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YEI 3-Space Sensor™ Embedded

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.

YEI 3-Space Sensor

Purchase

	3-Space Sensor: Embedded	Part: TSS-EM	$99.00	Qty:
	3-Space Sensor: Embedded Evaluation Kit	Part: TSS-EEVK	$248.00	Qty:

Product Overview

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 200Hz with full AHRS functionality 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, 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	±2º 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