
6-6 Sensors and Sensor Technology
A number of advantages are obtained by moving sensor fusion out of the main AP:
• Sample times are tightly coordinated in time.
• MC
U-based
se
nsor
hu
bs
ca
n
ut
ilize
a re
al-time
OS (R
TOS)
to ma
nage
ex
ternal
se
nsor
in
puts
an
d
al
gorithm
t
imings
.
• AP bu
s
tr
ac
ca
n
be or
ders
of ma
gnitude
le
ss
th
an
th
e
sy
stem
of Fi
gure
6.2 be
cause
on
ly
pr
o-
cessed
a
nd
a
ggregated
d
ata
n
eed
to b
e
p
assed
u
p
to t
he
A
P
.
• Be
cause
th
e
lo
cal
co
mpute
en
gine
do
es
no
t
ha
ve
th
e
co
ntext/power
mo
de
sw
itching
ov
erhead
of
th
e
A
P,
m
illiwatt
p
er
c
omputation
i
s
m
inimized
.
• e AP ca
n
be co
mpletely
as
leep
wh
ile
th
e
se
nsor
hu
b
co
ntinues
to pr
ocess
se