ADIS16407BMLZ Analog Devices Inc, ADIS16407BMLZ Datasheet - Page 20

• Manufacturer Part Number: ADIS16407BMLZ
• Description: 10 DoF IMU (with Pressure Sensor)
• Manufacturer: Analog Devices Inc
• Series: iSensor™r

Specifications of ADIS16407BMLZ

• Output Type: Digital
• Sensor Type: Gyroscope, 3 Axis
• No. Of Axes: 3
• Ic Interface Type: Serial
• Sensor Case Style: ML-24-2
• No. Of Pins: 24
• Supply Voltage Range: 4.75V To 5.25V
• Operating Temperature Range: -40°C To +105°C
• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

ADIS16407
ACCELEROMETERS
The XACCL_ OFF (Table 52), YACCL_ OFF (Table 53), and
ZACCL_ OFF (Table 54) registers provide user programmable
bias adjustment function for the x-, y-, and z-axis accelerometers,
respectively. These registers adjust the accelerometer data in the
same manner as XGYRO_OFF functions in Figure 20.
Table 52. XACCL_OFF (Base Address = 0x24), Read/Write
Bits
[15:14]
[13:0]
Table 53. YACCL_OFF (Base Address = 0x26), Read/Write
Bits
[15:14]
[13:0]
Table 54. ZACCL_OFF (Base Address = 0x28), Read/Write
Bits
[15:14]
[13:0]
Accelerometer Bias Error Estimation
Under static conditions, orient each accelerometer in positions
where the response to gravity is predictable. A common approach
to this is to measure the response of each accelerometer when
they are oriented in peak response positions, that is, where ±1 g
is the ideal measurement position. Next, average the +1 g and
−1 g accelerometer measurements together to estimate the
residual bias error. Using more points in the rotation can
improve the accuracy of the response.
Accelerometer Bias Correction Factors
When the bias estimate is complete, multiply the estimate by
−1 to change its polarity, convert it to the digital format for the
offset correction registers (Table 52), and write the correction
factors to the correction registers. For example, lower the x-axis
bias by 10 LSB (33.3 mg) by setting XACCL_OFF = 0x1FF6
(DIN = 0xA51F, 0xA4F6).
Point of Percussion Alignment
Set MSC_CTRL[6] = 1 (DIN = 0xB846) to enable this feature
and maintain the factory default settings for DIO1. This feature
performs a point of percussion translation to the point identified
in Figure 21. See Table 39 for more information on MSC_CTRL.
Description (Default = 0x0000)
Not used
X-axis, accelerometer offset correction factor,
twos complement, 0.25 mg/LSB
Description (Default = 0x0000)
Not used
Y-axis, accelerometer offset correction factor,
twos complement, 0.25 mg/LSB
Description (Default = 0x0000)
Not used
Z-axis, accelerometer offset correction factor,
twos complement, 0.25 mg/LSB
Rev. B | Page 20 of 24
MAGNETOMETER CALIBRATION
The ADIS16407 provides registers that contribute to both hard
iron and soft iron correction factors, as shown in Figure 22
Hard Iron Correction
The XMAGN_HIC (Table 55), YMAGN_HIC (Table 56), and
ZMAGN_HIC (Table 57) registers provide the user programmable
bias adjustment function for the x-, y-, and z-axis magnetometers,
respectively. Hard iron effects result in an offset of the magneto-
meter response.
Table 55. XMAGN_HIC (Base Address = 0x2A), Read/Write
Bits
[15:14]
[13:0]
Table 56. YMAGN_HIC (Base Address = 0x2C), Read/Write
Bits
[15:14]
[13:0]
Table 57. ZMAGN_HIC (Base Address = 0x2E), Read/Write
Bits
[15:14]
[13:0]
MAGNETIC
SENSOR
Figure 22. Hard Iron and Soft Iron Factor Correction
Description (Default = 0x0800)
Not used
X-axis hard iron correction factor,
twos complement, 0.5 mgauss/LSB, 0x0000 = 0
Description (Default = 0x0800)
Not used
Y-axis hard iron correction factor,
twos complement, 0.5 mgauss/LSB, 0x0000 = 0
Description (Default = 0x0800)
Not used
Z-axis hard iron correction factor,
twos complement, 0.5 mgauss/LSB, 0x0000 = 0
Figure 21. Point of Percussion Physical Reference
ADC
ORIGIN ALIGNMENT REFERENCE POINT
SEE MSC_CTRL[6].
AND FILTERING
CALIBRATION
FACTORY
XMAGN_HIC
+
XMAGN_SIC
×
XMAGN_OUT