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Freescale Sensor Fusion Library for Kinetis MCUs

Freescale Semiconductor, Inc.

3.3 Terms and Acronyms

Term

DUT

Device Under Test

ENU

A global frame of reference described by X =

abbreviation for gravities. 1 standard gravity

the local gravimetric field, which can vary by 1/2 percent depending upon altitude and latitude.

gauss

CGS system unit for measuring magnetic field strength. 100

IMU

Inertial Measurement Unit = acce

Kinetis

Freescale family of ARM®-based MCUs

MagCal

Magnetic Calibration

MARG

Magnetic Angular Rate Gravity = IMU + magnetometer

MCU

Micro-Controller Unit

microTesla

The Tesla is the SI unit for measuring magnetic field strength. 1E

NED

A global frame of reference described by X =

pitch

In the Aerospace/NED frame of reference, defined as a rotation about the Y

RHR

Right Hand Rule—a standard convention for describing the positive/negative sense of rotations about an axis

of rotation. See http://en.wikipedia.org/wiki/Right_hand_rule

roll

In the Aerospace/NED frame of reference, defined as a rotation about the X

RPY

Roll, Pitch, and Yaw. In the Aerospace/NED frame of reference these are defined as rotations about the X

axis,Y axis, and Z axis

International System of Units (meter, kilogram,

SLERP

Spherical Linear intERPolation

SysTick

A feature of the ARM® processor; a

clock cycle.

tilt

Angle from vertical

UART

Universal Asynchronous Receiver / Transmitter, also known as SCI (Serial Communications Interface)

yaw

In the Aerospace/NED frame of reference, defined as a rotation about the Z

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

Terms and Acronyms

Definition

A global frame of reference described by X =

East, Y = North, Z = Up

abbreviation for gravities. 1 standard gravity = 9.80665 m/s2. Accelerometers are commonly trimmed using

the local gravimetric field, which can vary by 1/2 percent depending upon altitude and latitude.

CGS system unit for measuring magnetic field strength. 100 µT = 1 gauss.

Inertial Measurement Unit = accelerometer + gyro

based MCUs

Magnetic Angular Rate Gravity = IMU + magnetometer

The Tesla is the SI unit for measuring magnetic field strength. 1E–4 Tesla = 100 µT = 1 gauss

A global frame of reference described by X =

North, Y = East, Z = Down

In the Aerospace/NED frame of reference, defined as a rotation about the Y-axis

a standard convention for describing the positive/negative sense of rotations about an axis

http://en.wikipedia.org/wiki/Right_hand_rule.

space/NED frame of reference, defined as a rotation about the X-axis

Roll, Pitch, and Yaw. In the Aerospace/NED frame of reference these are defined as rotations about the X

International System of Units (meter, kilogram, second, ...)

olation - See http://en.wikipedia.org/wiki/SLERP

processor; a clock timer which for the purposes of this discussion, 1 sysTick =

Universal Asynchronous Receiver / Transmitter, also known as SCI (Serial Communications Interface)

In the Aerospace/NED frame of reference, defined as a rotation about the Z-axis

commonly trimmed using

the local gravimetric field, which can vary by 1/2 percent depending upon altitude and latitude.

T = 1 gauss

a standard convention for describing the positive/negative sense of rotations about an axis

Roll, Pitch, and Yaw. In the Aerospace/NED frame of reference these are defined as rotations about the X

this discussion, 1 sysTick = 1 CPU

Universal Asynchronous Receiver / Transmitter, also known as SCI (Serial Communications Interface)

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