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ADIS16488A Datasheet(PDF) 24 Page - Analog Devices |
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ADIS16488A Datasheet(HTML) 24 Page - Analog Devices |
24 / 35 page Product Overview Online Documentation Design Resources Discussion Sample & Buy ADIS16488A Data Sheet Rev. C | Page 24 of 35 CALIBRATION The ADIS16488A factory calibration produces correction formulasforthe gyroscopes,accelerometers,magnetometers, and barometers, and then programs theminto the flash memory.In addition, there are a seriesof user configurablecalibration registers for in-systemtuning. GYROSCOPES The user calibration for the gyroscopesincludes registersfor adjusting bias and sensitivity, as shown in Figure 22. X-AXIS GYRO FACTORY CALIBRATION AND FILTERING X_GYRO_OUT X_GYRO_LOW XG_BIAS_HIGH XG_BIAS_LOW 1 + X_GYRO_SCALE Figure 22. User Calibration Signal Path, Gyroscopes Manual Bias Correction The xG_BIAS_HIGH registers(see Table65, Table 66, and Table 67)and xG_BIAS_LOWregisters (see Table68, Table69, and Table 70)providea bias adjustment function for the output of each gyroscopesensor. Table 65. XG_BIAS_HIGH (Page2, Base Address = 0x12) Bits Description (Default = 0x0000) [15:0] X-axis gyroscope offset correction, upper word twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec Table 66. YG_BIAS_HIGH (Page 2, Base Address = 0x16) Bits Description (Default = 0x0000) [15:0] Y-axis gyroscope offset correction, upper word; twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec Table 67. ZG_BIAS_HIGH (Page 2, Base Address = 0x1A) Bits Description (Default = 0x0000) [15:0] Z-axis gyroscope offsetcorrection, upper word; twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec Table 68. XG_BIAS_LOW(Page 2, Base Address = 0x10) Bits Description (Default = 0x0000) [15:0] X-axis gyroscope offset correction, lower word; twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec ÷ 216 = ~0.000000305°/sec Table 69. YG_BIAS_LOW (Page 2, Base Address = 0x14) Bits Description (Default = 0x0000) [15:0] Y-axis gyroscope offset correction, lower word; twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec ÷ 216 = ~0.000000305°/sec Table 70. ZG_BIAS_LOW(Page 2, Base Address = 0x18) Bits Description (Default = 0x0000) [15:0] Z-axis gyroscope offsetcorrection, lower word twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec ÷ 216 = ~0.000000305°/sec Bias Null Command The continuous bias estimator (CBE)accumulates and averages data in a 64-sample FIFO. The average time (tA) for the bias estimates reliesonthesampletimebasesetting in NULL_CNFG[3:0](seeTable 71). Usingthebias null commandin GLOB_CMD[0](see Table 115), load the correction factors of the CBEinto the gyroscopeoffset correction registers (seeTable65, Table 66, Table67, Table68, Table69, andTable70). On/off controls for the sensors, provided by NULL_CNFG[13:8], update when issuing a bias null command.Thefactorydefault configuration forNULL_CNFG enables the biasnull command for the gyroscopes, disables thebiasnull command forthe accel- erometers, and establishes the averagetime to ~26.64 seconds. Table 71. NULL_CNFG(Page 3, Base Address = 0x0E) Bits Description (Default = 0x070A) [15:14] Not used 13 Z-axis acceleration bias correction enable (1 = enabled) 12 Y-axis acceleration bias correction enable (1 = enabled) 11 X-axis acceleration bias correction enable (1 = enabled) 10 Z-axis gyroscope biascorrection enable (1 = enabled) 9 Y-axis gyroscope bias correction enable (1 = enabled) 8 X-axis gyroscope bias correction enable (1 = enabled) [7:4] Not used [3:0] Time base control (TBC), range: 0 to 13 (default = 10); tB = 2TBC/2460, time base tA = 64 × tB, average time Turn to Page 3 (DIN = 0x8003) and set GLOB_CMD[0]= 1 (DIN = 0x8201, then DIN = 0x8300)to update the user offset registers with the correctionfactorsoftheCBE. Ensurethatthe inertial platformis stableduring the entireaveragetimefor optimal bias estimates. Manual Sensitivity Correction The x_GYRO_SCALEregistersenable sensitivity adjustment (see Table 72, Table 73, and Table 74). Table 72. X_GYRO_SCALE (Page 2, Base Address = 0x04) Bits Description (Default = 0x0000) [15:0] X-axis gyroscope scale correction; twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% Table 73. Y_GYRO_SCALE(Page 2, Base Address = 0x06) Bits Description (Default = 0x0000) [15:0] Y-axis gyroscope scale correction; twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% Table 74. Z_GYRO_SCALE (Page 2, Base Address = 0x08) Bits Description (Default = 0x0000) [15:0] Z-axis gyroscope scale correction; twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% |
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