I have reviewed the specification on pages 15 and 16 for the ADIS16488 that describe the integrated outputs for the rotation rate and aceleration. These values appear to be the integrals of the rate and acceleration over the sample interval as indicated by the output rate DEC_RATE. The documentation presents equations that indicates that there is a trapezoidal integration of the rate and acceleration to get the DELTANG and DELTVAL results. What is not clear is the integration rate of the implied internal summation to get the integrated output. Ideally, the internal integration would at the high internal sampling frequency of 2.46kHz. Therefore if the DEC_RATE is set to achieve 98.4Hz, we would internally sum DEC_RATE+1 = 25 samples to get the 98.4Hz (delta_T =0.01016secs) output. However, based on the equations for the output as presented in the spec, integration would be simply the average of the rate or acceleration as defined by the (start+end)/2 of the samples.
Can you please explain how this integration works ...
from page 20 of the spec ...
The output sample rate is equal to 2460/(DEC_RATE + 1). DIN = 0x8D00 to reduce the output sample rate to 98.4 SPS (2460 ÷ 25).
The output sample rate is equal to 2460/(DEC_RATE + 1).
DIN = 0x8D00 to reduce the output sample rate to 98.4 SPS (2460 ÷ 25).