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ADIS16IMU1/PCBZ Datasheet(PDF) 23 Page - Analog Devices |
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ADIS16IMU1/PCBZ Datasheet(HTML) 23 Page - Analog Devices |
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23 / 38 page  Data Sheet ADIS16486 Rev. 0 | Page 23 of 38 CALIBRATION The signal chain of each inertial sensor (accelerometers and gyroscopes) includes the application of unique correction formulas, which come from extensive characterization of bias, sensitivity, alignment, and response to linear acceleration (gyroscopes) over a temperature range of −40°C to +85°C for every ADIS16486. These correction formulas are not accessible, but users can adjust bias and scale factor for each sensor individually through user accessible registers. These correction factors follow immediately after the factory derived correction formulas in the signal chain. Calibration, Gyroscope Scale, X_GYRO_SCALE The X_GYRO_SCALE register (see Table 92 and Table 93) allows users to adjust the scale factor for the x-axis gyroscopes. See Figure 25 for an illustration of how this scale factor influences the x-axis gyroscope data. Table 92. X_GYRO_SCALE Register Definition Page ID Addresses Default Access Flash Backup 0x02 0x04, 0x05 0x0000 R/W Yes Table 93. X_GYRO_SCALE Bit Definition Bits Description (Default = 0x0000) [15:0] X-axis gyroscope scale correction, twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% X-AXIS GYRO FACTORY CALIBRATION AND FILTERING X_GYRO_OUT X_GYRO_LOW XG_BIAS_HIGH XG_BIAS_LOW 1 + X_GYRO_SCALE Figure 25. User Calibration Signal Path, Gyroscopes Calibration, Gyroscope Scale, Y_GYRO_SCALE The Y_GYRO_SCALE register (see Table 94 and Table 95) allows users to adjust the scale factor for the y-axis gyroscopes. This register influences the y-axis gyroscope measurements in the same manner that the X_GYRO_SCALE register influences the x-axis gyroscope measurements (see Figure 25). Table 94. Y_GYRO_SCALE Register Definition Page ID Addresses Default Access Flash Backup 0x02 0x06, 0x07 0x0000 R/W Yes Table 95. Y_GYRO_SCALE Bit Definition Bits Description (Default = 0x0000) [15:0] Y-axis gyroscope scale correction, twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% Calibration, Gyroscope Scale, Z_GYRO_SCALE The Z_GYRO_SCALE register (see Table 96 and Table 97) allows users to adjust the scale factor for the z-axis gyroscopes. This register influences the z-axis gyroscope measurements in the same manner that the X_GYRO_SCALE register influences the x-axis gyroscope measurements (see Figure 25). Table 96. Z_GYRO_SCALE Register Definition Page ID Addresses Default Access Flash Backup 0x02 0x08, 0x09 0x0000 R/W Yes Table 97. Z_GYRO_SCALE Bit Definition Bits Description (Default = 0x0000) [15:0] Z-axis gyroscope scale correction, twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% Calibration, Accelerometer Scale, X_ACCL_SCALE The X_ACCL_SCALE register (see Table 98 and Table 99) allows users to adjust the scale factor for the x-axis accelerometers. See Figure 26 for an illustration of how this scale factor influences the x-axis accelerometer data. Table 98. X_ACCL_SCALE Register Definition Page ID Addresses Default Access Flash Backup 0x02 0x0A, 0x0B 0x0000 R/W Yes Table 99. X_ACCL_SCALE Bit Definition Bits Description (Default = 0x0000) [15:0] X-axis accelerometer scale correction, twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% X-AXIS ACCL FACTORY CALIBRATION AND FILTERING X_ACCL_OUT X_ACCL_LOW XA_BIAS_HIGH XA_BIAS_LOW 1 + X_ACCL_SCALE Figure 26. User Calibration Signal Path, Accelerometers Calibration, Accelerometer Scale, Y_ACCL_SCALE The Y_ACCL_SCALE register (see Table 100 and Table 101) allows users to adjust the scale factor for the y-axis accelerometers. This register influences the y-axis accelerometer measurements in the same manner that the X_ACCL_SCALE register influences the x-axis accelerometer measurements (see Figure 26). Table 100. Y_ACCL_SCALE Register Definition Page ID Addresses Default Access Flash Backup 0x02 0x0C, 0x0D 0x0000 R/W Yes Table 101. Y_ACCL_SCALE Bit Definition Bits Description (Default = 0x0000) [15:0] Y-axis accelerometer scale correction, twos complement, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052% Calibration, Accelerometer Scale, Z_ACCL_SCALE The Z_ACCL_SCALE register (see Table 102 and Table 103) allows users to adjust the scale factor for the z-axis accelerometers. This register influences the z-axis accelerometer measurements in the same manner that the X_ACCL_SCALE register influences the x-axis accelerometer measurements (see Figure 26). Table 102. Z_ACCL_SCALE Register Definition Page ID Addresses Default Access Flash Backup 0x02 0x0E, 0x0F 0x0000 R/W Yes |
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