Ten Degrees of Freedom MEMS Inertial Sensor with Dynamic Orientation Outputs

The ADIS16480 iSensor® device is a complete inertial system that includes a triaxial gyroscope, a triaxial accelerometer, triaxial magnetometer, pressure sensor, and an extended Kalman filter (EKF) for dynamic orientation sensing. Each inertial sensor in the ADIS16480 combines industry-leading iMEMS® technology with signal conditioning that optimizes dynamic performance. The factory calibration characterizes each sensor for sensitivity, bias, alignment, and linear acceleration (gyroscope bias). As a result, each sensor has its own dynamic compensation formulas that provide accurate sensor measurements. The sensors are further correlated and processed in the extended Kalman filter, which provides both automatic adaptive filtering, as well as user-programmable tuning. Thus, in addition to the IMU outputs, the device provides stable quaternion, Euler, and rotation matrix outputs in the local navigation frame.

The ADIS16480 provides a simple, cost-effective method for integrating accurate, multiaxis inertial sensing into industrial systems, especially when compared with the complexity and investment associated with discrete designs. All necessary motion testing and calibration are part of the production process at the factory, greatly reducing system integration time. Tight orthogonal alignment simplifies inertial frame alignment in navigation systems. The SPI and register structure provide a simple interface for data collection and configuration control.

The ADIS16480 uses the same footprint and connector system as the ADIS16488A, which greatly simplifies the upgrade process. It comes in a module that is approximately 47 mm × 44 mm × 14 mm and has a standard connector interface. The ADIS16480 provides an operating temperature range of −40°C to +105°C.

Applications

* Platform stabilization, control, and pointing

* Navigation

* Instrumentation

* Robotics

* Dynamic angle outputs

* Quaternion, Euler, rotation matrix

* 0.1° (pitch, roll) and 0.3° (yaw) static accuracy

* Triaxial, digital gyroscope, ±450°/sec dynamic range

* ±0.05° orthogonal alignment error

* 6°/√hr in-run bias stability

* 0.3°/√hr angular random walk

* 0.01% nonlinearity

* Triaxial, digital accelerometer, ±10 g

* Triaxial, delta angle and delta velocity outputs

* Triaxial, digital magnetometer, ±2.5 gauss

* Digital pressure sensor, 300 mbar to 1100 mbar

* Adaptive extended Kalman filter

* Automatic covariance computation

* Programmable reference reorientation

* Programmable sensor disturbance levels

* Configurable event-driven controls