Datasheet ADIS16489 (Analog Devices) - 4
| 制造商 | Analog Devices |
| 描述 | Seven Degrees of Freedom Inertial Sensor |
| 页数 / 页 | 40 / 4 — Data Sheet. ADIS16489. SPECIFICATIONS. Table 1. Parameter. Test … |
| 修订版 | A |
| 文件格式/大小 | PDF / 974 Kb |
| 文件语言 | 英语 |
Data Sheet. ADIS16489. SPECIFICATIONS. Table 1. Parameter. Test Conditions/Comments. Min. Typ. Max. Unit
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Data Sheet ADIS16489 SPECIFICATIONS
TC = 25°C, VDD = 3.3 V, angular rate = 0°/sec, dynamic range = ±450°/sec ± 1 g, unless otherwise noted.
Table 1. Parameter Test Conditions/Comments Min Typ Max Unit
GYROSCOPES Dynamic Range ±450 ±480 °/sec Sensitivity x_GYRO_OUT and x_GYRO_LOW (32-bit) 3.052 × 10−7 °/sec/LSB Repeatability1 −40°C ≤ T ≤ +85°C ±1 % C Sensitivity Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±25 ppm/°C C Misalignment Error Axis to axis ±0.018 Degrees Axis to frame (package) ±1.0 Degrees Nonlinearity Best fit straight line, full scale (FS) = 450°/sec 0.045 °/sec Bias Repeatability1, 2 −40°C ≤ T ≤ +85°C, 1 σ ±0.2 °/sec C In-Run Bias Stability 1 σ 5.3 °/hr Angular Random Walk 1 σ 0.25 °/√hr Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±0.0025 °/sec/°C C Error over Temperature −15°C ≤ T ≤ +65°C, 10°C range ±0.0611 °/sec C Linear Acceleration Effect Any axis, 1 σ (CONFIG[7] = 1) 0.009 °/sec/g Any axis, 1 σ (CONFIG[7] = 0) 0.015 °/sec/g Noise Output Noise No filtering 0.16 °/sec rms Rate Noise Density f = 10 Hz to 40 Hz, no filtering 0.0068 °/sec/√Hz rms 3 dB Bandwidth 330 Hz Sensor Resonant Frequency 18 kHz ACCELEROMETERS3 Each axis Dynamic Range ±18 g Sensitivity x_ACCL_OUT and x_ACCL_LOW (32-bit) 1.221 × 10−8 g/LSB Repeatability1 −40°C ≤ T ≤ +85°C ±0.5 % C Sensitivity Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±25 ppm/°C C Misalignment Axis to axis ±0.035 Degrees Axis to frame (package) ±1.0 Degrees Nonlinearity Best fit straight line, ±10 g 10 mg Best fit straight line, ±18 g 90 mg Bias Repeatability1, 2 −40°C ≤ T ≤ +85°C, 1 σ ±16 m C g In-Run Bias Stability 1 σ 70 μg Velocity Random Walk 1 σ 0.029 m/sec/√hr Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±0.1 m C g/°C Noise Output Noise No filtering 1.29 mg rms Noise Density f = 10 Hz to 40 Hz, no filtering 0.063 mg/√Hz rms 3 dB Bandwidth 330 Hz Sensor Resonant Frequency 5.5 kHz BAROMETER Pressure Range 300 1100 mbar Extended 10 1200 mbar Sensitivity BAROM_OUT and BAROM_LOW (32-bit) 6.1 × 10−7 mbar/LSB Error with Supply 0.04 %/V Total Error 4.5 mbar Relative Error4 −40°C ≤ T ≤ +85°C 2.5 mbar C Nonlinearity5 Best fit straight line, FS = 1100 mbar 0.1 % of FS −40°C ≤ T ≤ +85°C 0.2 % of FS C Rev. 0 | Page 3 of 39 Document Outline Features Applications General Description Functional block Diagram Revision History Specifications Timing Specifications Register Specific Stall Times Timing Diagrams Absolute Maximum Ratings Thermal Resistance ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Theory of Operation Introduction Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Register Memory Map User Register Defintions Page 0 (PAGE_ID) Sample Sequence Counter (SEQ_CNT) Status/Error Flag Indicators (SYS_E_FLAG) Self Test Error Flags (DIAG_STS) Alarm Error Flags (ALM_STS) Internal Temperature (TEMP_OUT) Gyroscope Data X-Axis Gyroscope (X_GYRO_LOW, X_GYRO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) Gyroscope Resolution Acceleration Data X-Axis Accelerometer (X_ACCL_LOW, X_ACCL_OUT) Y-Axis Accelerometer (Y_ACCL_LOW, Y_ACCL_OUT) Z-Axis Accelerometer (Z_ACCL_LOW, Z_ACCL_OUT) Accelerometer Resolution Barometer Data Barometer (BAROM_LOW, BAROM_OUT) Barometer Resolution Delta Angles X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT) Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT) Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT) Delta Angle Resolution Delta Velocity X-Axis Delta Velocity (X_DELTVEL_LOW, X_DELTVEL_OUT) Y-Axis Delta Velocity (Y_DELTVEL_LOW, Y_DELTVEL_OUT) Z-Axis Delta Velocity (Z_DELTVEL_LOW, Z_DELTVEL_OUT) Delta Velocity Resolution Real-Time Clock Real-Time Clock: Minutes/Seconds (TIME_MS_OUT) Real-Time Clock: Days/Hours (TIME_DH_OUT) Real-Time Clock: Years/Months (TIME_YM_OUT) Product Identification ( PROD_ID) Page 2 (PAGE_ID) Calibration Calibration, Gyroscope Scale (X_GYRO_SCALE) Calibration, Gyroscope Scale (Y_GYRO_SCALE) Calibration, Gyroscope Scale (Z_GYRO_SCALE) Calibration, Accelerometer Scale (X_ACCL_SCALE) Calibration, Accelerometer Scale (Y_ACCL_SCALE) Calibration, Accelerometer Scale (Z_ACCL_SCALE) Calibration, Gyroscope Bias (XG_BIAS_LOW, XG_BIAS_HIGH) Calibration, Gyroscope Bias (YG_BIAS_LOW, YG_BIAS_HIGH) Calibration, Gyroscope Bias (ZG_BIAS_LOW, ZG_BIAS_HIGH) Calibration, Accelerometer Bias (XA_BIAS_LOW, XA_BIAS_HIGH) Calibration, Accelerometer Bias (YA_BIAS_LOW, YA_BIAS_HIGH) Calibration, Accelerometer Bias (ZA_BIAS_LOW, ZA_BIAS_HIGH) Barometers Calibration, Barometer Bias (BR_BIAS_LOW, BR_BIAS_HIGH) Scratch Registers (USER_SCR_x) Flash Memory Endurance Counter (FLSHCNT_LOW, FLSHCNT_HIGH) Page 3 (PAGE_ID) Global Commands (GLOB_CMD) Software Reset Factory Calibration Restore Flash Memory Update Flash Memory Test On Demand Self Test (ODST) Bias Correction Update Auxiliary I/O Line Configuration (FNCTIO_CTRL) Data Ready Indicator Input Sync/Clock Control Alarm Indicator General-Purpose I/O Control (GPIO_CTRL) Miscellaneous Configuration (CONFIG) Point of Percussion Linear Acceleration on Effect on Gyroscope Bias Decimation Filter (DEC_RATE) Continuous Bias Estimation (NULL_CNFG) Power Management (SLP_CNT) FIR Filter Control (FILTR_BNK_0, FILTR_BNK_1) Alarm Configuration (ALM_CNFG_0, ALM_CNFG_1, ALM_CFG_2) Solving for ΔX_ACCL_OUT, ΔZ_GYRO_OUT, ΔY_GYRO_OUT, and ΔX_GYRO_OUT Solving for ΔZ_ACCL_OUT and ΔY_ACCL_OUT X-Axis Gyroscope Alarm (XG_ALM_MAGN) Alarm Example Y-Axis Gyroscope Alarm (YG_ALM_MAGN) Z-Axis Gyroscope Alarm (ZG_ALM_MAGN) X-Axis Accelerometer Alarm (XA_ALM_MAGN) Y-Axis Accelerometer Alarm (YA_ALM_MAGN) Z-Axis Accelerometer Alarm (ZA_ALM_MAGN) Barometer Alarm (BR_ALM_MAGN) Firmware Revision (FIRM_REV) Firmware Revision Day and Month (FIRM_DM) Firmware Revision Year (FIRM_Y) Page 4 (PAGE_ID) Part Identification Numbers (PART_ID1, PART_ID2, PART_ID3, PART_ID4) FIR Filters Page 5, Page 6 (PAGE_ID) FIR Filter Bank A (FIR_COEF_A000 to FIR_COEF_A119) Page 7, Page 8 (PAGE_ID) FIR Filter Bank B (FIR_COEF_B000 to FIR_COEF_B119) Page 9, Page 10 (PAGE_ID) FIR Filter Bank C (FIR_COEF_C000 to FIR_COEF_C119) Page 11, Page 12 (PAGE_ID) FIR Filter Bank D (FIR_COEF_D000 to FIR_COEF_D119) Default Filter Performance Applications Information Mounting Best Practices Evaluation Tools Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS Power Supply Considerations Packaging and Ordering Information Outline Dimensions Ordering Guide
Data Sheet ADIS16489 SPECIFICATIONS
TC = 25°C, VDD = 3.3 V, angular rate = 0°/sec, dynamic range = ±450°/sec ± 1 g, unless otherwise noted.
Table 1. Parameter Test Conditions/Comments Min Typ Max Unit
GYROSCOPES Dynamic Range ±450 ±480 °/sec Sensitivity x_GYRO_OUT and x_GYRO_LOW (32-bit) 3.052 × 10−7 °/sec/LSB Repeatability1 −40°C ≤ T ≤ +85°C ±1 % C Sensitivity Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±25 ppm/°C C Misalignment Error Axis to axis ±0.018 Degrees Axis to frame (package) ±1.0 Degrees Nonlinearity Best fit straight line, full scale (FS) = 450°/sec 0.045 °/sec Bias Repeatability1, 2 −40°C ≤ T ≤ +85°C, 1 σ ±0.2 °/sec C In-Run Bias Stability 1 σ 5.3 °/hr Angular Random Walk 1 σ 0.25 °/√hr Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±0.0025 °/sec/°C C Error over Temperature −15°C ≤ T ≤ +65°C, 10°C range ±0.0611 °/sec C Linear Acceleration Effect Any axis, 1 σ (CONFIG[7] = 1) 0.009 °/sec/g Any axis, 1 σ (CONFIG[7] = 0) 0.015 °/sec/g Noise Output Noise No filtering 0.16 °/sec rms Rate Noise Density f = 10 Hz to 40 Hz, no filtering 0.0068 °/sec/√Hz rms 3 dB Bandwidth 330 Hz Sensor Resonant Frequency 18 kHz ACCELEROMETERS3 Each axis Dynamic Range ±18 g Sensitivity x_ACCL_OUT and x_ACCL_LOW (32-bit) 1.221 × 10−8 g/LSB Repeatability1 −40°C ≤ T ≤ +85°C ±0.5 % C Sensitivity Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±25 ppm/°C C Misalignment Axis to axis ±0.035 Degrees Axis to frame (package) ±1.0 Degrees Nonlinearity Best fit straight line, ±10 g 10 mg Best fit straight line, ±18 g 90 mg Bias Repeatability1, 2 −40°C ≤ T ≤ +85°C, 1 σ ±16 m C g In-Run Bias Stability 1 σ 70 μg Velocity Random Walk 1 σ 0.029 m/sec/√hr Temperature Coefficient −40°C ≤ T ≤ +85°C, 1 σ ±0.1 m C g/°C Noise Output Noise No filtering 1.29 mg rms Noise Density f = 10 Hz to 40 Hz, no filtering 0.063 mg/√Hz rms 3 dB Bandwidth 330 Hz Sensor Resonant Frequency 5.5 kHz BAROMETER Pressure Range 300 1100 mbar Extended 10 1200 mbar Sensitivity BAROM_OUT and BAROM_LOW (32-bit) 6.1 × 10−7 mbar/LSB Error with Supply 0.04 %/V Total Error 4.5 mbar Relative Error4 −40°C ≤ T ≤ +85°C 2.5 mbar C Nonlinearity5 Best fit straight line, FS = 1100 mbar 0.1 % of FS −40°C ≤ T ≤ +85°C 0.2 % of FS C Rev. 0 | Page 3 of 39 Document Outline Features Applications General Description Functional block Diagram Revision History Specifications Timing Specifications Register Specific Stall Times Timing Diagrams Absolute Maximum Ratings Thermal Resistance ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Theory of Operation Introduction Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Register Memory Map User Register Defintions Page 0 (PAGE_ID) Sample Sequence Counter (SEQ_CNT) Status/Error Flag Indicators (SYS_E_FLAG) Self Test Error Flags (DIAG_STS) Alarm Error Flags (ALM_STS) Internal Temperature (TEMP_OUT) Gyroscope Data X-Axis Gyroscope (X_GYRO_LOW, X_GYRO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) Gyroscope Resolution Acceleration Data X-Axis Accelerometer (X_ACCL_LOW, X_ACCL_OUT) Y-Axis Accelerometer (Y_ACCL_LOW, Y_ACCL_OUT) Z-Axis Accelerometer (Z_ACCL_LOW, Z_ACCL_OUT) Accelerometer Resolution Barometer Data Barometer (BAROM_LOW, BAROM_OUT) Barometer Resolution Delta Angles X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT) Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT) Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT) Delta Angle Resolution Delta Velocity X-Axis Delta Velocity (X_DELTVEL_LOW, X_DELTVEL_OUT) Y-Axis Delta Velocity (Y_DELTVEL_LOW, Y_DELTVEL_OUT) Z-Axis Delta Velocity (Z_DELTVEL_LOW, Z_DELTVEL_OUT) Delta Velocity Resolution Real-Time Clock Real-Time Clock: Minutes/Seconds (TIME_MS_OUT) Real-Time Clock: Days/Hours (TIME_DH_OUT) Real-Time Clock: Years/Months (TIME_YM_OUT) Product Identification ( PROD_ID) Page 2 (PAGE_ID) Calibration Calibration, Gyroscope Scale (X_GYRO_SCALE) Calibration, Gyroscope Scale (Y_GYRO_SCALE) Calibration, Gyroscope Scale (Z_GYRO_SCALE) Calibration, Accelerometer Scale (X_ACCL_SCALE) Calibration, Accelerometer Scale (Y_ACCL_SCALE) Calibration, Accelerometer Scale (Z_ACCL_SCALE) Calibration, Gyroscope Bias (XG_BIAS_LOW, XG_BIAS_HIGH) Calibration, Gyroscope Bias (YG_BIAS_LOW, YG_BIAS_HIGH) Calibration, Gyroscope Bias (ZG_BIAS_LOW, ZG_BIAS_HIGH) Calibration, Accelerometer Bias (XA_BIAS_LOW, XA_BIAS_HIGH) Calibration, Accelerometer Bias (YA_BIAS_LOW, YA_BIAS_HIGH) Calibration, Accelerometer Bias (ZA_BIAS_LOW, ZA_BIAS_HIGH) Barometers Calibration, Barometer Bias (BR_BIAS_LOW, BR_BIAS_HIGH) Scratch Registers (USER_SCR_x) Flash Memory Endurance Counter (FLSHCNT_LOW, FLSHCNT_HIGH) Page 3 (PAGE_ID) Global Commands (GLOB_CMD) Software Reset Factory Calibration Restore Flash Memory Update Flash Memory Test On Demand Self Test (ODST) Bias Correction Update Auxiliary I/O Line Configuration (FNCTIO_CTRL) Data Ready Indicator Input Sync/Clock Control Alarm Indicator General-Purpose I/O Control (GPIO_CTRL) Miscellaneous Configuration (CONFIG) Point of Percussion Linear Acceleration on Effect on Gyroscope Bias Decimation Filter (DEC_RATE) Continuous Bias Estimation (NULL_CNFG) Power Management (SLP_CNT) FIR Filter Control (FILTR_BNK_0, FILTR_BNK_1) Alarm Configuration (ALM_CNFG_0, ALM_CNFG_1, ALM_CFG_2) Solving for ΔX_ACCL_OUT, ΔZ_GYRO_OUT, ΔY_GYRO_OUT, and ΔX_GYRO_OUT Solving for ΔZ_ACCL_OUT and ΔY_ACCL_OUT X-Axis Gyroscope Alarm (XG_ALM_MAGN) Alarm Example Y-Axis Gyroscope Alarm (YG_ALM_MAGN) Z-Axis Gyroscope Alarm (ZG_ALM_MAGN) X-Axis Accelerometer Alarm (XA_ALM_MAGN) Y-Axis Accelerometer Alarm (YA_ALM_MAGN) Z-Axis Accelerometer Alarm (ZA_ALM_MAGN) Barometer Alarm (BR_ALM_MAGN) Firmware Revision (FIRM_REV) Firmware Revision Day and Month (FIRM_DM) Firmware Revision Year (FIRM_Y) Page 4 (PAGE_ID) Part Identification Numbers (PART_ID1, PART_ID2, PART_ID3, PART_ID4) FIR Filters Page 5, Page 6 (PAGE_ID) FIR Filter Bank A (FIR_COEF_A000 to FIR_COEF_A119) Page 7, Page 8 (PAGE_ID) FIR Filter Bank B (FIR_COEF_B000 to FIR_COEF_B119) Page 9, Page 10 (PAGE_ID) FIR Filter Bank C (FIR_COEF_C000 to FIR_COEF_C119) Page 11, Page 12 (PAGE_ID) FIR Filter Bank D (FIR_COEF_D000 to FIR_COEF_D119) Default Filter Performance Applications Information Mounting Best Practices Evaluation Tools Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS Power Supply Considerations Packaging and Ordering Information Outline Dimensions Ordering Guide