Product Overview
The YEI 3-Space Sensor™ Data-logging integrates a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) with a micro-SD card storage device 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.
When attached to a USB 2.0 host, the YEI 3-Space Data-logging unit can enumerate as both a virtual COM port and a USB mass-storage device. The virtual COM port allows access to real-time sensor data and configuration parameters and the mass-storage device allows access to logging & config options and captured sensor data. Versatile commands provide for 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 performance analysis
- Motion capture
- Information gathering
- Personnel/pedestrian tracking
- Unmanned air/land/water vehicle tracking
- Education and performing arts
- Healthcare monitoring
- Asset tracking
- Vibration analysis and monitoring
- Event detection and monitoring
Hardware Overview
Key Features
The Datalogging YEI 3-Space Sensor 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 data-logging AHRS at 35mm x 60mm x 15mm and 28 grams
- 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 highly dynamic applications, including motion capture, performance & motion analysis, and navigation
- 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
- MicroSD card allows for data-logging applications, USB allows for real-time applications
- Flexible data logging configuration allows customization of logged data and allows event-based and time-based logging options
- Built-in clock/calendar provides for fully time-stamped event logging at high resolution
- USB communication via virtual COM port
- Enumeration as USB mass-storage device makes access to logged data easy
- Upgradeable firmware
- RGB status LED, two programmable input buttons
- Available in either hand-held or strap-down packaging
Specifications
General
| Part number | TSS-DL (Handheld Sensor Unit)
TSS-DL-S (Strapdown Sensor Unit)
TSS-DL-HH (High-G Accelerometer Option, Handheld Sensor Unit)
TSS-DL-HH-S (High-G Accelerometer Option, Strapdown 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 |
| Storage media | MicroSD card using FAT32 File System |
| Filter update rate | up to 250Hz USB/200Hz logging with Kalman AHRS
up to 850Hz USB/400Hz logging with QCOMP AHRS
up to 1350Hz USB/475Hz logging 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 |
Dimensions
Downloads and Documentation
Documentation
Technical Brief: 3-Space Sensor Data-logging, 3.0r1, updated 4 Nov 2014, Includes product data and specifications
3-Space Sensor Quick Start Manual Data-logging, 3.0r1, updated 4 Nov 2014
3-Space Sensor User's Manual Data-logging, 3.0r1, updated 4 Nov 2014
Firmware
3-Space Firmware Update - Data-logging (Combined firmware for TSS-DL and TSS-DL-HH), 3.0r7, updated 17 Mar 2015
Change Log
Informational Resources
Links
http://en.wikipedia.org/wiki/Secure_Digital - Wikipedia entry describing MicroSD storage media
http://en.wikipedia.org/wiki/File_Allocation_Table#FAT32 - Wikipedia entry describing the FAT32 file system
