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ADIS16480AMLZ Datasheet(PDF) 29 Page - Analog Devices |
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ADIS16480AMLZ Datasheet(HTML) 29 Page - Analog Devices |
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29 / 40 page  Data Sheet ADIS16480 Rev. 0 | Page 29 of 40 DECLINATION The DECLN_ANGL register provides a user-programmable input that can shift the reference frame from magnetic north to geodetic north (or any arbitrary azimuth heading). Table 93. DECLN_ANGL (Page 3, Base Address = 0x54) Bits Description (Default = 0x0000) [15:0] Declination angle, twos complement Scale factor = π/215 radians/LSB ADAPTIVE OPERATION The EKF_CNFG register, in Table 94, offers a number of control bits for customizing EKF operation. Table 94. EKF_CNFG (Page 3, Base Address = 0x50) Bits Description (Default = 0x0200) [15:13] Not used 12 Automatic reset recovery from divergence 1 = enable, 0 = disable [11:10] Not used 9 Fade enable 1 = enable, 0 = disable 8 Adaptive EKF enable 1 = enable, 0 = disable [7:5] Not used 4 Orientation format control 1 = rotation matrix, 0 = quaternion and Euler 3 Body frame enable 1 = enable, 0 = disable 2 Not for external use, always set to 0 1 Magnetometer disable 1 = enable, 0 = disable 0 Gravity removal (from accelerometers) 1 = enable, 0 = disable Adaptive EKF Enable Bit EKF_CNFG[8] (see Table 94) provides an on/off control bit for the adaptive part of the EKF function. The adaptive part of the EKF computes the measurement covariance terms (R), which enables real-time adjustments for vibration and magnetic field disturbances. See Table 80 through Table 83 for read access to the measurement covariance terms. Automatic EKF Divergence Reset Control Bit The EKF algorithm monitors the normalized innovation squared parameter to detect divergence. The normalized innovation is the innovation (predicted measurements minus actual measurements) divided by the statistically computed expected error, which is based on the error covariance and the measurement covariance. With a moderate level of divergence, the divergence indicator bit (SYS_E_FLAG[13] (see Table 59) is set to a high state. At higher levels of divergence, EKF_CNFG[12] (see Table 94) provides an on/off control bit for automatically resetting the Kalman filter, to help speed recovery from divergence. Gyroscope Fade Control Bit EKF_CNFG[9] (see Table 94) provides an on/off control bit for the gyroscope fade function, which is an internal adjustment of the gyroscope’s process covariance terms. This reduces the impact of gyroscope scale errors during transient events, where the gyroscope rates are quickly changing. The fade function effectively reduces the weighting of the gyroscope measure- ments, with respect to the accelerometers and magnetometers, during these transient events. The adjustment terminates when the rates return to zero. Body Frame Enable Bit EKF_CNFG[3] (see Table 94) provides an on/off control bit for the body frame enable function. The reference transformation matrix establishes the difference between the local navigation frame and the body frame. Set EKF_CNFG[3] = 1 (DIN = 0x8003, DIN = 0xD110) to establish the body frame as the reference frame. Orientation Format Control Bit EKF_CNFG[4] (see Table 94) provides a selection bit for angle data format. Set EKF_CNFG[4] = 1 (DIN = 0x8003, DIN = 0xD010) to use the rotation matrix format. Magnetometer Disable Control Bit EKF_CNFG[1] (see Table 94) provides an on/off control bit for the magnetometer disable function, which disables the magnetometer influence over angle calculations in the EKF. Gravity Removal Control Bit EKF_CNFG[0] (see Table 94) provides an on/off control bit for the gravity removal function, which removes the gravity component from the accelerometer outputs. Linear Acceleration/Magnetic Disturbance Detection The ADIS16480 checks the magnitudes of the accelerometers and magnetometers and compares their values against those of the corresponding reference vectors. If the difference exceeds the percentage programmed in the disturbance thresholds, the algorithm automatically ignores the affected sensor group for the duration of the external disturbance. Table 95. ACC_DISTB_THR (Page 3, Base Address = 0x56) Bits Description (Default = 0x0020) [15:8] Not used [7:0] Threshold, binary, scale factor = 0.39%/LSB (50%/128) Table 96. MAG_DISTB_THR (Page 3, Base Address = 0x58) Bits Description (Default = 0x0030) [15:8] Not used [7:0] Threshold, binary, scale factor = 0.39%/LSB (50%/128) |
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