The YEI 3-Space Sensor™ Wireless integrates a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) with a 2.4GHz DSSS communication interface and a rechargeable lithium-polymer battery solution into a single low-cost end-use-ready unit.
Product Overview
The YEI 3-Space Sensor™ Wireless integrates a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) with a 2.4GHz DSSS communication 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 Wireless 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 DSSS wireless 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 Wireless 2.4GHz DSSS 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 DSSS wireless communication interface allows high-performance at ranges up to 200'
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 DSSS (FCC Certified)
Communication through a 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
Each communication dongle unit (Part: TSS-DNG) supports up to 15 independent sensor units
Specifications
General
Part number | TSS-WL (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 DSSS Wireless (FCC certified) |
Wireless communication range | up to 200' |
Filter update rate | up to 250Hz USB / 200Hz wireless with Kalman AHRS(higher with oversampling) |
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 |
Download:
1. Technical Brief: 3-Space Sensor Wireless, 3.0r1, updated 4 Nov 2014, Includes product data and specifications
2. 3-Space Sensor Quick Start Manual Wireless, 3.0r1, updated 4 Nov 2014
3. 3-Space Sensor User's Manual Wireless , 3.0r1, updated 4 Nov 2014
4. Firmware
3-Space Firmware Update - Wireless 2.4GHz DSSS Sensor, 3.0r7, updated 17 Mar 2015
3-Space Firmware Update - Wireless 2.4GHz DSSS Dongle, 3.0r2, updated 24 Nov 2014
Informational Resources
Links
http://en.wikipedia.org/wiki/Direct-sequence_spread_spectrum - Wikipedia entry describing DSSS wireless communication technology