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TSS-BT

TSS-BT Bluetooth Sensor 蓝牙AHRS/IMU体感传感器

Product Overview

The YEI 3-Space Sensor™ Bluetooth integrates a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) with a 2.4GHz Bluetooth v2.0+EDR Class 1 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 Bluetooth 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 Bluetooth 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 Bluetooth 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 Bluetooth v2.0 EDR Class 1 wireless interface allows high-performance at ranges up to 300'
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 Bluetooth SPP (FCC Certified)
Bluetooth SPP requires no proprietary dongle hardware
USB 2.0 and Bluetooth SPP communication via 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

Specifications

General

Part number	TSS-BT (Handheld Sensor Unit) TSS-BT-S (Screw-down 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 Bluetooth SPP (FCC Certified)
Wireless communication range	up to 300' (Bluetooth v2.0+EDR, Class 1)
Filter update rate	up to 250Hz USB/185Hz Bluetooth with Kalman AHRS up to 850Hz USB/420Hz Bluetooth with QCOMP AHRS up to 1350Hz USB/600Hz Bluetooth 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

1. YEI_3-Space_Sensor_Users_Manual_Bluetooth_2.0_r21_26Mar2014.pdf

2. YEI_3-Space_Firmware_Update_Bluetooth_2.0_r21_26Mar2014.xm

3. Android-3Space-App.zip

Unit 503,5/F Tower 2, Lippo Centre, 89 Queensway, Admiralty, Hong Kong 中国香港特别行政区