Wide Dynamic Range, Miniature MEMs IMU Data Sheet ADIS16470 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope, 2000/sec dynamic range The ADIS16470 is a miniature MEMS inertial measurement 8/hr in run bias stability unit (IMU) that includes a triaxial gyroscope and a triaxial 0.008/sec/Hz rms rate noise density accelerometer. Each inertial sensor in the ADIS16470 combines Triaxial, digital accelerometer dynamic range: 40 g with signal conditioning that optimizes dynamic performance. 13 g in run bias stability The factory calibration characterizes each sensor for sensitivity, Triaxial, delta angle and delta velocity outputs bias, alignment, linear acceleration (gyroscope bias), and point Factory calibrated sensitivity, bias, and axial alignment of percussion (accelerometer location). As a result, each sensor Calibration temperature range: 10C to +75C has dynamic compensation formulas that provide accurate SPI compatible data communications sensor measurements over a broad set of conditions. Programmable operation and control The ADIS16470 provides a simple, cost effective method for Automatic and manual bias correction controls integrating accurate, multiaxis inertial sensing into industrial Data ready indicator for synchronous data acquisition systems, especially when compared with the complexity and External sync modes: direct, pulse, scaled, and output investment associated with discrete designs. All necessary motion On demand self test of inertial sensors testing and calibration are part of the production process at the On demand self test of flash memory factory, greatly reducing system integration time. Tight orthogonal Single-supply operation (VDD): 3.0 V to 3.6 V alignment simplifies inertial frame alignment in navigation 2000 g mechanical shock survivability systems. The serial peripheral interface (SPI) and register Operating temperature range: 25C to +85C structure provide a simple interface for data collection and APPLICATIONS configuration control. Navigation, stabilization, and instrumentation The ADIS16470 is in a 44-ball, ball grid array (BGA) package Unmanned and autonomous vehicles that is approximately 11 mm 15 mm 11 mm. Smart agriculture/construction machinery Factory/industrial automation, robotics Virtual/augmented reality Internet of Moving Things FUNCTIONAL BLOCK DIAGRAM DR RST VDD POWER SELF TEST INPUT/OUTPUT GND MANAGEMENT OUTPUT CS TRIAXIAL DATA GYROSCOPE REGISTERS SCLK CALIBRATION TRIAXIAL CONTROLLER SPI AND ACCELEROMETER DIN FILTERS USER TEMPERATURE CONTROL DOUT REGISTERS CLOCK ADIS16470 SYNC Figure 1. Rev. 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Technical Support www.analog.com 15343-001ADIS16470 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 Device Configuration ................................................................ 15 Applications ....................................................................................... 1 User Register Memory Map .......................................................... 16 General Description ......................................................................... 1 User Register Defintions ................................................................ 18 Functional Block Diagram .............................................................. 1 Gyroscope Data .......................................................................... 18 Revision History ............................................................................... 2 Delta Angles ................................................................................ 21 Specif icat ions ..................................................................................... 3 Delta Velocity .............................................................................. 22 Timing Specifications .................................................................. 5 C a l ibr at ion ................................................................................... 24 Absolute Maximum Ratings ....................................................... 7 Applications Information .............................................................. 31 Thermal Resistance ...................................................................... 7 Assembly and Handling Tips .................................................... 31 ESD Caution .................................................................................. 7 Power Supply Considerations ................................................... 32 Pin Configuration and Function Descriptions ............................. 8 Serial Port Operation ................................................................. 32 Typical Performance Characteristics ........................................... 10 Digital Resolution of Gyroscopes and Accelerometers ......... 32 Theory of Operation ...................................................................... 11 Evaluation Tools ......................................................................... 33 Introduction ................................................................................ 11 Tray Drawing .............................................................................. 35 Inertial Sensor Signal Chain ..................................................... 11 Packaging and Ordering Information ......................................... 36 Register Structure ....................................................................... 12 Outline Dimensions ................................................................... 36 Serial Peripheral Interface (SPI) ............................................... 13 Ordering Guide .......................................................................... 36 Data Ready (DR) ........................................................................ 13 Reading Sensor Data .................................................................. 14 REVISION HISTORY 4/2019Rev. B to Rev. C Changes to Figure 9, Figure 10, Figure 11, Figure 12, and Changes to Serial Peripheral Interface (SPI) Section ................. 13 Figure 13 .......................................................................................... 10 Changes to Figure 28 ...................................................................... 14 Changes to Figure 14, Figure 15, and Figure 16 ......................... 11 Changes to Table 10 and Gyroscope Data Section ..................... 18 Changes to Figure 18 and Figure 19............................................. 12 Changes to Acceleration Data Section ......................................... 19 Added Gyroscope Data Width (Digital Resolution) Section ... 18 Added Accelerometer Data Formatting Section ........................ 20 Added Accelerometer Data Width (Digital Resolution) Section .. 20 Change to Calibration, Accelerometer Bias (XA BIAS LOW Deleted Accelerometer Resolution Section Header ................... 20 Added Serial Port Operation Section, Maximum Throughput and XA BIAS HIGH) Section ..................................................... 25 Section, Serial Port SCLK Underrun/Overrun Conditions, and Change to Filter Control Register (FILT CTRL) Section ......... 26 Digital Resolution of Gyroscopes and Accelerometers Section ..... 32 Changes to Direct Sync Mode Section and Pulse Sync Mode Moved Gyroscope Data Width (Digital Resolution) Section and S ection .............................................................................................. 27 Accelerometer Data Width (Digital Resolution) Section .......... 32 Changed Self Test Section to Sensor Self Test Section .............. 28 Added Tray Drawing Section ........................................................ 35 Changes to Sensor Self Test Section ............................................. 28 Added Figure 50 .............................................................................. 35 11/2017Rev. 0 to Rev. A Changes to Table 1 ............................................................................. 3 2/2019Rev. A to Rev. B Changes to Table 2 ............................................................................ 5 10/2017Rev. 0: Initial Version Changes to Figure 5 .......................................................................... 6 Rev. C Page 2 of 36