I would like to integrate the NXP Sensor Fusion Library 7.00 to my applicaiton, whre I'm working on an algorithm of IMU/GPS-based positioning of an outdoor mobile robot.
To do so, I use the FRDM-K64F-AGM01 board with the software NXP Sensor Fusion Toolbox, to evaluate the performance of the MEMS and different kinds of available filters.
When using the 6DOF Kalman filter (accelerometer+gyroscope), I obtained satisfaying results (with a drift of less then 6°/min). Note that I'm only using a 6DOF Kalman filter, instead of a 9DOF, because I have huge magnetic perturbations due to the electric motors of my robot.
I also used the NXP Sensor Fusion Library with the FRDM-K66F board, as it has the same MEMS as the FRDM-K64F-AGM01, with an additional 2 CAN output ports, in order to use the software NXP Sensor Fusion Toolbox with it. I made the necessary changes using the following functions : ApplyhalAccel () and ApplyhalGyro ().
Unfortunately, I got very bad results. Indeed, the yaw drift is between 15° and 20°/min now !
I was wondering if you can help me solve this issue, by answering the following questions :
1) Could it be because of a misalignement of the MEMS on the FRDM-K66F ?
2) Does the Sensor Fusion Library take into account the distance and the position of the MEMS on the board?
3) Do you think I can have the desired performance just by tuning the Kalman filter parameters?
4) Has anyone ever used this library with the FRDM-K66F board?
Thank you in advance for your kind help.