ADIS16480 AD [Analog Devices], ADIS16480 Datasheet - Page 20

• Manufacturer Part Number: ADIS16480
• Description: Ten Degrees of Freedom Inertial Sensor
• Manufacturer: AD [Analog Devices]

ADIS16480
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
are equal to a 3 × 3 identify matrix.
Table 42. Q0_C11_OUT (Page 0, Base Address = 0x60)
Bits
[15:0]
Table 43. Q1_C12_OUT (Page 0, Base Address = 0x62)
Bits
[15:0]
Table 44. Q2_C13_OUT (Page 0, Base Address = 0x64)
Bits
[15:0]
Table 45. Q3_C21_OUT (Page 0, Base Address = 0x66)
Bits
[15:0]
Table 46. C22_OUT (Page 0, Base Address = 0x68)
Bits
[15:0]
Table 47. ROLL_C23_OUT (Page 0, Base Address = 0x6A)
Bits
[15:0]
Description
Quarterion scalar, q0 or rotation matrix, C11
Twos complement
q0 scale factor = 0.0055°/LSB (180/2
C11 scale factor = 0.000030518/LSB (1/2
Description
Qaurterion vector, q1; or rotation matrix, C12
Twos complement
q1 scale factor = 0.000030518/LSB (1/2
C12 scale factor = 0.000030518/LSB (1/2
Description
Qaurterion vector, q2; or rotation matrix, C13
Twos complement
q2 scale factor = 0.000030518/LSB (1/2
C13 scale factor = 0.000030518/LSB (1/2
Description
Qaurterion vector, q3; or rotation matrix, C21
Twos complement
q3 scale factor = 0.000030518/LSB (1/2
C21 scale factor = 0.000030518/LSB (1/2
Description
Rotation matrix, C22, twos complement
C22 scale factor = 0.000030518/LSB (1/2
Description
Euler angle, φ, roll or rotation matrix, C23
Twos complement, range: ±180° (±π radians)
Roll angle scale factor = (180/2
Rotation matrix variable, C23
Twos complement
C23 scale factor = 0.000030518/LSB (1/2
is in its reference position, the rotation matrix
15
)°/LSB
15
)
15
15
15
15
15
15
15
15
15
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Rev. 0 | Page 20 of 40
Table 48. PITCH_C31_OUT (Page 0, Base Address = 0x6C)
Bits
[15:0]
Table 49. YAW_C32_OUT (Page 0, Base Address = 0x6E)
Bits
[15:0]
Table 50. C33_OUT (Page 0, Base Address = 0x70)
Bits
[15:0]
Table 51. Rotation Matrix/q1/q2/q3 Data Format Examples
Angle (°)
(2
2/2
1/2
0
−1/2
−2/2
−1
Table 52. Yaw, Roll, q0 Angle Data Format Examples
Angle (°)
+180 × (2
+360/2
+180/2
0
−180/2
−360/2
−180
Table 53. Pitch Angle Data Format Examples
Angle (°)
+90 × (2
+360/2
+180/2
0
−180/2
−360/2
−90
15
15
15
− 1)/2
15
15
15
15
15
15
15
15
15
15
15
15
15
−1)/2
Description
Euler angle, θ, pitch or rotation matrix, C31
Twos complement, range: ±90 ° (±π/2 radians)
Pitch angle scale factor = (180/2
Rotation matrix variable, C31
Twos complement, 0.000030518/LSB (1/2
Description
Euler angle, Ψ, yaw or rotation matrix, C32
Twos complement, range: ±180 ° (±π radians)
Yaw angle scale factor = (180/2
Rotation matrix variable, C32
Twos complement, 0.000030518/LSB (1/2
Description
Rotation matrix, C33, twos complement
C22 scale factor = 0.000030518/LSB (1/2
− 1)/2
Decimal
+32,767
+2
+1
0
−1
−2
−32,768
15
15
Decimal
+16,383
+2
+1
0
−1
−2
−16,384
Decimal
+32,767
+2
+1
0
−1
−2
−32,768
Hex
0x7FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x8000
Hex
0x3FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0xC000
Hex
0x7FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x8000
Binary
0111 1111 1111 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1000 0000 0000 0000
15
15
Binary
0011 1111 1110 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1100 0000 0000 0000
)°/LSB
Binary
0111 1111 1111 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1000 0000 0000 0000
)°/LSB
Data Sheet
15
15
15
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