AN-1041: iSensor® IMU 快速入门指南和偏置优化技巧 (Rev. 0)

AN-1041
ᆌᆩԴऻ
One Technology Way t P.O. Box 9106 t Norwood, MA 02062-9106, U.S.A. t Tel: 781.329.4700 t Fax: 781.461.3113 t www.analog.com
iSensor® IMU ੺໏෇ோኸళࢅೋዃᆫࣅरേ
ፕኁǖMark Looney
०঻
iSensor IMUׂ೗ԈઔADIS1636xࢅADIS1640xăኄၵ‫ܠ‬ዡĂ
࠹Ⴀॠ֪ဣཥ੗ྺ‫ܠ‬ዖሏ‫ݴۯ‬ဆࢅ੦዆ᆌᆩ)ස‫ࢅࡵڞ‬ೝ໼
࿘ۨ*༵ࠃएԨࠓॺఇ੷ă
DRILL AND INSERT
1.5mm PIN 2×
(HOLE PLACEMENT
INACCURACY MAY
REQUIRE USE OF
UNDERSIZED PIN).
DRILL AND TAP FOR
M2 SCREW
AS REQUIRED
2×.
4
BSC
࿿૙Ҿጎࢅ֡ፕ
iSensor IMU‫ހ‬ጎᆶଇ߲एԨևॲLjᆩᇀॽഄሏ‫ࢅۯ‬Ҿጎ‫ڟ‬
ဣཥዐǖᅃ੷୩‫ڹ‬ӱࢅᅃ߲ලႠ૶থഗ)९཮1*ă୩‫ڹ‬ӱ༵
ࠃ4߲ҾጎܺೌLjኧ‫ܠ׼‬ዖҾጎ‫ݛ‬๕ă཮2ࢅ཮3၂๖କᅃ
ዖ०‫ڦڇ‬Ҿጎ‫݆ݛ‬Lj๑ᆩ2੓M2ई2-56ऐႁஅີॽ‫ڹ‬ӱࠦ
26.700
BSC
27.700
BSC
10
ۨሞဣཥᆇຘ‫ۉ‬ୟӱฉă໲࣏༵ࠃକᅃዖ჋ၜLjन૧ᆩ৛
‫ܔ‬ഋ੥Ljഽࣅ၎‫ܔ‬ᇀဣཥሞೋࡵዡฉ‫࠹ڦ‬Ⴀ֖੊ဣ‫؛ڦ‬๔
8.350
‫ߌد‬ഗ‫ܔ‬ഋၳࡕă൩ጀᅪLj཮3ዐ‫ڦ‬؅٫्ย‫ڹ‬ӱҾጎሞ
HOLE 2×.
SEE SAMTEC
MOUNTING DRAWING
FOR CLM SERIES SOCKET.
‫ۉ‬ഘ‫ܔ‬থ૶থഗ໯ሞ‫ڦ‬ཞᅃ՗௬ฉă
0.500 BSC
2×
16.810
2×
THE LOCATION OF THE MATING CONNECTOR
RELATIVE TO THE ALIGNMENT PINS MAY
BE PLACED ±0.75mm FROM THIS DIMENSION
AS DESIRED. PLACING THIS FURTHER OUT
WILL HAVE LESS BEND/STRESS RELIEF IN THE FLEX.
08403-003
4
BSC
཮3. Ҿጎ੥ॺᅱ࿋ዃ
ᇨ೺ࣷ݀ิߛ؋ऍࢅና‫ڦۯ‬ᆌᆩ੗ీႴᄲ߸ྺ৛േ‫ڦ‬Ҿጎ
08403-001
ဣཥLjᅜၩ‫أ‬ऐႁࠌናLj‫ڍ‬ມஅີ݆ྺሞऐႁဣཥยऺ‫ڦ‬
ཞ้ਸ๔ຕ਍๭ण߾ፕ༵ࠃକᅃ߲०‫ڦڇ‬ഐ‫ۅ‬ă཮4ߴ‫؜‬
କADISUSBZೠࠚဣཥฉ‫ܔڦ‬থ૶থഗ(Samtec CLM-112-
཮1. IMU‫ހ‬ጎᄣ๕
02-LM-D-A)໯ᆩ‫ࡰڦ‬ಎքਆ཮ă
0.4334 [11.0]
1.588mm
HOLE AND SLOT
FOR ALIGNMENT
PINS, 2 EACH
0.019685
[0.5000]
(TYP)
0.0240 [0.610]
0.054 [1.37]
08403-002
0.0394 [1.00]
0.022±
DIA (TYP)
NONPLATED
0.022 DIA THRU HOLE (TYP)
NONPLATED THRU HOLE
THRU HOLE 2×
0.0394 [1.00]
཮4. ‫ܔ‬থ૶থഗ‫ॺڦ‬ᅱքਆࢅऐႁยऺ
཮2. ૧ᆩ‫ܔ‬ഋᆅগ‫ڦ‬ມஅີҾጎ݆
Rev. 0 | Page 1 of 4
0.1800
[4.57]
08403-004
DRILL AND TAP
HOLE FOR
2mm (2-56)
SCREW, 2 EACH
AN-1041
ᆌᆩԴऻ IMUҾጎࢅָ‫أ‬
SPIথ੨
IMUҾጎ‫ݴ‬ଇօઠኴႜǖ
՗2ଚ‫؜‬କዷऐ‫ت‬૙ഗᇑiSensor IMUཚࡗSPIথ੨৊ႜཚ႑
1.
ᆩऐႁஅີࠦۨ‫ڹ‬ӱă
໯Ⴔ‫ۆڦ‬႙ยዃăኄၵยዃᅃӯ࿋ᇀ੦዆स٪ഗዐă૩
2.
ॽ૶থഗუ෇‫ܔ‬থ૶থഗă
ස Lj ADSP-BF533‫ ت‬૙ ഗ ဣ ଚ ‫ ڦ‬स ٪ ഗ SPI_BAUDĂ
SPI_CTLࢅSPI_FLG৽ᆩᇀኄ߲ణ‫ڦ‬ă
ָ‫้أ‬Ljᆩၭ႙ᅃጴஅີ‫૶ॽژ‬থഗൟൟٗഄ‫ܔ‬থ૶থഗ
ዐ൉ഐă඗ࢫLjႂ‫أ‬அີժధഐഗॲăӚ‫૶؜‬থഗ้Ljൎ
က௓ઙ໒ଙ੕ई‫ڹ‬ӱăලႠ૶থഗሞᅃӯ֡ፕዐ‫׉ݥ‬੗
੍Lj‫ڍ‬සࡕ֡ፕփ‫ړ‬Ljᄺ੗ీ೦ଛă೦ଛ‫ڦ‬ලႠ૶থഗ࿮
݆Ⴊްă
‫ۉ‬ഘ૶থ
՗2. ཚᆩዷऐ‫ت‬૙ഗSPIยዃ
‫ت‬૙ഗยዃ
ዷऐ
SCLK໏୲ ≤ 2 MHz
SPIఇ๕3
MSBᆫံఇ๕
16࿋ఇ๕
௮ຎ
iSensor IMUᆩፕٗऐ
೵ཚఇ๕LjSMPL_PRD[7:0] ≤ 0x09
CPOL = 1DŽटႠDžLjCHPA = 1DŽ၎࿋Dž
࿋Ⴞଚ
ᅎ࿋स٪ഗ/ຕ਍‫܈׊‬
े‫ࢫۉ‬Lj‫ߌد‬ഗׂ೗ഔ‫ۯ‬Lj࿮ஃᆶ࿮ᆩࢽ๼෇Lj‫ॽۼ‬ਸ๔
ׂิຕ਍ă཮5ߴ‫؜‬କ‫ۉ‬ഘ૶থ཮Lj༵ࠃ‫ۉ‬ᇸĂথ‫ں‬Ă4߲
‫ز‬ႜ႑ࡽࢅ1߲ຕ਍৽Ⴣ႑ࡽăຕ਍৽Ⴣ႑ࡽཚ‫׉‬ൻ‫ۯ‬ዷ
ऐ‫ت‬૙ഗ‫ڦ‬ዐ܏‫ޜ‬ခ૩‫ײ‬Ljᅜඓԍຕ਍ᅃዂႠLjཞ้ᆫࣅ
‫ت‬૙ഗጨᇸă
ຕ਍ཚ႑ᄲ൱ࠦॲपस٪ഗ࠶૙ăሞDINฉยዃᅃ߲ంସ
ภत‫ڟ‬ႀ෇݀พ࣐؋स٪ഗ(ADSP-BF533‫ڦ‬SPI_TDBR)ă
ٗ DOUTइ ൽ ๼ ‫ ؜‬ຕ ਍ ภ त ‫ ܁ ڟ‬ൽ থ ๭ ࣐ ؋ स ٪ ഗ
(ADSP-BF533‫ڦ‬SPI_RDBR)ă
ᆫࣅೋዃ৛‫ࢅ܈‬࿘ۨႠ
I/O LINES ARE COMPATIBLE WITH
3.3V OR 5V LOGIC LEVELS
10
SYSTEM
PROCESSOR
SPI MASTER
໯ᆶiSensor IMU਩Ԉઔ߾‫׍‬ၯጚࠀీLj໲໯ํ၄‫ڦ‬ೋዃ৛
5V
VDD
11
‫܈‬ডኮ‫ܠٷ‬ຕMEMS྅அᅏ‫ۼ‬ᆶ၂ዸ‫ߛ༵ڦ‬ăగၵ࣍ৣཉ
ॲ)ස࿒‫܈‬ዜ೺ႠՎࣅࢅҾጎ‫*ڪ‬੗ీ‫ڞ‬ዂ྅அᅏ๼‫؜‬ೋዃ
12
݀ิྲၭೋᅎă‫ۙۅڇ‬ኝ੗ᅜ‫ت‬૙ኄၵೋᅎLj࣬ްඇևၯ
ADIS1636x/
ADIS1640x
SS
6
CS
SCLK
3
SCLK
MOSI
5
DIN
MISO
4
DOUT
IRQ
7
DIO1
ጚLjԈઔగၵഗॲ‫ټ‬ᆶ‫ڦ‬࿒‫܈‬ၯኟăኄภत‫֪ڟ‬ଉଭ໏჉
SPI SLAVE
ገ‫ڦ‬྅அᅏ๼‫؜‬Ljժॽ၎‫ڦݒ‬ኵႀ෇ഄೋᅎस٪ഗă‫ܔ‬྅
அᅏኴႜ‫ۙۅڇ‬ኝᆶෙ߲एԨ჋ၜǖጲ‫ۙۯ‬ଭĂ৛௢ጲ‫ۯ‬
ํ၄ፌॅ৛‫܈‬ǖ
14
15
08430-005
13
ۙଭࢅ๮‫ۯ‬ၯጚăူଚཉॲࢅยዃᆶዺᇀඓԍሞُࡗ‫ײ‬ዐ
཮5. ‫ۉ‬ഘ૶থ཮
՗1. ཚᆩዷऐ‫ت‬૙ഗᆅগఁ‫ీࠀࢅ׬‬
ᆅগఁ‫׬‬
SS
IRQ
MOSI
MISO
SCLK
ࠀీ
ٗऐ჋ስ
ዐ܏൩൱
ዷऐ๼‫؜‬Ljٗऐ๼෇
ዷऐ๼෇Ljٗऐ๼‫؜‬
‫ز‬ႜ้ዓ
1.
֑ᄣ໏୲ = 819.2 SPS (SMPL_PRD[7:0] = 0x01)
2.
ඤ࿘ۨႠ
!
‫܁‬ൽ࿒‫܈‬๼‫؜‬स٪ഗ੗ӻዺඓۨഄ݀ิ้क़ă
3.
ଭ໏჉ገ)Ԉઔና‫*ۯ‬
!
֑णᅃ߲ၭ‫ڦ‬ᄣԨຕ਍Ljඓԍ๼‫؜‬ሯำᇑຕ਍๮֩ᅃ
ዂă૩සLj࿮୳հ้LjADIS1636xࢅADIS1640xሞഄ྅
அᅏฉ‫ڦ‬ሯำᆌၭᇀ1°/s਩‫ߵݛ‬ኵă
Rev. 0 | Page 2 of 4
ᆌᆩԴऻ
AN-1041
‫߳ܔ‬྅அᅏ‫߲ܠڦ‬ᄣԨ൱਩ኵᆶዺᇀ঴ਦᇑ྅அᅏሯำ၎
๮‫ۯ‬ၯጚ
࠲‫ڦ‬փඓۨႠăAllan‫ֶݛ‬൸၍੗༵ࠃ਩ኵ้क़ᇑೋዃ৛‫܈‬
๮‫ۯ‬ၯጚ‫ڦ‬ᆫ๞ሞᇀ੗ᅜኍ‫ܔ‬ኧ‫׊׼‬਩ኵ้क़‫ڦ‬ᆌᆩᆫࣅ
ኮक़‫࠲ڦ‬ဣă
ೋዃ৛‫܈‬ă࠵ִAllan‫ֶݛ‬൸၍)९཮6*੗ኪǖ‫ܔ‬ᇀߴۨዖૌ
‫ڦ‬ഗॲLj100௱਩ኵ้क़੗༵ࠃፌॅ৛‫܈‬ăኴႜူଚօየ
0.1
³
1.
SMPL_PRD[7:0] = 0x01 (DIN = 0xB601)
2.
‫ځڪ‬ᅃଇ‫ݴ‬ዓLjᅜՍྜ‫؛ׯ‬๔ඤॺ૬ăߵ਍ᆌᆩփ
ཞLjᇨඤ้क़੗ీ‫ٳ׊‬10‫ڟ‬15‫ݴ‬ዓă
0.01
MEAN
̢³
0.001
0.1
1
10
100
1k
Tau (sec)
10k
08403-006
ROOT ALLAN VARIANCE (°/sec)
੗ํ၄๮‫ۯ‬ၯጚ‫ڦ‬ፌॅ঳ࡕǖ
3.
‫܁‬ൽTEMP_OUTस٪ഗ৊ႜඓණă
4.
ᅜ819.2 SPS‫֑ڦ‬ᄣ໏୲‫܁‬ൽ82,000߲ᄣԨ)ሀ100௱*ă
5.
ऺ໙ኄၵኵ‫ڦ‬ೝ਩ኵă
6.
ॽ޿ࠚऺኵገ࣑ྺೋᅎၯኟဣຕă‫ܔ‬ᇀాևᆩࢽೋᅎ
स٪ഗǖ
཮6. ADIS1636x/ADIS1640x‫ڦ‬Allan‫ֶݛ‬൸၍
a. ॽࠚऺኵ‫ױ‬ᅜ80ă
ጲ‫ۙۯ‬ଭࠀీ
b. ป෇዁ፌৎ‫ڦ‬ኝຕኵă
ጲ‫ۙۯ‬ଭࠀీጲ‫܁ۯ‬ൽ߳྅அᅏ๼‫؜‬स٪ഗLjժॽ၎‫ڦݒ‬
c. ॽ޿ຕኵገ࣑ྺ14࿋ܾ৊዆ցஓ߭๕ă
ኵႀ෇๢‫ڦړ‬ᆩࢽೋᅎस٪ഗăኴႜူଚօየ੗इ‫ُڥ‬჋
ၜ‫ڦ‬ፌॅ঳ࡕǖ
7.
ॽഄႀ෇๢‫ڦړ‬ᆩࢽೋᅎस٪ഗă
8.
සࡕ๑ᆩాևᆩࢽೋᅎၯኟस٪ഗLjሶยዃ
1.
SMPL_PRD[7:0] = 0x01 (DIN = 0xB601)
2.
SENS_AVG[7:0] = 0x06 (DIN = 0xB806)
3.
ྺాև୳հഗ؏ཀྵག؊༵ࠃ200 ms้क़
‫ݴ‬ᆌᆩ๟ፁࠕ‫ڦ‬ăᆩࢽසࡕᆶऐࣷሞ‫ت‬૙ഗዐኴႜၯኟLj
4.
GLOB_CMD[0] = 1 (DIN = 0xBE01)
ሶ੗ᅜํ၄‫ڿ‬ሺႠీሺᅮLj༵ߛీࠕ‫཮ڟٳ‬6໯๖0.006°/s
GLOB_CMD[3] = 1 (DIN = 0xBE04)ă
ᆩࢽೋᅎस٪ഗ‫ݴڦ‬Ր୲օ৊ྺ0.0125°/sLjኄ‫ܔ‬ᇀਨ‫ٷ‬և
ኴႜ޿‫ײ‬Ⴞ้Lj‫ڪ‬ၳ਩ኵ้क़ሀྺ0.15௱ăߵ਍཮6੗ኪLj
ೋዃ৛‫܈‬ሀྺ0.08°/să
ഗᅜᇑIMU྅அᅏ๼‫؜‬၎ेLjժॽօየ6aዐ‫݆ױڦ‬ဣຕٗ
80Վྺ320ă
৛௢ጲ‫ۙۯ‬ଭࠀీ
ᇑጲ‫ۙۯ‬ଭࠀీ၎ԲLj৛௢ጲ‫ۙۯ‬ଭࠀీ੗ํ၄߸ߛ‫ڦ‬৛
‫܈‬Ljഄ‫݆ݛ‬๟ံ‫߳ܔ‬྅அᅏ๼‫؜‬൱30௱ೝ਩ኵLjምऺ໙๢
‫ڦړ‬ၯኟဣຕLjժॽഄሜ෇ᆩࢽೋᅎस٪ഗăሞ30௱֪ଉ
೺क़LjIMUጲ‫ۯ‬ยዃ֑ᄣ໏୲ࢅ୳հഗLjᅜኴႜፌॅຕ਍
֑णă‫ܔ‬ᇀADIS1636xࢅADIS1640xဣଚLjೋዃၯኟ৛‫܈‬੗
থৎ0.008°/s)֖९཮6Lj30௱਩ኵ้क़*ăኴႜُࠀీ้LjႷ
ยዃGLB_ CMD[4] = 1 (DIN = 0xBE10)ă
ೋዃ৛‫ڦ܈‬ഗॲຕଉăኄዖ൧઄ူLjႷ๑ᆩᅃ߲16࿋स٪
֑ᄣ໏୲؏ൽ
819.2SPS‫ాڦ‬և֑ᄣ໏୲‫ܔ‬ᇀԍ‫׼‬ኄၵׂ೗‫ڦ‬ፌॅೋዃ࿘
ۨႠీ዁࠲ዘᄲă‫ܔ‬ᇀႴᄲ߸‫֑گ‬ᄣ໏୲‫ڦ‬ᆌᆩLjᆌ૧ᆩ
ాևBartlett‫ش‬੨୳հഗ၌዆‫੻ټ‬Ljժ؏ൽ྅அᅏࢅे໏‫܈‬
ऺ๼‫؜‬स٪ഗዐ੗ᆩ‫ڦ‬ຕ਍ăᅃዖ‫݆ݛ‬๟૧ᆩຕ਍৽Ⴣ๼
‫؜‬ൻ‫ۯ‬ᅃ߲ऺຕഗLjܸٗॽဣཥप֑ᄣ໏୲‫أ‬ᅜኝຕኵă
໚඗߳ዖဣཥ੗ీᆶ߳ጲ༬ۨ‫ۙڦ‬ၿᄲ൱Lj‫߳ڍ‬ዖยዃ‫ڦ‬
ፌ‫݆أٷ‬ဣຕᆌྺBartlett‫ش‬੨୳հഗ௅प‫؏ڦ‬ཀྵຕă૩
සLjසࡕSENS_AVG[2:0] = 100Lj၎‫ړ‬ᇀ௅प16؏ཀྵLjሶᆩ
ࢽ੗ᅜॽ֑ᄣ໏୲‫أ‬ᅜ2‫ڟ‬16ኮक़‫ڦ‬ඪᅪኝຕLjཞ้ධీ
ԍ‫׼‬ፌॅೋዃ࿘ۨႠీă
Rev. 0 | Page 3 of 4
AN-1041
ᆌᆩԴऻ ጀ๥
©2009 Analog Devices, Inc. All rights reserved. Trademarks and
registered trademarks are the property of their respective owners.
AN08403-0-8/09(0)
Rev. 0 | Page 4 of 4
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