3-Space Sensor Wireless 2.4GHz User`s Manual

3-Space Sensor Wireless 2.4GHz User`s Manual

User's Manual

2. Overview of the YEI Wireless 3-Space Sensor

2.1 Introduction

The YEI 3-Space Sensor TM Wireless integrates a miniature, high-precision, high-reliability, Attitude and Heading

Reference System (AHRS) with a 2.4GHz DSSS communication interface and a rechargeable lithium-polymer battery solution into a single low-cost end-use-ready unit. The Attitude and Heading Reference System (AHRS) uses triaxial gyroscope, accelerometer, and compass sensors in conjunction with advanced on-board filtering and processing algorithms to determine orientation relative to an absolute reference orientation in real-time.

Orientation can be returned in absolute terms or relative to a designated reference orientation. The proprietary multireference vector mode increases accuracy and greatly reduces and compensates for sensor error. The YEI 3-Space

Sensor Wireless 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 Wireless 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 DSSS wireless 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).

The YEI Wireless 3-Space Sensor TM communicates with a host PC via a USB dongle installed in the PC. Up to 15 sensor units can be associated with each wireless dongle, and multiple dongles can be used simultaneously to achieve high sensor counts or increase individual sensor throughput. Sensor and dongle units have individual wireless network

PAN Id assignment and wireless channel assignment to allow multiple sensors to communicate simultaneously without interference or performance degradation.

When used as a USB device, the 3-Space Sensor integration with existing applications.

TM provides mouse emulation and joystick emulation modes that ease

2.2 Applications

Robotics

Motion capture

Positioning and stabilization

Vibration analysis

Inertial augmented localization

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

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User's Manual

2.3 Hardware Overview

2.3.1 Wireless Sensor Hardware Overview

4. Indicator LED

3. Input Button 1

5. Input Button 2

2. Recessed Power Switch

1. USB Connector

1. USB Connector – The 3-Space Sensor uses a 5-pin mini USB connector to connect to a computer via USB and to charge the internal battery. The USB connector provides for both power and communication signals.

2. Recessed Power Switch – The 3-Space Sensor can be switch on and off when powered from the internal battery by using the recessed power switch. When connected via USB, the unit is powered and the batteries will begin recharging regardless of the position of the recessed power switch

3. Input Button 1 – The 3-Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device. The inputs are especially useful when using the 3-Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode.

4. Indicator LED – The 3-Space Sensor includes an RGB LED that can be used for visual status feedback.

5. Input Button 2 – The 3-Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device. The inputs are especially useful when using the 3-Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode.

2.3.2 Wireless Dongle Hardware Overview

2. Indicator LED

1. USB Connector

1. USB Connector – The 3-Space Wireless Dongle uses a 5-pin mini USB connector to connect to a computer via USB. The USB connector provides for both power and communication.

2. Indicator LED – The 3-Space Wireless Dongle includes an RGB LED that can be used for visual status feedback.

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User's Manual

2.4 Features

The YEI 3-Space Sensor Wireless 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 DSSS wireless communication interface allows high-performance at ranges up to 200'

Integrated Rechargeable 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 DSSS (FCC Certified)

2.4Ghz DSSS wireless communication allows orientation sensing without any wires, making activities requiring a high level of mobility like motion capture possible.

Wireless sensors have configurable wireless channel selection and network PAN Ids to allow multiple sensors to communicate simultaneously without interference or performance degradation

Each communication dongle unit supports up to 15 independent sensor units

Asynchronous communication support for improved performance with multiple sensor units

Communication through a 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 screw-down packaging

RoHS compliant

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User's Manual

2.5 Block Diagram of Sensor Operation

USB 2.0

Host System

TSS Wireless 2.4Ghz DSSS

LiPo Battery &

Charge Management

Processor

USB 2.0

Interface

Wireless Module

& Antenna

2.4Ghz DSSS

Wireless Interface

USB Mouse &

Joystick

Emulation

Final

Orientation

Kalman

Filter

Scale, Bias, Normalization, &

Error Compensation

Non-volatile

Calibration &

Performance

Settings

3-Axis

Accelerometer

3-Axis

Rate Gyro

3-Axis

Compass

Temperature

Sensor

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2.6 Specifications

General

Part number

Dimensions

Weight

Supply voltage

Battery technology

Battery lifetime

Communication interfaces

Wireless communication range

Wireless PAN Ids selectable

Wireless channels selectable

Filter update rate

Orientation output

Other output

Shock survivability

Temperature range

Processor

Sensor

Orientation range

Orientation accuracy

Orientation resolution

Orientation repeatability

Accelerometer scale

Accelerometer resolution

Accelerometer noise density

Accelerometer sensitivity

Accelerometer temperature sensitivity

Gyro scale

Gyro resolution

Gyro noise density

Gyro bias stability @ 25°C

Gyro sensitivity

Gyro non-linearity

Gyro temperature sensitivity

Compass scale

Compass resolution

Compass sensitivity

Compass non-linearity

User's Manual

TSS-WL (Handheld Sensor Unit)

TSS-WL-S (Screw-down Sensor Unit)

35mm x 60mm x 15mm (1.38 x 2.36 x 0.59 in.)

28 grams ( 0.98 oz )

+5v USB rechargeable Lithium-Polymer

5+ hours continuous use at full performance

USB 2.0, 2.4GHz DSSS Wireless (FCC certified) up to 200'

65536

16 ( 2.4GHz channel 11 through 26 ) up to 200Hz with full functionality absolute & relative quaternion, Euler angles, axis angle, rotation matrix, two vector raw sensor data, corrected sensor data, normalized sensor data, temperature

5000g

-40C ~ 85C ( -40F ~ 185F )

32-bit RISC running @ 60MHz

360º about all axes

±2º for dynamic conditions & all orientations

<0.08º

0.085º for all orientations

±2g / ±4g / ±8g selectable

14 bit

99µg/

Hz

0.00024g/digit for ±2g range

0.00048g/digit for ±4g range

0.00096g/digit for ±8g range

±0.008%/°C

±250/±500/±2000 º/sec selectable

16 bit

0.03º/sec/

Hz

11º/hr average for all axes

0.00875º/sec/digit for ±250º/sec

0.01750º/sec/digit for ±500º/sec

0.070º/sec/digit for ±2000º/sec

0.2% full-scale

±0.016%/°C

±1.3 Ga default. Up to ±8.1 Ga available

12 bit

5 mGa/digit

0.1% full-scale

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Dongle

Part number

Dimensions

Weight

Supply voltage

Communication interfaces

Wireless communication range

Wireless sensors supported

Wireless PAN Ids selectable

Wireless channels selectable

Processor

2.7 Physical Dimensions

User's Manual

TSS-DNG (Wireless Communication Dongle)

22.5mm x 65.6mm x 15mm (0.86 x 2.58 x 0.59 in.)

12 grams ( 0.42 oz )

+5v USB

USB 2.0, 2.4GHz DSSS Wireless (FCC certified) up to 200'

15 simultaneous

65536

16 ( 2.4GHz channel 11 through 26 )

32-bit RISC running @ 60MHz

*Specifications subject to change

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User's Manual

2.8 Axis Assignment

All YEI 3-Space Sensor product family members have re-mappable axis assignments and axis directions. This flexibility allows axis assignment and axis direction to match the desired end-use requirements.

The natural axes of the 3-Space Sensor are as follows:

The positive X-axis points out of the right hand side of the sensor, which is the side that is facing right when the buttons face upward and plug faces towards you.

The positive Y-axis points out of the top of the sensor, the side with the buttons.

The positive Z-axis points out of the front of the sensor, the side opposite the plug.

The natural axes are illustrated in the diagram below

Bear in mind the difference between natural axes and the axes that are used in protocol data. While they are by default the same, they can be remapped so that, for example, data axis Y could contain data from natural axis X. This allows users to work with data in a reference frame they are familiar with.

2.9 Wireless Terminology

The following provides a list of commonly used wireless concepts and their definitions.

Pan ID – Refers to a 16-bit number that can be assigned to each individual wireless unit or dongle. The pan ID serves the purpose of separating units into clusters or networks, such that a unit with one pan ID cannot communicate with a unit on another pan ID.

Channel – Refers to the frequency on which a given unit transmits or receives upon. There are 16 available channels, ranging from 11-26, inclusive. Certain channels may be more well-suited for wireless communication than others at any given time. Refer to the command listing to find out how to scan channels. Like the pan ID, units with different channels cannot communicate with each other.

Address – Each unit has a unique built-in and unchangeable address (also referred to as hardware ID), which can be found etched into the back of wireless units (but not dongles). When communicating with a unit, addresses are not used directly. Instead, a mapping is provided in the form of logical IDs.

Logical ID – Since direct addresses are cumbersome, these are provided as a means to easily communicate with a given unit. There are 15 such logical IDs. Each logical ID can be mapped to a hardware address to ease communication. A table of logical IDs and their corresponding hardware addresses can be found inside the suite under the Dongle submenu, under Wireless Communication Settings... For more information on reading or setting logical IDs, please refer to the command chart.

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User's Manual

2.10 Wireless LED Modes

Both the dongle and wireless unit have built-in LEDs that are meant to convey information about the state of the respective device. Each unit and dongle may also have a custom color that can be set. The wireless unit will display the following LED colors under the following circumstances:

Upon receipt of a packet, the wireless unit will flash green temporarily. This will occur regardless of whether the wireless unit is plugged in or not.

When the wireless unit is plugged in and charging, the sensor will flash orange every second.

When the wireless unit is plugged in and fully charged, the sensor will flash green every second.

When the wireless unit falls below a certain battery life level, it will flash red in increasingly quicker intervals.

Note that this does not happen if the sensor is plugged in.

Upon receipt of a packet, the dongle will flash green temporarily.

If the dongle transmits a packet that does not reach its destination, the dongle will flash red temporarily.

Under all other circumstances, both devices will display the custom color that has been set. In addition to this default behavior, it is possible to set a static LED mode, in which the above functionality will be overridden. In this case, the

LED will display only the custom color and nothing else. Please refer to the command chart for information on setting static LED mode.

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