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Data-logging 航姿参考与轨迹跟踪数据记录仪

The YEI 3-Space Sensor™ Data-logging integrates a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) with a micro-SD card storage device 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.

Data-logging航姿参考轨迹跟踪数据记录仪Data-logging航姿参考轨迹跟踪数据记录仪

When attached to a USB 2.0 host, the YEI 3-Space Data-logging unit can enumerate as both a virtual COM port and a USB mass-storage device. The virtual COM port allows access to real-time sensor data and configuration parameters and the mass-storage device allows access to logging & config options and captured sensor data. Versatile commands provide for 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).  USB2.0接口可实时读取数据,也可以存储在MicroSD卡里事后读取。

Areas of Application

  • Robotics performance analysis
  • Motion capture
  • Information gathering
  • Personnel/pedestrian tracking
  • Unmanned air/land/water vehicle tracking
  • Education and performing arts
  • Healthcare monitoring
  • Asset tracking
  • Vibration analysis and monitoring
  • Event detection and monitoring

Hardware Overview 

Data-logging 航姿参考与轨迹跟踪数据记录仪原理图Data-logging 航姿参考与轨迹跟踪数据记录仪原理图

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Key Features

The Datalogging YEI 3-Space Sensor 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 data-logging AHRS at 35mm x 60mm x 15mm and 28 grams
  • 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 highly dynamic applications, including motion capture, performance & motion analysis, and navigation
  • 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
  • MicroSD card allows for data-logging applications, USB allows for real-time applications
  • Flexible data logging configuration allows customization of logged data and allows event-based and time-based logging options
  • Built-in clock/calendar provides for fully time-stamped event logging at high resolution
  • USB communication via virtual COM port
  • Enumeration as USB mass-storage device makes access to logged data easy
  • Upgradeable firmware
  • RGB status LED, two programmable input buttons
  • Available in either hand-held or strap-down packaging

Specifications

General

Part number TSS-DL (Handheld Sensor Unit)
TSS-DL-S (Strapdown Sensor Unit)
TSS-DL-HH (High-G Accelerometer Option, Handheld Sensor Unit)
TSS-DL-HH-S (High-G Accelerometer Option, Strapdown 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   内置可充电锂电池
Battery lifetime 5+ hours continuous use at full performance
Communication interfaces USB 2.0
Storage media MicroSD card using FAT32 File System   配备2Gb MicroSD存储卡
Filter update rate up to 250Hz USB/200Hz logging with Kalman AHRS
up to 850Hz USB/400Hz logging with QCOMP AHRS
up to 1350Hz USB/475Hz logging 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

Data-logging 航姿参考与轨迹跟踪数据记录仪尺寸图Data-logging 航姿参考与轨迹跟踪数据记录仪尺寸图

Downloads and Documentation

Documentation

 

 

 

 

 

 

 

 

 

 

 

产品概述

3-Space SensorTM数据记录器包含了微型、高精度、高可靠性的航姿参考系统(AHRS) /惯性测量单元(IMU)和微型SD卡存储设备,以及可充电锂聚合物电池,集成于一个低成本终端使用单元。航姿参考系统(AHRS) /惯性测量单元(IMU)使用三轴陀螺仪、三轴加速度计和三轴电子罗盘传感器,结合先进的处理和基于四元数的方向滤波算法,实时输出有关方向的绝对数值参考。

定位可以以绝对值形式反馈,也可以以相关的指定参数反馈。梯度下降法校准处理和高更新率提高了准确度,大大减少和弥补了传感器误差。YEI 3-Space传感器系统还采用了动态信心算法,确保在广泛工作条件下获得最佳的准确度和精度。

当3-Space数据记录器连接到USB2.0主机时,显示虚拟COM端口和USB大容量储存设备。接入虚拟COM端口可以实时读取传感器数据和配置参数,而大型存储设备可以进行记录和配置选项,和读取捕获的传感器数据。强大和大量的指令可以读取传感器原始数据、标定化数据、绝对和相对方向滤波数据输出,格式包括四元数、欧拉角(俯仰/横滚/航向)、旋转矩阵、轴角、双矢量(前进/向上)。

应用范围

  • 机械人性能分析
  • 动作捕捉
  • 人员/行人追踪
  • 无人驾驶空中/陆地/水上车辆跟踪
  • 教育和表演艺术
  • 健康监察
  • 资产追踪
  • 振动分析和监控
  • 事件检测和监控

核心特点

 3-Space传感器数据记录器有许多功能,为满足您的定向需求,它提供了灵活且全面的解决方案。以下是一些核心的特点:

  • 小型独立的高性能AHRS数据记录,尺寸35mm*60mm*15mm、重28克。
  • 集成锂聚合物电池和可充电,满负荷工作电池续航5小时以上
  • 快速的传感器数据更新和高滤波率,可用在高动态的应用,包括动作捕捉、表现和运动分析、导航等应用
  • 方便定制方向感知选项,如可调滤波、过采样,和方向误差校正
  • 集成了先进的卡尔曼滤波,自动减少传感器噪声和误差的影响
  • 强大的开放协议,可以发送自然语言格式指令,或者更快的机读格式指令
  • 输出定向包含绝对或相对值多种格式(四元数、旋转矩阵、轴角、双矢量)
  • 绝对参考或自定义参考轴
  • 可读取传感器原始数据
  • MicroSD卡支持数据记录应用,USB支持实时应用
  • 灵活的数据数据记录配置允许自定义日志数据,如基于事件和基于时间的日志记录可选
  • 内置时钟/日历提供高分辨率的时间戳事件日志记录
  • 通过虚拟的COM端口进行USB通信
  • USB大容量存储设备很容易记录数据
  • 可升级固件
  • RGB 状态 LED, 两个可编程输入按钮
  • 手持外壳封装或螺钉固定封装

 3-Space SensorTM Data-logging 微型高性能AHRS / IMU 系统高可靠性MEMS技术的结合

 

一般

零件号

TSS-DL (手持外壳传感器单元)

TSS-DL-S (螺钉固定传感器单元)

尺寸

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

重量

28 克(0.98 oz)

电源电压

+5v USB

电池技术

可充电锂聚合物

电池寿命

5小时以上连续使用

通信接口

USB 2.0

储存介质

MicroSD 卡

滤波器更新率1

高达 250Hz USB /200Hz数据记录卡尔曼滤波 AHRS 850Hz USB/400Hz数据记录 QCOMP算法AHRS 1350Hz USB/475Hz 数据记录 IMU模式

定向输出

绝对和相对四元数,欧拉角,轴角,旋转矩阵,两个矢量

其他输出

传感器原始数据,传感器标定数据,传感器校准数据,温度,日期/时间。

冲击

5000g(加速度)

温度范围

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

传感器

定位范围

360º 无死角

定位精度2

±1º 动态条件和方向

方向分辨率

<0.08º

定位重复性

0.085º 对所有方向

加速度量程

±2g / ±4g / ±8g 可选择,标准型号

±6g / ±12g / ±24g可选, HH型号

±100g / ±200g / ±400g可选,H3型号

加速度测量分辨率

14 位, 12 位(HH), 12位(H3)

加速度计噪声密度

99µg/√Hz, 650µg/√Hz(HH), 15mg/√Hz(H3)

加速度计灵敏度

0.00024g/数位-0.00096g/数位t

0.003g/数位t-0.012/数位(HH)

0.049g/数位t-0.195g/数位(H3)

加速度计的温度敏感性

±0.008%/°C, ±0.01%/°C(HH, H3)

陀螺量程

±250/±500/±1000/±2000 º/秒 可选

陀螺分辨率

16 位

陀螺噪声密度

0.009º/秒/√Hz

陀螺稳定@ 25°C

2.5º/小时 各轴平均

陀螺灵敏度

在±250º/秒时,0.00833º/秒/digit

在±2000º/秒时,0.06667º/秒/digit

陀螺非线性

0.2%满程