Datasheet ADIS16480 (Analog Devices)

Ten Degrees of Freedom Inertial Sensor with Dynamic Orientation Outputs Data Sheet ADIS16480 FEATURES GENERAL DESCRIPTION Dynamic angle outputs
The ADIS16480 iSensor® device is a complete inertial system
Quaternion, Euler, rotation matrix
that includes a triaxial gyroscope, a triaxial accelerometer, triaxial
0.1° (pitch, roll) and 0.3° (yaw) static accuracy
magnetometer, pressure sensor, and an extended Kalman filter
Triaxial, digital gyroscope, ±450°/sec dynamic range
(EKF) for dynamic orientation sensing. Each inertial sensor in
±0.05° orthogonal alignment error
the ADIS16480 combines industry-leading iMEMS® technology
6°/hr in-run bias stability
with signal conditioning that optimizes dynamic performance.
0.3°/√hr angular random walk
The factory calibration characterizes each sensor for sensitivity,
0.01% nonlinearity
bias, alignment, and linear acceleration (gyroscope bias). As a
Triaxial, digital accelerometer, ±10 g
result, each sensor has its own dynamic compensation formulas
Triaxial, delta angle and delta velocity outputs
that provide accurate sensor measurements. The sensors are
Triaxial, digital magnetometer, ±2.5 gauss
further correlated and processed in the extended Kalman filter,
Digital pressure sensor, 300 mbar to 1100 mbar
which provides both automatic adaptive filtering, as well as
Adaptive extended Kalman filter
user-programmable tuning. Thus, in addition to the IMU
Automatic covariance computation
outputs, the device provides stable quaternion, Euler, and
Programmable reference reorientation
rotation matrix outputs in the local navigation frame.
Programmable sensor disturbance levels Configurable event-driven controls
The ADIS16480 provides a simple, cost-effective method for
Factory-calibrated sensitivity, bias, and axial alignment
integrating accurate, multiaxis inertial sensing into industrial
Calibration temperature range: −40°C to +85°C
systems, especially when compared with the complexity and
SPI-compatible serial interface
investment associated with discrete designs. All necessary motion
Programmable operation and control
testing and calibration are part of the production process at
4 FIR filter banks, 120 configurable taps
the factory, greatly reducing system integration time. Tight
Digital I/O: data-ready alarm indicator, external clock
orthogonal alignment simplifies inertial frame alignment in naviga-
Optional external sample clock input: up to 2.4 kHz
tion systems. The SPI and register structure provide a simple
Single-command self-test
interface for data collection and configuration control.
Single-supply operation: 3.0 V to 3.6 V
The ADIS16480 uses the same footprint and connector system
2000 g shock survivability
as the ADIS16488A, which greatly simplifies the upgrade process.
APPLICATIONS
It comes in a module that is approximately 47 mm × 44 mm ×
Platform stabilization, control, and pointing
14 mm and has a standard connector interface. The ADIS16480
Navigation
provides an operating temperature range of −40°C to +105°C.
Instrumentation Robotics FUNCTIONAL BLOCK DIAGRAM DIO1 DIO2 DIO3 DIO4 RST VDD POWER SELF-TEST I/O ALARMS MANAGEMENT GND TRIAXIAL GYRO OUTPUT CS TRIAXIAL DATA ACCEL REGISTERS EXTENDED SCLK DIGITAL TRIAXIAL CONTROLLER CALIBRATION KALMAN SPI FILTERING MAGN FILTER DIN USER PRESSURE CONTROL REGISTERS DOUT CLOCK TEMP VDD ADIS16480
001
VDDRTC
10278- Figure 1.
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Document Outline Features Applications General Description Functional Block Diagram Revision History Specifications Timing Specifications Timing Diagrams Absolute Maximum Ratings ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Basic Operation Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Registers Output Data Registers Inertial Sensor Data Format Rotation Rate (Gyroscope) Acceleration Delta Angles Delta Velocity Magnetometers Roll, Pitch, Yaw Angles Initial Conditions Quaternion Euler Angles Rotation Matrix Data Barometer Internal Temperature Status/Alarm Indicators Firmware Revision Product Identification Digital Signal Processing Gyroscopes/Accelerometers Averaging/Decimation Filter Magnetometer/Barometer FIR Filter Banks Filter Memory Organization Default Filter Performance Extended Kalman Filter Algorithm Covariance Terms Reference Frame Reference Transformation Matrix Declination Adaptive Operation Adaptive EKF Enable Bit Automatic EKF Divergence Reset Control Bit Gyroscope Fade Control Bit Body Frame/Local Navigation Frame Bit Orientation Format Control Bit Magnetometer Disable Control Bit Gravity Removal Control Bit Linear Acceleration/Magnetic Disturbance Detection Calibration Gyroscopes Manual Bias Correction Manual Sensitivity Correction Linear Acceleration on Effect on Gyroscope Bias Accelerometers Manual Bias Correction Manual Sensitivity Correction Magnetometers Hard Iron Correction Soft Iron Correction Matrix Barometers Restoring Factory Calibration Point of Percussion Alignment Alarms Static Alarm Use Dynamic Alarm Use Alarm Example System Controls Global Commands Software Reset Automatic Self-Test Memory Management Flash Memory Test General-Purpose I/O Data-Ready Indicator Input Sync/Clock Control General-Purpose I/O Control Power Management General-Purpose Registers Real-Time Clock Configuration/Data Applications Information Mounting Tips Evaluation Tools Breakout Board, ADIS16IMU1/PCB PC-Based Evaluation, EVAL-ADIS2 Power Supply Considerations Outline Dimensions Ordering Guide