iNEMOENgine_PW8 iNEMO Engine Pro Sensor Fusion algorithm Data brief Features ■ Absolute point tracking and motion tracking accuracy ■ Immunity to magnetic interference for high performance in real-world conditions ■ Few user-calibration interruptions, enabling innovative and longer game play ■ Reliable compass heading for accurate navigation ■ Accurate direction, enabling true augmented reality applications ■ Support for STEVAL-MKI119V1 MEMS demonstration kit ■ Support for STEVAL-MKI108V2 and STEVALMKI109V2 MEMS demonstration kits ■ Embedded calibration ■ Supported by Win8 sensor class iNEMOENgine_PW8 Description The iNEMO Engine is a new, advanced software engine that fuses accelerometer, gyroscope and magnetometer data to deliver accurate and reliable motion-sensing information that is easy to integrate into smart consumer devices. The iNEMOENgine_PW8 software pack comes with the iNEMO Engine as a precompiled library for STM32F103 microcontrollers and the device firmware upgrade tool. November 2011 Doc ID 022416 Rev 1 For further information contact your local STMicroelectronics sales office. 1/6 www.st.com 6 iNEMO sensor fusion iNEMOENgine_PW8 1 iNEMO sensor fusion 1.1 Overview The iNEMO engine is a new, advanced software engine that fuses accelerometer, gyroscope and magnetometer data to deliver accurate and reliable motion-sensing information that is easy to integrate into smart consumer devices. Figure 1. 9-axis sensor fusion Magnetometer Gyroscope Accelerometer SW libraries 9-axis sensor fusion AM10211V1 1.2 How the iNEMO engine works The iNEMO engine fuses data from the integrated 9-axis sensor suite with advanced algorithms that use true high-number-of-states adaptive Kalman filtering. The iNEMO engine’s adaptive filters converge so that correct heading data overrides magnetic distortions and anomalies, resulting in more accurate and reliable data. iNEMO allows the correction of: ● magnetic distortions registered on the magnetometers ● dynamic distortion measured by the accelerometers ● inherent drift of the gyroscope over time The iNEMO engine integrates all 9 inertial axes plus compass with complex fusion algorithms, so the output of the sensor cluster is optimized. This allows for faster, easier integration into smart consumer devices and higher performance of the solution as a whole. The library can be configured to achieve the best trade-off between performance and powersaving to match application requirements. 2/6 Doc ID 022416 Rev 1 iNEMOENgine_PW8 2 Input and output data Input and output data Figure 2. Sensor fusion input and output Inputs Outputs AM10212V1 2.1 Sensor fusion algorithm input The iNEMO engine API is based on the 9-axis sensor fusion suite. Required input: 2.2 ● Accelerometer output data: x, y, z ● Gyroscope output data: yaw, pitch, roll ● Magnetic sensor output data x, y, z ● LIbrary configuration parameters Output The iNEMO engine software libraries fuse data from the integrated 9-axis sensor suite with an advanced algorithm based on a true adaptive Kalman filter to obtain precise error modeling, outstanding accuracy prediction and magnetic distortion correction. Library output: ● Quaternions four number hpr system ● Rotation: heading, pitch, and roll ● Linear acceleration: device frame linear accelerations ● Gravity: device frame gravity acceleration Doc ID 022416 Rev 1 3/6 System specifications and settings iNEMOENgine_PW8 3 System specifications and settings 3.1 Typical sensor settings 3.1.1 Sensor full scales 4/6 ● Accelerometer: 4 g ● Gyroscope: 2000 dps ● Magnetometer: 2.5 gauss Doc ID 022416 Rev 1 iNEMOENgine_PW8 4 Revision history Revision history Table 1. 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