CMR3000-D0X VTI Hamlin, CMR3000-D0X Datasheet - Page 23

• Manufacturer Part Number: CMR3000-D0X
• Description: Cmr3000-d0x Block Diagram With Digital Spi And I 2 C Interface
• Manufacturer: VTI Hamlin

7.2.2
7.3 Linearity
VTI Technologies Oy
Myllynkivenkuja 6
P.O. Box 27
FI-01621 Vantaa
www.vti.fi
Sensitivity temperature error
where Sens
sensitivity [counts/dps] at room temperature conditions and Sens is sensor’s nominal sensitivity
[counts/dps].
Sensitivity temperature error is the difference between sensor’s sensitivity at different temperatures
and the calibrated sensitivity. Error is calculated by
Equation 5
where Sens
Sens
sensor’s measured Y-axis sensitivity [counts/dps ] at room temperature RT.
During linearity measurement sensor is rotated in sensing directions and the rate is swept between
±FS.
Linearity error is the deviation from the best bit straight line. See Figure 16.
Linearity error is calculated by
Equation 6
where LinEr
sensor’s measured Z-axis output [counts] on input angular rate Ω, Output
output [counts] on input angular rate Ω, Sens is sensor’s nominal sensitivity [counts/dps] and FS is
sensor’s full scale measuring range [dps] (for example for CMR3000-D01 with ±1000 dps setting →
FS = 1000 dps).
Sens
LinEr
CMR3000 output
readings
Figure 16. CMR3000’s linearity error at input angular rate Ω.
Y-axis@T
Y
−
Z
axisTempEr
-FS
−
axis
is sensor’s measured Y-axis sensitivity [counts/dps] at temperature T and Sens
Y-axisCalibEr
@
Y-axisTempEr@T
Z-axis@Ω
Ω
Sensor’s ideal
output
=
@
T
Output
=
is sensor’s Z-axis linearity error [%FS] on input angular rate Ω, Output
is sensor’s Y-axis sensitivity calibration error in [%], Sens
Sens
Doc.Nr. 82112900.A.02
is sensor’s Y-axis sensitivity temperature error in [%] in temperature T,
Z
Y
−
Sens
axis
−
axis
Sens
@
Angular rate reading
from CMR3000
[dps]
@
Ω
⋅
T
−
FS
Y
−
−
Output
axis
Sens
@
Ω
RT
Y
−
@
axis
Ω
@
⋅
100
RT
+FS
Possible offset error is not
included into linearity error
⋅
100
%
CMR3000 linearity
error in [dps] at
input angular rate
,
%
Input angular rate [dps]
,
@Ω
Y-axis
is sensor’s nominal
CMR3000-D0X Series
sensor’s Y-axis
Y-axis@RT
Z-axis@Ω
Rev. A.02
23/ 26
is
is