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TSS-EM Embedded Sensor 九自由度体感跟踪模块 三轴陀螺仪、三轴加速度计和三轴电子罗盘 + 温度补偿
精准±1º、延时1~5毫秒，VR游戏设备完好体验
快速了解，下载、浏览ppt:
Case Study案例下载3-Space-Inertial-Motion-Sensor_Case-Studies.pdf;
AIT TSS-EM与虚拟现实设备解决方案v2.1(Web)ppt.
Product Overview产品概览
The YEI 3-Space Sensor™ Embedded is an ultra-miniature, high-precision, high-reliability, low-cost SMT Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) which 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 realtime.
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 Embedded module features are accessible via a well-documented open communication protocol that allows access to all available sensor data and configuration parameters. 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 3-Space Sensor Embedded module also offers a range of communication interface options which include SPI, USB 2.0, and asynchronous serial.
超小型、高精密、高可靠性、低成本的SMT姿态和航向参考系统（AHRS）/惯性测量单元（IMU），三轴陀螺仪、三轴加速度计和三轴电子罗盘传感器，结合先进的处理技术和使用板上四元数卡尔曼滤波算法来确定相对于实时绝对方位坐标。
定向返回或相对定向输出。专有的多参考向量模式提高了准确性，大大降低和补偿传感器误差。 该三轴空间传感器嵌入式系统还采用了动态传感器信心算法，以确保最佳的准确度和精密度，覆盖广泛的操作条件。
Areas of Application应用领域
覆盖专业领域、工业应用，到游戏、消费电子
Robotics机器人
Motion capture动作捕作
Positioning and stabilization定位与稳定
Personnel/pedestrian navigation and tracking个人、行人导航与跟踪
Unmanned air/land/water vehicle navigation无人机、地面无人驾驶车、水域机器人
Education and performing arts教育与表演艺术
Healthcare monitoring保健监测
Gaming and motion control游戏与运动控制
Accessibility interfaces体感数据输入设备
Virtual reality and immersive simulation虚拟现实与沉浸仿真
Hardware Overview
Key Features
The YEI 3-Space Sensor Embedded 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:
- Smallest and lightest high-performance AHRS available at 23mm x 23mm x 2mm and only 1.3 grams
- 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: SPI, USB 2.0, or asynchronous serial
- USB communication via virtual COM port
- When used as a USB device, USB joystick/mouse emulation modes ease integration with existing applications
- Castellated SMT edge pads provide secure SMT mounting and allow optional through-hole mounting
- Upgradeable firmware
- RGB status LED
- Programmable interrupt capability
- Development kit available
3-Space Sensor™嵌入式传感器具有许多功能，允许它是一个灵活的所有功能于一身的解决方案，您的取向感测需求。下面是一些主要特点：
•体积最小，重量最轻的高性能AHRS ，可在23毫米x 23毫米x 2毫米只有1.3克
•快速的传感器更新和过滤率允许使用的实时应用，包括稳定，虚拟现实，实时逼真的模拟和机器人
•高度可定制的方向感应选项，如可调滤波，采样和方向纠错
•先进的集成卡尔曼滤波允许感应器来自动降低传感器噪声和传感器误差的影响
•强大的开放式协议允许可读形式发送命令，或机器可读的形式更迅速
•方向输出格式，提供多种格式的绝对或相对（四元数，旋转矩阵，轴的夹角，两向量）
•绝对或自定义的参考轴
•获取原始传感器数据
•灵活的通讯选项： SPI，USB 2.0 ，或异步串行
•通过虚拟COM端口的USB通信
•当使用USB设备， USB摇杆/鼠标仿真模式，便于与现有应用集成 （支持游戏手柄两轴八键）
•蜂窝的SMT边缘垫提供安全的的SMT安装和允许可选的通孔安装
•可升级的固件
• RGB LED状态指示灯
•可编程的中断能力
•开发套件
Specifications产品规格
General
Part number产品订货号 | TSS-EM |
Dimensions尺寸 | 23mm x 23mm x 2.2mm (0.9 x 0.9 x 0.086 in.) 23x23x2.2毫米 |
Weight重量 | 1.3 grams (0.0458 oz) 1.3克重 |
Supply voltage电压 | +3.3v ~ +6.0v |
Power consumption功耗 | 45mA @ 5v |
Communication interfaces通信接口 | USB 2.0, SPI, Asynchronous Serial |
Filter update rate滤波率 | up to 250Hz with Kalman AHRS(higher with oversampling)卡尔曼滤波采样率250Hz |
Orientation output定向 | absolute & relative quaternion, Euler angles, axis angle, rotation matrix, two vector |
Other output其它输出 | raw sensor data, normalized sensor data, calibrated sensor data, temperature |
SPI clock rate SPI时钟频率 | 6 MHz max |
Serial baud rate串口波特率 | 1,200~921,600 selectable, default: 115,200 |
Shock survivability耐受冲击 | 5000g |
Temperature range温度范围 | -40C ~ 85C (-40F ~ 185F) |
Sensor传感器
Orientation range定向范围 | 360º about all axes 每轴方向 |
Orientation accuracy定向精度 | ±1º for dynamic conditions & all orientations 动态条件、三维方向 |
Orientation resolution定向解析度 | <0.08º |
Orientation repeatability定向可重复性 | 0.085º for all orientations |
Accelerometer scale加速度量程 | ±2g / ±4g / ±8g selectable for standard models 标准版本 |
Accelerometer resolution加速度解析度 | 14 bit, 12 bit(HH), 12 bit(H3) |
Accelerometer noise density加速度噪音密度 | 99µg/√Hz, 650µg/√Hz(HH), 15mg/√Hz(H3) |
Accelerometer sensitivity加速度灵敏度 | 0.00024g/digit-0.00096g/digit |
Accelerometer temperature sensitivity加速度温度灵敏度 | ±0.008%/°C, ±0.01%/°C(HH, H3) |
Gyro scale陀螺仪量程 | ±250/±500/±1000/±2000 º/sec selectable |
Gyro resolution陀螺仪解析度 | 16 bit |
Gyro noise density陀螺仪噪声密度 | 0.009º/sec/√Hz |
Gyro bias stability @ 25°C 陀螺仪零偏置 | 2.5º/hr average for all axes |
Gyro sensitivity陀螺仪灵敏度 | 0.00833º/sec/digit for ±250º/sec |
Gyro non-linearity陀螺仪非线性度 | 0.2% full-scale |
Gyro temperature sensitivity陀螺仪温度灵敏度 | ±0.03%/°C |
Compass scale罗盘量程 | ±0.88 Ga to ±8.1 Ga selectable (±1.3 Ga default) |
Compass resolution罗盘解析度 | 12 bit |
Compass sensitivity罗盘灵敏度 | 0.73 mGa/digit |
Compass non-linearity罗盘非线性度 | 0.1% full-scale |
Dimensions
23mm x 23mm x 2.2mm
SMT Layout
Downloads and Documentation下载
Documentation文档
1. YostLabs传感器用户手册3-Space Sensor User's Manual Embedded, 3.0r1, updated 4 Nov 2014
2. YostLabs传感器固件升级3-Space Firmware Update - Embedded, 3.0r7, updated 17 Mar 2015
3. Additional input Pin Diagram
4. TSS-EEVK测试开发板快速指南3-Space_Sensor_Quick_Start_Manual_Embedded_Evaluation_Kit_1.0.0_21May2012.pdf
TSS-EEVK测试开发板用户手册3-Space_Sensor_Users_Manual_Embedded_Evaluation_Kit_1.0.0_21May2012.pdf
5. 3-Space Sensor Suite Installer for Windows 7 to 10 (includes drivers)传感器测试软件, 1.1.5, updated 21 September 2018 适合Win7~10
Legacy 3-Space Sensor Suite Installer for Windows 10 (includes drivers), 3.0r7, updated 28 Mar 2017 适合Win10
Legacy 3-Space Sensor Suite Installer for Windows 7, 8, 8.1, 3.0r7, updated 10 Apr 2017 适合Win7,8,8.1
3-Space Sensor Suite Manual传感器测试软件用户手册, 3.0r1, updated 4 Nov 2014
(百度网盘下载3-Space Sensor Suite传感器测试软件用户手册)：http://pan.baidu.com/s/1eR9JMJw
维基百科
http://en.wikipedia.org/wiki/USB#USB_2.0 - Wikipedia entry describing USB 2.0 communication
http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus - Wikipedia entry describing Serial Peripheral Interface(SPI) bus communication
http://en.wikipedia.org/wiki/Asynchronous_serial_communication - Wikipedia entry describing asynchronous serial communication
成功案例：
3-Space惯性传感器成功应用于美国国防部（定制配合无人靶船）、国道路面状况数据收集及修复、运动健将夺金、脑创伤研究、动漫与游戏动作捕作等。
Case Study案例下载3-Space-Inertial-Motion-Sensor_Case-Studies.pdf。
AIT TSS-EM与虚拟现实设备解决方案v2.1(Web)ppt.
军事、行业，消费电子？
没错！YostLabs公司TSS-EM及系列产品最早应用于军工防务、专业领域。如上图美军单兵作战装备之一的个人定位系统，运动与医学监测。这些都是成熟的应用。
近年，VR（虚拟现实）在消费领域兴起；实际上，对性能的要求却不是市场上消费电子能满足性能的，如需要高性能CPU、GPU图形处理器、低延时追踪跟踪模块、低延时显示驱动等。YostLabs公司TSS-EM及系列追踪、体感跟踪产品，为沉浸、交互、社交的目标提供最好支撑，最大限度降低开发者难度。
演示视频Video：
索尼HMZ-T1头部跟踪：http://pan.baidu.com/s/1c2cdnUS、http://v.youku.com/v_show/id_XNjczODY3NzEy.html
TSS系列体感模块：http://pan.baidu.com/s/1qX9U2Pe、http://v.youku.com/v_show/id_XODQyNjMwNTQ0.html
跑步机、头盔、体感服：http://pan.baidu.com/s/1eS7hre6、http://v.youku.com/v_show/id_XODkwMjkyMzE2.html
动作捕作服教程：http://pan.baidu.com/s/1pLlkpM7、http://v.youku.com/v_show/id_XNjY1NjU5NjE2.html