AHRS500GA Series Operator’s Manual
Page 8
Doc# 7430-0060-02 Rev. A
The AHRS500GA outputs the stabilized pitch, roll and yaw angles in the
digital data packet in angle mode. To convert the digital data to angle, use
the following relation:
angle = data*
(
SCALE
)/2
15
where
angle
is the actual angle in degrees (pitch, roll or yaw),
data
is the
signed integer data output in the data packet, and
SCALE
is a constant.
SCALE
= 180
°
for roll, pitch and yaw.
3.3.2
Sensor Measurements
The analog accelerometer and gyro sensors are sampled, converted to
digital data, temperature compensated, corrected for misalignment, and
scaled to engineering units. The digital data represents the actual value of
the quantities measured. A calibration table for each sensor is stored in the
AHRS500GA non-volatile memory. The data is sent as signed 16-bit 2’s
complement integers. To convert the acceleration data into G’s, use the
following conversion:
accel = data*
(
10 *
1.5)/2
15
where
accel
is the actual measured acceleration in G’s,
data
is the digital
data sent by the AHRS500GA, and
10
is the G Range for your
AHRS500GA. (The data is scaled so that 1 G = 9.80 m s
-2
.) This maximum
G range is a default value.
To convert the angular rate data into degrees per second, use the following
conversion:
rate = data*
(
800*
1.5)/2
15
where
rate
is the actual measured angular rate in
°
/sec,
data
is the digital
data sent by the AHRS500GA, and
800
is the Angular rate Range of the
AHRS500GA. This maximum angular rate is a default value.
3.3.3
BIT Processing
The BIT message in each packet provides comprehensive information into
system health. The following information is supplied in the BIT byte fields
of the data packet. The t able contains the actual bit definition present in the
two-byte output BIT field in the angle mode data packet (see section 3.6
below). The description defines the bit’s active (1) position.
SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com
SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com
