3-Space SensorTM Micro USB

3-Space SensorTM Micro USB
Technical Brief
3-Space Sensor
Micro USB
TM
Miniature High-Performance Attitude & Heading Reference Systems / Inertial Measurement Units
Product Overview
Key Features
The 3-Space SensorTM Micro USB 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 orientation filtering
algorithms to determine orientation relative to an absolute
reference in real-time.
The 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:
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 3Space Sensor system also utilizes a dynamic sensor
confidence algorithm that ensures optimal accuracy and
precision across a wide range of operating conditions.
• Ultra-small, light-weight high-performance AHRS 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,
real-time 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
The 3-Space Sensor Micro USB 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).
• Robust open protocol allows commands to be sent in
The 3-Space Sensor Micro USB module also offers an
integrated Micro USB port for communication as well as
solderable SMT pads for asynchronous serial communication.
• Access to raw sensor data
Applications
• USB communication through a virtual COM port
• Robotics
emulation modes ease integration with existing
applications
• Motion capture
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
• Flexible communication options: USB 2.0, or
asynchronous serial
• When used as a USB device, USB joystick/mouse
• Positioning and stabilization
• PCB edge contour allows for easy screw mounting.
• Personnel / pedestrian navigation and tracking
• Upgradeable firmware
• Unmanned air/land/water vehicle navigation
• RGB status LED
• Education and performing arts
• Healthcare monitoring
• SMT solder pads allow asynchronous serial
communication or connection of external button inputs.
• Gaming and motion control
• Virtual reality and immersive simulation
www.YostLabs.com
TM
3-Space Sensor Micro USB
Miniature High-Performance AHRS / IMU Systems
High-reliability MEMS technology combined with
advanced processing and multiple quaternion-based
filtering algorithms allows for accurate orientation
outputs across a wide range of performance conditions.
Block Diagram
USB 2.0
Host System
UART Interface
SMT Pads
TSS MUSB
Processor
USB 2.0
Interface
USB Mouse &
Joystick
Emulation
Asynchronous
Serial Interface
Final
Orientation
Kalman
Filter
Non-volatile
Calibration &
Performance
Settings
Scale, Bias, Normalization, &
Error Compensation
Specifications
General
Part number
TSS-MUSB
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, Asynchronous Serial
Filter update rate1
up to 250Hz with Kalman AHRS(higher with oversampling)
up to 850Hz with QCOMP AHRS(higher with oversampling)
up to 1350Hz in IMU mode
Orientation output
absolute & relative quaternion, Euler angles, axis angle,
rotation matrix, two vector
Other output
raw sensor data, corrected sensor data, normalized sensor data,
temperature
Serial baud rate
1,200~921,600 selectable, default: 115,200
Shock survivability
5000g
Temperature range
-40C ~ 85C (-40F ~ 185F)
Sensor
Orientation range
3-Axis
Accelerometer
3-Axis
Rate Gyro
3-Axis
Compass
Dimensions
Temperature
Sensor
Orientation
accuracy2
360º about all axes
±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
1. Depends upon communication mode and filter mode.
2. Average value when calibrated.
Specifications are subject to change.
Version: 2.0.0
Yost Labs | 630 Second Street Portsmouth, OH 45662
(740) 876-4936 | [email protected] | https://yostlabs.com/product/3-space-micro-usb/
www.YostLabs.com
Patented and Patents ©2017 Yost Labs
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