnetic, Angular Rate and Gravity (MARG), this subsystem offers an

optimal combination of sensors for smooth tracking of orientation and separation of gravity an

acceleration. This system is capable of yielding absolute orientation data with respect to magnetic

north.

usion Library for Kinetis MCUs, Rev. 0.7, 9/2015

Accelerometer Plus Magnetometer

The accelerometer plus magnetometer configuration is often used as an electronic compass.

electronic compass is subject to the linear acceleration equals zero, assumption. Accuracy is

dependent upon negligible magnetic interference from the environment in which the sensors travel.

Accelerometer plus magnetometer block diagram

Accelerometer Plus Gyroscope

Using a gyroscope in addition to an accelerometer yields the ability to smoothly measure rotation in 3D

space, although the system can only yield orientation to some random horizontal global frame of

reference. That is, the system has no sense of magnetic north. Computation of yaw is not supported by

This configuration is commonly known as an Inertial Measurement Unit (IMU).

Accelerometer Plus Gyroscope Block Diagram

Accelerometer Plus Magnetometer Plus Gyroscope

Sometimes referred to as Magnetic, Angular Rate and Gravity (MARG), this subsystem offers an

optimal combination of sensors for smooth tracking of orientation and separation of gravity an

acceleration. This system is capable of yielding absolute orientation data with respect to magnetic

The accelerometer plus magnetometer configuration is often used as an electronic compass. The

electronic compass is subject to the linear acceleration equals zero, assumption. Accuracy is

dependent upon negligible magnetic interference from the environment in which the sensors travel.

Using a gyroscope in addition to an accelerometer yields the ability to smoothly measure rotation in 3D

space, although the system can only yield orientation to some random horizontal global frame of

reference. That is, the system has no sense of magnetic north. Computation of yaw is not supported by

Accelerometer Plus Magnetometer Plus Gyroscope

Sometimes referred to as Magnetic, Angular Rate and Gravity (MARG), this subsystem offers an

optimal combination of sensors for smooth tracking of orientation and separation of gravity and linear

acceleration. This system is capable of yielding absolute orientation data with respect to magnetic