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TSS-USB USB AHRS/IMU sensor

The YEI 3-Space Sensor™ USB / RS232 is a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) offering USB 2.0 and RS232 communication interfaces in 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 USB unit features are accessible via a well-documented open communication protocol that allows access to all available sensor data and configuration parameters using either USB 2.0 or RS232. 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 USB/RS232 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 AHRS at 35mm x 50mm x 15mm and 17 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: USB 2.0 or RS232 asynchronous serial
  • USB communication via virtual COM port
  • USB joystick/mouse emulation modes ease integration with existing applications
  • Upgradeable firmware
  • RGB status LED, two programmable input buttons
  • Miniature barrel jack power input option
  • Miniature TRS connector for RS232 and power input
  • Available in either hand-held or strap-down packaging

Specifications

General

Part number

TSS-USB (Handheld Sensor Unit)
TSS-USB-S (Strapdown Sensor Unit)

Dimensions

35mm x 50mm x 15mm (1.38 x 1.97 x 0.59 in.)

Weight

17 grams (0.60 oz)

Supply voltage

+5v USB, +3.3v ~ +6.0v external jack

Communication interfaces

USB 2.0, RS232 Asynchronous Serial

Filter update rate

up to 250Hz with Kalman AHRS(higher with oversampling)
up to 850Hz with QCOMP AHRS(higher with oversampling)
up to 1350Hz 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(coming soon)
±100g / ±200g / ±400g selectable for H3 models(coming soon)

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

Dimensions

Downloads and Documentation

Documentation

USB/RS232接口AHRS/IMU传感器

3-Space Sensor™ USB / RS232小型、高精密、高可靠性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。梯度下降校准处理和高更新率可提高准确性，大大降低和补偿传感器误差。 该传感器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。

USB / RS232传感器通过完备的开放式通信协议访问，该协议允许使用USB 2.0或RS232访问所有可用的传感器数据和配置参数。 多功能命令允许以多种格式访问传感器原始数据，经标定的感器数据以及经过滤波的绝对和相对方向输出，包括：四元数、欧拉角（俯仰/滚动/偏航）、旋转矩阵、轴角、两个矢量（正向/向上） 。

延时5毫秒、精准± 1 º 

特点：

USB / RS232传感器具有许多功能，使其成为一种灵活的多合一解决方案，可满足您的方向感测需求。以下是一些关键功能：

小型独立式高性能AHRS，尺寸为35mm x 50mm x 15mm和17克

传感器高刷新率，滤波器速率适合在实时应用，包括稳定台、虚拟现实、实时沉浸式仿真和机器人技术

高度可定制的方向感应，具有诸如可调滤波、过采样和方向误差校正之类的选项

先进的集成卡尔曼滤波功能使传感器能够自动减少传感器噪声和传感器误差的影响

强大的开放协议允许以人类可读的形式发送命令，或更快速地以机器可读的形式发送命令

方向输出格式以绝对或相对形式提供多种格式（四元数、旋转矩阵、轴角、两个矢量）

绝对或自定义参考轴

访问传感器原始数据

灵活的通讯选项：USB 2.0或RS232异步串行

通过虚拟COM端口进行USB通信

USB游戏杆/鼠标仿真模式简化了与现有应用程序的集成

可升级固件

RGB状态LED，两个可编程输入按钮

微型桶形插孔电源输入选项

微型TRS连接器，用于RS232和电源输入

提供手持式或螺丝固定式封装

应用：机器人、动作捕捉、定位和稳定、人员导航和跟踪、医疗监测、游戏及运动控制、虚拟现实技术和沉浸仿真。

产品概述

3-Space传感器™ TSS-EM是一种超小型、高精密、高可靠性、低成本SMT姿态和航向参考系统（ AHRS ） /惯性测量单元（IMU ），采用三轴陀螺仪、三轴加速度计和三轴电子罗盘传感器结合先进的工艺。

高可靠性MEMS技术融合先进的计算处理，基于多个四元数过滤算法可实现准确定位，在各种特性条件下输出。

产品规格

一般参数TSS –USB，TSS-USB-S

尺寸           35毫米x50毫米x 15毫米

重量           17克

电源电压    5v USB, +3.3 V 〜 +6.0 V外接插口

通信接口                           USB 2.0，SPI ，异步串行通讯接口

串口通信波特率               1,200~921,600 可选, 默认 115,200

滤波器更新率                   高达250Hz卡尔曼滤波AHRS

高达850Hz QCOMP互补滤波AHRS

高达1350Hz IMU模式

方向输出                           绝对与相对四元数、欧拉角、轴角、旋转矩阵、双向量

其它输出                          传感器的原始数据、正常的传感器数据、校准的传感器数据、温度

抗冲击能力   5000g

温度范围      -40C 〜85C º（ -40F 〜 185F ）

传感器

方向：360°范围内对所有轴

定向精度：动态三轴方向± 1 º

取向分辨率：<0.08 º

所有方向取向重复性：0.085 º

加速度量程：± 2g/ ± 4g / ± 8g可选，标准版本

                    ± 6g/ ± 12g / ± 24g可选， HH版本

                   ± 100g/ ±2004g / ± 400g可选，H3版本

加速度计的分辨率：14位，12位 HH版本，12位H3版本

加速度计噪声密度：99μg /√Hz

650μg /√Hz, HH版本

15 mg /√Hz，H3版本

加速度计灵敏度：0.00024g/digit~0.00096g/digit

                            0.003g/digit~0.012g/digit，HH版本

                            0.049g/digit~0.195g/digit，H3版本

加速度计温度敏感性：± 0.008 ％ /°C，± 0.01 ％ /°C  HH版本、H3版本

陀螺量程：± 250 / ±500 / ± 1000/ ± 2000 °/秒可选

陀螺仪分辨率：16位

陀螺噪声密度：0.009 º/秒/√Hz的

陀螺仪偏置稳定性@ 25°C：  平均2.5 °/小时三轴

陀螺仪灵敏度：  0.00833 °/秒/数字为± 250 °/秒      

                           0.06667 º/秒/ ±2000 °/秒的数字

陀螺仪非线性：0.2 ％满量程

陀螺温度敏感性：± 0.03％ /°C

罗盘量程：± 1.3 Ga默认。± 0.88～8.1 Ga可选

指南针分辨率：12 digit

罗盘灵敏度：0.73 mGA / digit

指南针非线性：0.1 ％满量程