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ADIS16488 Datasheet(PDF) 23 Page - Analog Devices |
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ADIS16488 Datasheet(HTML) 23 Page - Analog Devices |
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23 / 36 page  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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