FIS1100 データシートの表示（PDF） - Fairchild Semiconductor

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FIS1100

6D Inertial Measurement Unit with Motion Co-Processor and Sensor Fusion Library

Fairchild Semiconductor 

2 FIS1100 Architecture

FIS1100 is a smart sensor that combines a high-

performance IMU with a powerful Single Instruction

Multiple Data (SIMD) based Vector DSP motion co-

processor referred to as the AttitudeEngine™ (AE).

Included sensor fusion software (XKF3) allows the

device to achieve orientation accuracies of ±3º for pitch

and roll and ±5º for yaw/heading.

The FIS1100 includes a microcontroller for data

scheduling, combined with Direct Memory Access

(DMA) in order to allow efficient data shuttling on the

chip. Multi-channel data is easily processed at rates up

to 1 kHz with minimal latency in normal operation (non-

OIS modes) and at 8 kHz in OIS modes.

An internal block diagram is shown in Figure 2. The

MEMS elements are amplified and converted by  A/D

converters which are synchronized to a common clock

so that all the motion measurements of acceleration,

angular rate and magnetic heading are sampled at the

same time minimizing any skew between channels. The

data is then sent to a signal processing chain that

accomplishes decimation, filtering and calibration.

Once the data has been processed, it can be sent to the

host processor depending on additional configuration

settings, such as, enabling the FIFO or using the

AttitudeEngine.

2.1 AttitudeEngine Mode Overview

Brief descriptions of the major functions of the

AttitudeEngine are discussed below, for more detail see

Application note AN-5083. Note that the AttitudeEngine

may be enabled or disabled and configured using the

CTRL6 register.

 Calibration: FIS1100 applies continuous on-chip

calibration of all the sensors (accelerometer,

gyroscope, and magnetometer) including scale,

offset, and temperature calibration. When used in

conjunction with a sensor fusion filter (such as the

Fairchild XKF3) running on the host processor,

estimated sensor errors can be updated in-use,

allowing sensor calibration to be performed in the

background without any host intervention. This

offloads computationally expensive per-sample re-

calibration from the host processor to the FIS1100.

 Sample Synchronization: FIS1100 automatically

provides highly synchronous output between the

various IMU accelerometer and gyroscope

channels through the use of fully parallel ΣΔ-

converters. The FIS1100 also provides time

synchronization of data between the IMU and the

external magnetometer.

 Motion Encoder: Performs 32-bit high-speed dead

reckoning calculations at 1 kHz data rates allowing

accurate capture of high frequency and coning

effects. Orientation and velocity increments are

calculated with full coning and sculling

compensation and the magnetic field vector from

the external magnetometer is rotated to the sensor

frame of reference. This allows the lossless

encoding (compression) of 6D motion to a low

output data rate, while maintaining the accuracy

provided by the 1 kHz input and data processing

rate. Motion data encoded by the AttitudeEngine is

available at a user programmable data rate (1 Hz to

64 Hz). The orientation and velocity increments

from the AttitudeEngine are suitable for any 3D

motion tracking application (orientation, velocity and

position) and may be further fused by the user with

information from other sources such as a GNSS

receiver or barometer in an optimal estimator.

 Motion on Demand (MoD): FIS1100 allows the

host to access encoded motion data

asynchronously (polling) and on demand. The

motion data in the AttitudeEngine (AE) mode

remains accurate even at very low output data

rates. This allows easy integration and

synchronization with other sensors for state-of-the-

art applications such as rolling shutter camera

stabilization, optical sensors software de-blurring,

GNSS integration and augmented or virtual reality.

2.2 Advantages of the Attitude

Engine Approach

The advantages of the AttitudeEngine (AE) approach

over the traditional sensor approach are many and are

briefly discussed below, for more detail see Application

note AN-5083.

 Low-Power Architecture: Dead reckoning

calculations are performed with the AE vector DSP

which is designed to perform essential calculations

while achieving high-accuracy and low power

simultaneously. The AE approach enables a typical

interrupt rate reduction to the host processor of 10x

and can be up to 100x for some applications. This

significantly enhances the operational life of battery

powered devices without any compromises in 3D

motion tracking accuracy.

 High Performance: The motion encoder and

sample synchronizer enable highly accurate strap

down integration that can be fully compensated for

coning and sculling artifacts.

© 2015 Fairchild Semiconductor Corporation

FIS1100 • Rev. 1.2

8

www.fairchildsemi.com

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