TSS-BT Bluetooth Sensor 蓝牙AHRS/IMU体感传感器
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).
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:
Specifications
Part number | TSS-BT (Handheld 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 |
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) |
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 |
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 |
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 |
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 |
1.YEI_3-Space_Sensor_Users_Manual_Bluetooth_2.0_r21_26Mar2014.pdf
2.YEI_3-Space_Firmware_Update_Bluetooth_2.0_r21_26Mar2014.xm