Tactical Grade, Six Degrees of Freedom Inertial Sensor Data Sheet ADIS16495 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope The ADIS16495 is a complete inertial system that includes a 125/sec, 450/sec, 2000/sec range options triaxis gyroscope and a triaxis accelerometer. Each inertial sensor 0.05 axis to axis misalignment error in the ADIS16495 combines industry leading iMEMS technology 0.25 (maximum) axis to package misalignment error with signal conditioning that optimizes dynamic performance. 0.8/hr in-run bias stability (ADIS16495-1) The factory calibration characterizes each sensor for sensitivity, 0.09/hr angular random walk (ADIS16495-1) bias, alignment, and linear acceleration (gyroscope bias). As a Triaxial, digital accelerometer, 8 g result, each sensor has its own dynamic compensation formulas that 3.2 g in run bias stability provide accurate sensor measurements. Triaxial, delta angle and delta velocity outputs The ADIS16495 provides a simple, cost effective method for Factory calibrated sensitivity, bias, and axial alignment integrating accurate, multiaxis inertial sensing into industrial Calibration temperature range: 40C to +85C systems, especially when compared with the complexity and SPI compatible investment associated with discrete designs. All necessary motion Programmable operation and control testing and calibration are part of the production process at Automatic and manual bias correction controls the factory, greatly reducing system integration time. Tight Configurable FIR filters orthogonal alignment simplifies inertial frame alignment in Digital I/O: data ready, external clock navigation systems. The serial peripheral interface (SPI) and Sample clock options: internal, external, or scaled register structure provide a simple interface for data collection On demand self test of inertial sensors and configuration control. Single-supply operation: 3.0 V to 3.6 V The footprint and connector system of the ADIS16495 enable a 1500 g mechanical shock survivability simple upgrade from the ADIS16375, ADIS16480, ADIS16485, Operating temperature range: 40C to +105C ADIS16488A, and ADIS16490. The ADIS16495 is available in an APPLICATIONS aluminum package that is approximately 47 mm 44 mm Precision instrumentation, stabilization 14 mm and includes a standard connector interface. Guidance, navigation, control Avionics, unmanned vehicles Precision autonomous machines, robotics FUNCTIONAL BLOCK DIAGRAM DIO1 DIO2 DIO3 DIO4 RST VDD POWER GND SELF TEST I/O MANAGEMENT OUTPUT CS TRIAXIAL DATA GYROSCOPE REGISTERS SCLK CALIBRATION TRIAXIAL CONTROLLER SPI AND ACCELEROMETER DIN FILTERS USER CONTROL TEMPERATURE DOUT REGISTERS SENSOR CLOCK ADIS16495 Figure 1. Rev. C Document Feedback Information furnished by Analog Devices is believed to be accurate and reliable. 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Technical Support www.analog.com 15062-001ADIS16495 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 Time Stamp ................................................................................. 24 Applications ...................................................................................... 1 Cyclical Redundancy Check (CRC-32) ................................... 24 General Description ......................................................................... 1 Delta Angles ................................................................................ 25 Functional Block Diagram .............................................................. 1 Delta Velocity ............................................................................. 26 Revision History ............................................................................... 2 User Bias/Scale Adjustment ...................................................... 29 Specifications .................................................................................... 4 Scratch Registers, USER SCR x .............................................. 31 Timing Specifications .................................................................. 6 Flash Memory Endurance Counter, FLSHCNT LOW, FLSHCNT HIGH ...................................................................... 32 Absolute Maximum Ratings ........................................................... 8 Global Commands, GLOB CMD ........................................... 32 Thermal Resistance ...................................................................... 8 Auxiliary I/O Line Configuration, FNCTIO CTRL ............. 33 ESD Caution.................................................................................. 8 General-Purpose I/O Control, GPIO CTRL ......................... 34 Pin Configuration and Function Descriptions ............................ 9 Miscellaneous Configuration, CONFIG ................................. 34 Typical Performance Characteristics ........................................... 10 Linear Acceleration on Effect on Gyroscope Bias ................. 35 Theory of Operation ...................................................................... 12 Decimation Filter, DEC RATE ............................................... 35 Binertial Sensor Signal Chain ................................................... 12 Continuous Bias Estimation (CBE), NULL CNFG .............. 35 Register Structure ....................................................................... 13 Scaling the Input Clock (PPS Mode), SYNC SCALE........... 36 Serial Peripheral Interface ......................................................... 14 FIR Filters .................................................................................... 36 Data Ready .................................................................................. 14 Firmware Revision, FIRM REV .............................................. 38 Reading Sensor Data .................................................................. 15 Applications Information ............................................................. 40 Device Configuration ................................................................ 16 Mounting Best Practices ........................................................... 40 User Register Memory Map .......................................................... 17 Preventing Misinsertion ............................................................ 40 User Register Defintions ............................................................... 20 Evaluation Tools ......................................................................... 40 Page Number (PAGE ID) ........................................................ 20 Power Supply Considerations .................................................. 40 Data/Sample Counter (DATA CNT) ..................................... 20 CRC32 Coding Example ........................................................... 41 Status/Error Flag Indicators (SYS E FLAG) ......................... 20 Outline Dimensions ....................................................................... 42 Self Test Error Flags (DIAG STS) ........................................... 21 Ordering Guide .......................................................................... 42 Internal Temperature (TEMP OUT) ..................................... 21 Gyroscope Data .......................................................................... 21 Acceleration Data ....................................................................... 23 REVISION HISTORY 7/2019Rev. B to Rev. C Changes to Figure 5 and Figure 6 ................................................... 7 Changes to Table 1 ........................................................................... 5 Changes to Table 6 ............................................................................ 9 Changes to t Parameter and Endnote 2, Table 2 .................. 6 Changes to Figure 12 ..................................................................... 10 STALL Changes to Flash Memory Update Section and On Demand Self Added Figure 13 and Figure 14 Renumbered Sequentially ..... 10 Test (ODST) Section ...................................................................... 33 Added Figure 15 and Figure 16 .................................................... 11 Changes to Data Ready Indicator Section .................................. 34 Changes to Burst Read Function Section, Table 10, and Changes to Scaling the Input Clock (PPS Mode), Table 11 ............................................................................................ 15 SYNC SCALE Section ................................................................... 36 Changes to Table 12 ....................................................................... 17 Changes to Model Column, Table 24 .......................................... 21 5/2019Rev. A to Rev. B Changes to Cyclical Redundancy Check (CRC-32) Section .... 24 Changes to Features Section ........................................................... 1 Changes to Delta Angle Measurement Range and Model Changes to Specifications Section and Table 1 ............................ 4 Column, Table 60 ........................................................................... 25 Rev. C Page 2 of 42