AHRS Module Real-Time Evaluation
1. Description
This report presents the real-time performance analysis of the AHRS (Attitude and Heading Reference System) module in the FluxSand project. The module is responsible for calculating device orientation based on IMU data, using quaternion-based sensor fusion algorithms.
2. Function Execution Time
All timing results are derived from unit test logs using microsecond precision:
| Function | Time (µs) |
|---|---|
| Init & assignment | 0.04 |
| Update() | 0.35 |
| GetEulr() | 16.56 |
| Output | 34.78 |
| Verify | 12.98 |
| Total | 64.70 |
3. Analysis
- The total time required for a complete update and verification cycle in the AHRS module is approximately 65 µs, which is well within acceptable real-time limits.
- The Output and GetEulr() functions account for the majority of execution time, but remain consistently under 50 µs.
- With such low latency, the AHRS system can reliably support frame update rates over 10 kHz, exceeding practical requirements for interactive orientation sensing.
4. Conclusion
The AHRS module demonstrates excellent real-time characteristics. With a total execution time of less than 70 µs per update, the module can sustain rapid updates and is well-suited for real-time embedded applications.