ADIS16505-2SLASHPCBZ datasheet(16/41 Pages) AD

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ADIS16505

Data Sheet

Rev. C | Page 16 of 41

BARTLETT WINDOW FILTER

The Bartlett window filter is a finite impulse response (FIR) filter

(see Figure 31) that contains two averaging filter stages in a

cascade configuration. The FILT_CTRL register (see Table 102)

provides the configuration controls for this filter.

FROM

USER

CALIBRATION

TO AVERAGING

DECIMATING

FILTER

n = 1

ω(n)

n = 1

ω(n)

Figure 31. Bartlett Window FIR Filter Signal Path

CALIBRATION

The inertial sensor calibration function for the gyroscopes and the

accelerometers has two components: factory calibration and

user calibration (see Figure 32).

AVERAGING

DECIMATING

FILTER

FACTORY

CALIBRATION

USER

CALIBRATION

FROM

BARTLETT

WINDOW

FIR FILTER

Figure 32. Inertial Sensor Calibration Processing

The factory calibration of the gyroscope applies the following

correction formulas to the data of each gyroscope:































































































where:

ωXC, ωYC, and ωZC are the gyroscope outputs (post calibration).

m11, m12, m13, m21, m22, m23, m31, m32, and m33 provide scale and

alignment correction.

ωX, ωY, and ωZ are the gyroscope outputs (precalibration).

bX, bY, and bZ provide bias correction.

l11, l12, l13, l21, l22, l23, l31, l32, and l33 provide linear acceleration

correction

aXC, aYC, and aZC are the accelerometer outputs (post calibration).

All of the correction factors in this relationship come from

direct observation of the response of each gyroscope at multiple

temperatures over the calibration temperature range (−40°C ≤

TC ≤ +85°C). These correction factors are stored in the flash

memory bank, but they are not available for observation or

configuration.

user-configurable option for the factory calibration of the

gyroscopes: an on/off control for the linear acceleration

compensation. See Figure 56 for more details on the user

calibration options available for the gyroscopes.

The factory calibration of the accelerometer applies the following

correction formulas to the data of each accelerometer:

































































































where:

aXC, aYC, and aZC are the accelerometer outputs (post calibration).

m11, m12, m13, m21, m22, m23, m31, m32, and m33 provide scale and

alignment correction.

aX, aY, and aZ are the accelerometer outputs (precalibration).

bX, bY, and bZ provide bias correction.

p12, p13, p21, p23, p31 and p32 provide a point of percussion

alignment correction (see Figure 59).

ω2XC, ω2YC, and ω2ZC are the square of the gyroscope outputs

(post calibration).

All of the correction factors in this relationship come from

direct observation of the response of each accelerometer at

multiple temperatures, over the calibration temperature range

(−40°C ≤ TC ≤ +85°C). These correction factors are stored

in the flash memory bank but are not available for observation

or configuration. MSC_CTRL, Bit 6 (see Table 106) provides

the only user configuration option for the factory calibration of

the accelerometers: an on/off control for the point of percussion,

alignment function. See Figure 57 for more details on the user

calibration options available for the accelerometers.

DECIMATION FILTER

The second digital filter averages multiple samples together to

produce each register update. The number of samples in the

average is equal to the reduction in the update rate (fODR) for the

output data registers (see Figure 33). The DEC_RATE register

(see Table 110) provides the configuration controls for this filter.

FROM

USER

CALIBRATION

÷N

TO OUTPUT

REGISTERS

n = 1

ω(n)

Figure 33. Decimating Filter Diagram

All communication between the ADIS16505 and an external

processor involves either reading the contents of an output

control register. The output data registers include the latest

sensor data, error flags, and identification information. The

control registers include sample rate, filtering, calibration, and

diagnostic options. Each user accessible register has two bytes

(upper and lower), each of which has its own unique address.

See Table 9 for a detailed list of all user registers, along with

their addresses.

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