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TSS-BT  Bluetooth Sensor 蓝牙AHRS/IMU体感传感器

Product Overview

The YEI 3-Space Sensor™ Bluetooth integrates a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) with a 2.4GHz Bluetooth v2.0+EDR Class 1 interface and a rechargeable lithium-polymer battery solution into a single low-cost end-use-ready unit. The Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) uses triaxial gyroscope, accelerometer, and compass sensors in conjunction with advanced processing and on-board quaternion-based orientation filtering algorithms to determine orientation relative to an absolute reference in real-time.

Orientation can be returned in absolute terms or relative to a designated reference orientation. The gradient descent calibration process and high update rates increase accuracy and greatly reduce and compensate for sensor error. The YEI 3-Space Sensor system also utilizes a dynamic sensor confidence algorithm that ensures optimal accuracy and precision across a wide range of operating conditions.

The YEI 3-Space Sensor Bluetooth unit features are accessible via a well-documented open communication protocol that allows access to all available sensor data and configuration parameters using either 2.4Ghz Bluetooth or USB 2.0 interfaces. Versatile commands allow access to raw sensor data, normalized sensor data, and filtered absolute and relative orientation outputs in multiple formats including: quaternion, Euler angles (pitch/roll/yaw), rotation matrix, axis angle, two vector (forward/up).

Areas of Application

  • Robotics
  • Motion capture
  • Positioning and stabilization
  • Personnel/pedestrian navigation and tracking
  • Unmanned air/land/water vehicle navigation
  • Education and performing arts
  • Healthcare monitoring
  • Gaming and motion control
  • Accessibility interfaces
  • Virtual reality and immersive simulation

 

Hardware Overview

 

 

 

 

 

 

 

Key Features

The YEI 3-Space Sensor Bluetooth has many features that allow it to be a flexible all-in-one solution for your orientation sensing needs. Below are some of the key features:

  • Small self-contained high-performance wireless AHRS at 35mm x 60mm x 15mm and 28 grams
  • Integrated 2.4GHz Bluetooth v2.0 EDR Class 1 wireless interface allows high-performance at ranges up to 300'
  • Integrated Lithium-Polymer battery and charge control allows battery life of 5+ hours at full performance
  • Fast sensor update and filter rate allow use in real-time applications, including stabilization, virtual reality, realtime immersive simulation, and robotics
  • Highly customizable orientation sensing with options such as tunable filtering, oversampling, and orientation error correction
  • Advanced integrated Kalman filtering allows sensor to automatically reduce the effects of sensor noise and sensor error
  • Robust open protocol allows commands to be sent in human readable form, or more quickly in machine readable form
  • Orientation output format available in absolute or relative terms in multiple formats ( quaternion, rotation matrix, axis angle, two-vector )
  • Absolute or custom reference axes
  • Access to raw sensor data
  • Flexible communication options: USB 2.0 or wireless 2.4GHz Bluetooth SPP (FCC Certified)
  • Bluetooth SPP requires no proprietary dongle hardware
  • USB 2.0 and Bluetooth SPP communication via virtual COM port
  • USB joystick/mouse emulation modes ease integration with existing applications
  • Upgradeable firmware
  • RGB status LED, two programmable input buttons
  • Available in either hand-held or strap-down packaging

Specifications

General

Part number

TSS-BT (Handheld Sensor Unit)
TSS-BT-S (Screw-down Sensor Unit)

Dimensions

35mm x 60mm x 15mm (1.38 x 2.36 x 0.59 in.)

Weight

28 grams (0.98 oz)

Supply voltage

+5v USB

Battery technology

rechargeable Lithium-Polymer

Battery lifetime

5+ hours continuous use at full performance

Communication interfaces

USB 2.0, 2.4GHz Bluetooth SPP (FCC Certified)

Wireless communication range

up to 300' (Bluetooth v2.0+EDR, Class 1)

Filter update rate

up to 250Hz USB/185Hz Bluetooth with Kalman AHRS
up to 850Hz USB/420Hz Bluetooth with QCOMP AHRS
up to 1350Hz USB/600Hz Bluetooth in IMU mode

Orientation output

absolute & relative quaternion, Euler angles, axis angle, rotation matrix, two vector

Other output

raw sensor data, normalized sensor data, calibrated sensor data, temperature

Shock survivability

5000g

Temperature range

-40C ~ 85C (-40F ~ 185F)

Sensor

Orientation range

360º about all axes

Orientation accuracy

±1º for dynamic conditions & all orientations

Orientation resolution

<0.08º

Orientation repeatability

0.085º for all orientations

Accelerometer scale

±2g / ±4g / ±8g selectable for standard models
±6g / ±12g / ±24g selectable for HH models
±100g / ±200g / ±400g selectable for H3 models

Accelerometer resolution

14 bit, 12 bit(HH), 12 bit(H3)

Accelerometer noise density

99µg/√Hz, 650µg/√Hz(HH), 15mg/√Hz(H3)

Accelerometer sensitivity

0.00024g/digit-0.00096g/digit
0.003g/digit-0.012/digit(HH)
0.049g/digit-0.195g/digit(H3)

Accelerometer temperature sensitivity

±0.008%/°C, ±0.01%/°C(HH, H3)

Gyro scale

±250/±500/±1000/±2000 º/sec selectable

Gyro resolution

16 bit

Gyro noise density

0.009º/sec/√Hz

Gyro bias stability @ 25°C

2.5º/hr average for all axes

Gyro sensitivity

0.00833º/sec/digit for ±250º/sec
0.06667º/sec/digit for ±2000º/sec

Gyro non-linearity

0.2% full-scale

Gyro temperature sensitivity

±0.03%/°C

Compass scale

±0.88 Ga to ±8.1 Ga selectable  (±1.3 Ga default) 

Compass resolution

12 bit

Compass sensitivity

0.73 mGa/digit

Compass non-linearity

0.1% full-scale