Freescale Sensor Fusion Library for Kinetis MCUs

Freescale Semiconductor, Inc.

5.5 Orientation Static Drift

5.5.1

Intent

The maximum change in orientation observed for a DUT remaining motionless for 100 seconds.

5.5.2

Procedure

Setup as defined in Matlab Stimulus/Expected Response + Hardware

post-process data.

This metric must be associated with a specific hardware configuration similar to those defined

in this document. Matlab is used to record and post

1. Precondition the DUT by executing magnetic calibration trajectory leaving DUT in a given

orientation.

2. While the DUT remains in given orientation collect orientation samples for 120 seconds.

3. Plot and process the last 100 s of the test. Orientation static drift is the maximum angle change in

the measured rotation vectors.

4. Repeat steps 1-3 for all 6 major orientations of the development board as shown in

Figure 20

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

Orientation Static Drift

The maximum change in orientation observed for a DUT remaining motionless for 100 seconds.

Matlab Stimulus/Expected Response + Hardware-based Fusion

tric must be associated with a specific hardware configuration similar to those defined

. Matlab is used to record and post- process data.

Precondition the DUT by executing magnetic calibration trajectory leaving DUT in a given

While the DUT remains in given orientation collect orientation samples for 120 seconds.

Plot and process the last 100 s of the test. Orientation static drift is the maximum angle change in

6 major orientations of the development board as shown in

20. Major orientations relative to gravity

The maximum change in orientation observed for a DUT remaining motionless for 100 seconds.

based Fusion. Matlab is used to

tric must be associated with a specific hardware configuration similar to those defined in earlier

Precondition the DUT by executing magnetic calibration trajectory leaving DUT in a given

While the DUT remains in given orientation collect orientation samples for 120 seconds.

Plot and process the last 100 s of the test. Orientation static drift is the maximum angle change in

6 major orientations of the development board as shown in Figure 20.