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ADIS16488 Datasheet(PDF) 23 Page - Analog Devices

Part # ADIS16488
Description  Ten Degrees of Freedom Inertial Sensor
Download  36 Pages
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16488 Datasheet(HTML) 23 Page - Analog Devices

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Data Sheet
ADIS16488
Rev. B | Page 23 of 36
CALIBRATION
The ADIS16488 factory calibration produces correction formulas
for the gyroscopes, accelerometers, magnetometers, and
barometers, and then programs them into the flash memory.
In addition, there are a series of user-configurable calibration
registers, for in-system tuning.
GYROSCOPES
The user-calibration for the gyroscopes includes registers for
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 Table 64, Table 65, and
Table 66) and xG_BIAS_LOW registers (see Table 67, Table 68,
and Table 69) provide a bias adjustment function for the output
of each gyroscope sensor.
Table 64. XG_BIAS_HIGH (Page 2, 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 65. 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 66. ZG_BIAS_HIGH (Page 2, Base Address = 0x1A)
Bits
Description (Default = 0x0000)
[15:0]
Z-axis gyroscope offset correction, upper word;
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec
Table 67. 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 68. 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 69. ZG_BIAS_LOW (Page 2, Base Address = 0x18)
Bits
Description (Default = 0x0000)
[15:0]
Z-axis gyroscope offset correction, 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 relies on the sample time base setting in
NULL_CNFG[3:0] (see Table 70). Users can load the correction
factors of the CBE into the gyroscope offset correction registers
(see Table 64, Table 65, Table 66, Table 67, Table 68, and Table 69)
using the bias null command in GLOB_CMD[0] (see Table 114).
NULL_CNFG[13:8] provide on/off controls for the sensors that
update when issuing a bias null command. The factory default
configuration for NULL_CNFG enables the bias null command
for the gyroscopes, disables the bias null command for the accel-
erometers, and establishes the average time to ~26.64 seconds.
Table 70. 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 bias correction 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 correction factors of the CBE. Make sure that the
inertial platform is stable during the entire average time for optimal
bias estimates.
Manual Sensitivity Correction
The x_GYRO_SCALE registers enable sensitivity adjustment
(see Table 71, Table 72, and Table 73).
Table 71. 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 = ~0.0003052%
Table 72. 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 = ~0.0003052%
Table 73. 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 = ~0.0003052%


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