3-Space Embedded嵌入式三轴姿态航向参考系统

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，加速度计和指南针传感器，结合先进的处理技术和使用板上四元卡尔曼滤波算法来确定相对于实时绝对参照之方位。

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。

特点：

体积小，重量轻的高性能AHRS

快速滤波更新率

高度可定制的方向选择

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

提供多种格式的绝对或相对的定向输出

绝对或自定义的参考轴

灵活的通信选项SPI、USB2.0或异步串行

虚拟的COM端口的USB通信

USB游戏杆/鼠标仿真模式便于与现有应用程序集成

蜂窝SMT边缘垫提供安全的SMT贴装，并允许可选的通孔安装

升级固件

RGB LED状态

可编程中断能力

提供开发工具包

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、无人机/陆地/水下车辆导航、教育和表演艺术、游戏及运动控制、虚拟现实技术和人体仿真。

  

 Product Overview

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 Kalman 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 proprietary multi-reference vector mode increases accuracy and greatly reduces and compensates for sensor error. The YEI 3-Space Sensor Embedded 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.

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 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

Specifications

General

Part number	TSS-EM
Dimensions	23mm x 23mm x 2.2mm (0.9 x 0.9 x 0.086 in.)
Weight	1.3 grams ( 0.0458 oz )
Supply voltage	+3.3v ~ +6.0v
Power consumption	45mA @ 5v
Communication interfaces	USB 2.0, SPI, Asynchronous Serial
Filter update rate	up to 260Hz with Kalman Filter AHRS functionality up to 625Hz with Complementary Filter AHRS up to 1000Hz 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
SPI clock rate	6 MHz max
Serial baud rate	1,200~921,600 selectable, default: 115,200
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
Accelerometer resolution	14 bit
Accelerometer noise density	99μg/√Hz
Accelerometer sensitivity	0.00024g/digit for ±2g range 0.00048g/digit for ±4g range 0.00096g/digit for ±8g range
Accelerometer temperature sensitivity	±0.008%/°C
Gyro scale	±250/±500/±2000 o/sec selectable
Gyro resolution	16 bit
Gyro noise density	0.03o/sec/√Hz
Gyro bias stability @ 25°C	11o/hr average for all axes
Gyro sensitivity	0.00875o/sec/digit for ±250o/sec 0.01750o/sec/digit for ±500o/sec 0.070o/sec/digit for ±2000o/sec
Gyro non-linearity	0.2% full-scale
Gyro temperature sensitivity	±0.016%/°C
Compass scale	±1.3 Ga default. Up to ±8.1 Ga available
Compass resolution	12 bit
Compass sensitivity	5 mGa/digit
Compass non-linearity	0.1% full-scale

Dimensions

 

SMT Layout