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công cụ tìm kiếm bảng dữ liệu linh kiện điện tử |
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ADIS16480/PCBZ bảng dữ liệu(PDF) 20 Page - Analog Devices |
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ADIS16480/PCBZ bảng dữ liệu(HTML) 20 Page - Analog Devices |
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20 / 40 page  ADIS16480 Data Sheet Rev. 0 | Page 20 of 40 Rotation Matrix Data The rotation matrix defines the attitude of the body frame relative to that of the navigation frame. The Cxx_OUT registers (see Table 42 through Table 50) define each element in this 3 × 3 matrix. Each element is the product of the unit vectors that describe the axes of the two frames, which in turn, are equal to the cosines of the angles between the axes. When the ADIS16480 is in its reference position, the rotation matrix are equal to a 3 × 3 identify matrix. Table 42. Q0_C11_OUT (Page 0, Base Address = 0x60) Bits Description [15:0] Quarterion scalar, q0 or rotation matrix, C11 Twos complement q0 scale factor = 0.0055°/LSB (180/215) C11 scale factor = 0.000030518/LSB (1/215) Table 43. Q1_C12_OUT (Page 0, Base Address = 0x62) Bits Description [15:0] Qaurterion vector, q1; or rotation matrix, C12 Twos complement q1 scale factor = 0.000030518/LSB (1/215) C12 scale factor = 0.000030518/LSB (1/215) Table 44. Q2_C13_OUT (Page 0, Base Address = 0x64) Bits Description [15:0] Qaurterion vector, q2; or rotation matrix, C13 Twos complement q2 scale factor = 0.000030518/LSB (1/215) C13 scale factor = 0.000030518/LSB (1/215) Table 45. Q3_C21_OUT (Page 0, Base Address = 0x66) Bits Description [15:0] Qaurterion vector, q3; or rotation matrix, C21 Twos complement q3 scale factor = 0.000030518/LSB (1/215) C21 scale factor = 0.000030518/LSB (1/215) Table 46. C22_OUT (Page 0, Base Address = 0x68) Bits Description [15:0] Rotation matrix, C22, twos complement C22 scale factor = 0.000030518/LSB (1/215) Table 47. ROLL_C23_OUT (Page 0, Base Address = 0x6A) Bits Description [15:0] Euler angle, φ, roll or rotation matrix, C23 Twos complement, range: ±180° (±π radians) Roll angle scale factor = (180/215)°/LSB Rotation matrix variable, C23 Twos complement C23 scale factor = 0.000030518/LSB (1/215) Table 48. PITCH_C31_OUT (Page 0, Base Address = 0x6C) Bits Description [15:0] Euler angle, θ, pitch or rotation matrix, C31 Twos complement, range: ±90 ° (±π/2 radians) Pitch angle scale factor = (180/215)°/LSB Rotation matrix variable, C31 Twos complement, 0.000030518/LSB (1/215) Table 49. YAW_C32_OUT (Page 0, Base Address = 0x6E) Bits Description [15:0] Euler angle, Ψ, yaw or rotation matrix, C32 Twos complement, range: ±180 ° (±π radians) Yaw angle scale factor = (180/215)°/LSB Rotation matrix variable, C32 Twos complement, 0.000030518/LSB (1/215) Table 50. C33_OUT (Page 0, Base Address = 0x70) Bits Description [15:0] Rotation matrix, C33, twos complement C22 scale factor = 0.000030518/LSB (1/215) Table 51. Rotation Matrix/q1/q2/q3 Data Format Examples Angle (°) Decimal Hex Binary (215 − 1)/215 +32,767 0x7FFF 0111 1111 1111 1111 2/215 +2 0x0002 0000 0000 0000 0010 1/215 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −1/215 −1 0xFFFF 1111 1111 1111 1111 −2/215 −2 0xFFFE 1111 1111 1111 1110 −1 −32,768 0x8000 1000 0000 0000 0000 Table 52. Yaw, Roll, q0 Angle Data Format Examples Angle (°) Decimal Hex Binary +180 × (215 − 1)/215 +32,767 0x7FFF 0111 1111 1111 1111 +360/215 +2 0x0002 0000 0000 0000 0010 +180/215 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −180/215 −1 0xFFFF 1111 1111 1111 1111 −360/215 −2 0xFFFE 1111 1111 1111 1110 −180 −32,768 0x8000 1000 0000 0000 0000 Table 53. Pitch Angle Data Format Examples Angle (°) Decimal Hex Binary +90 × (215−1)/215 +16,383 0x3FFF 0011 1111 1110 1111 +360/215 +2 0x0002 0000 0000 0000 0010 +180/215 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −180/215 −1 0xFFFF 1111 1111 1111 1111 −360/215 −2 0xFFFE 1111 1111 1111 1110 −90 −16,384 0xC000 1100 0000 0000 0000 |
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