Yost Labs 3-Space Bluetooth User manual

3-Space Sensor
Miniature Attitude & Heading
Reference System
User's Manual
Yost Labs
630 Second Street
Portsmouth, Ohio 45662
www yostlabs com
Patented and Patents
©2007-2017 Yost Labs, Inc
Printed in USA
3-Space Sensor
3-Space Sensor

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This page intentionally left blank

3-Space Sensor
Miniature Attitude & Heading
Reference System
User's Manual
Yost Labs
630 Second Street
Portsmouth, Ohio 45662
www YostLabs com
Phone: [phone]
Patented and Patents Pending
©2007-2017 Yost Labs, Inc
Printed in USA

Table of Contents
1 Usage/Safety Considerations 1
1 1 Usage Conditions 1
1 2 Technical Support and Repairs 1
1 3 Regulatory Approval 1
1 3 1 United States FCC Approval 1
1 3 2 Canada IC Approval 2
1 3 3 European Approval 2
1 4 Battery Safety Considerations 2
2 Overview of the YEI 3-Space Sensor 4
2 1 Introduction 4
2 2 Applications 4
2 3 Sensor Types 5
2 3 1 Wireless Sensor 5
2 3 1 1 Wireless Sensor Hardware Overview 5
2 3 1 2 Wireless Dongle Hardware Overview 5
2 3 1 3 Wireless Sensor Features 6
2 3 1 4 Wireless Sensor Block Diagram 7
2 3 1 5 Wireless Sensor Specifications 8
2 3 1 6 Wireless Sensor Physical Dimensions 9
2 3 1 7 Wireless Sensor Terminology 9
2 3 1 8 Wireless Sensor LED 10
2 3 2 USB Sensor 11
2 3 2 1 USB Sensor Hardware Overview 11
2 3 2 2 USB Sensor Features 12
2 3 2 3 USB Sensor Block Diagram 13
2 3 2 4 USB Sensor Specifications 14
2 3 2 5 USB Sensor Physical Dimensions 15
2 3 3 Data Logging Sensor 16
2 3 3 1 Data Logging Hardware Overview 16
2 3 3 2 Data Logging Features 17
2 3 3 3 Data Logging Block Diagram 18
2 3 3 4 Data Logging Sensor Specifications 19
2 3 3 5 Data Logging Sensor Physical Dimensions 20
2 3 4 Embedded Sensor 21
2 3 4 1 Embedded Sensor Hardware Overview 21
2 3 5 1 Pin Functions 22
2 3 4 2 PCB Layout 22
2 3 4 3 Embedded Sensor Features 23
2 3 4 4 Embedded Sensor Block Diagram 25
2 3 4 5 Embedded Sensor Specifications 26
2 3 4 6 Embedded Sensor Electrical Characteristics 27
2 3 5 Bluetooth Sensor 29
2 3 5 1 Bluetooth Sensor Hardware Overview 29
2 3 5 2 Bluetooth Sensor Features 30
2 3 5 3 Bluetooth Sensor Block Diagram 31
2 3 5 4 Bluetooth Sensor Specifications 32
2 3 5 5 Bluetooth Sensor Physical Dimensions 33
2 4 Axis Assignment 34
3 Description of the 3-Space Sensor 35
3 1 Orientation Estimation 35
3 1 1 Component Sensors 35
3 1 2 Scale, Bias, and Cross-Axis Effect 35
3 1 3 Component Sensor Data Types 36
3 1 4 Calibration Modes 36
3 1 5 Reference Vectors 36
3 1 6 Orientation Filtering 37
3 1 7 Tare Orientation 37
3 1 8 Offset Orientation 37
3 1 9 Other Estimation Parameters 38
3 2 Communication 39
3 2 1 Wired Streaming Mode 39
3 2 2 Wireless Streaming Mode 40
3 3 Input Device Emulation 40
3 3 1 Axes and Buttons 40
3 3 2 Joystick 40

3 3 3 Mouse 41
3 3 4 Wireless Joystick/Mouse 41
3 4 Sensor Settings 42
3 4 1 Committing Settings 42
3 4 2 Committing Wireless Settings 42
3 4 3 Natural Axes 42
3 4 4 Sensor Settings and Defaults 42
3 4 5 Dongle Settings and Defaults 43
3 4 6 Sensor Wireless Settings and Defaults 43
3 4 7 Dongle Wireless Settings and Defaults 43
3 5 Data-Logging 44
3 5 1 Mass Storage Device 44
3 5 2 SD Card Format and Directory Structure 44
3 5 3 Data-Logging 44
CaptureStartEvent 44
CaptureStopEvent 45
CaptureFormat 45
CaptureInterval 46
CaptureStyle 46
CapturePostStopGatherTime 46
CaptureFileStub 46
CaptureFileMode 46
CaptureDataMode 47
CaptureFileInfoHeader 47
3 5 4 Capture Settings and Defaults 47
3 5 5 LED Capture Behavior 48
3 5 6 Real Time Clock 48
4 3-Space Sensor Usage/Protocol 49
4 1 Usage Overview 49
4 1 1 Protocol Overview 49
4 1 2 Computer Interfacing Overview(USB) 49
4 1 3 Computer Interfacing Overview (Wireless) 49
4 1 4 Computer Interfacing Overview (Embedded) 49
4 1 4 1 USB Interfacing 50
4 1 4 2 Asynchronous Serial Interfacing 50
4 1 4 3 SPI Interfacing 52
4 1 4 4 Interrupt Generation 52
4 1 3 5 Button Settings 53
4 2 Wired Protocol Packet Format 54
4 2 1 Binary Packet Format 54
4 2 2 ASCII Text Packet Format 55
4 2 3 SPI Packet Format(Embedded) 56
4 3 Wireless Protocol Packet Format 57
4 3 1 Wireless Communication Format 57
4 3 2 Binary Packet Format 57
4 3 3 Binary Command Response 58
4 3 4 Sample Binary Commands 58
4 3 5 ASCII Text Packet Format 59
4 3 6 ASCII Command Response 60
4 3 7 Sample ASCII Commands 60
4 4 Response Header Format 61
4 4 1 Wired Response Header 61
4 4 2 Wired Streaming with Response Header 62
4 4 3 Wireless Response Header 62
4 4 4 Wireless Streaming with Response Header 62
4 5 Command Overview 64
4 5 1 Orientation Commands 64
4 5 2 Normalized Data Commands 65
4 5 3 Corrected Data Commands 65
4 5 4 Other Data Commands 65
4 5 5 Raw Data Commands 66
4 5 6 Streaming Commands 66
4 5 7 Configuration Write Commands 67
4 5 8 Configuration Read Commands 70
4 5 9 Calibration Commands 71
4 5 10 System Commands 72
4 5 11 Wired HID Commands 73
4 5 12 General HID Commands 74

4 6 Product Specific Commands 75
4 6 1 Wireless Specific Commands 75
4 6 1 1 Dongle Commands 75
4 6 1 2 Wireless Sensor & Dongle Commands 76
4 6 1 3 Wireless HID Commands 76
4 6 2 Battery Commands 77
4 6 3 Embedded Commands 77
4 6 4 Data-Logging Commands 77
Appendix 78
USB Connector 78
Hex / Decimal Conversion Chart 78

User's Manual
1. Usage/Safety Considerations
1.1 Usage Conditions
•Do not use the 3-Space Sensor in any system on which people's lives depend(life support, weapons, etc )
•Because of its reliance on a compass, the 3-Space Sensor will not work properly near the earth's north or south
pole
•Because of its reliance on a compass and accelerometer, the 3-Space Sensor will not work properly in outer
space or on planets with no magnetic field
•Care should be taken when using the 3-Space Sensor in a car or other moving vehicle, as the disturbances
caused by the vehicle's acceleration may cause the sensor to give inaccurate readings
•Because of its reliance on a compass, care should be taken when using the 3-Space Sensor near ferrous metal
structures, magnetic fields, current carrying conductors, and should be kept about 6 inches away from any
computer screens or towers
•Since the Wireless 3-Space Sensor uses RF communication technology, communication failure modes should
be carefully considered when designing a system that uses the wireless 3-Space Sensor
•The Wireless 3-Space Sensor is powered by a rechargeable lithium-polymer battery Lithium-polymer batteries
have high energy densities and can be dangerous if not used properly See the “Battery Considerations”
section for further information pertaining to battery safety
1.2 Technical Support and Repairs
Standard Limited Product Warranty: Yost Labs warrants the media and hardware on which products are furnished to be
free from defects in materials and workmanship under normal use for sixty (60) days from the date of delivery except
for OEM warranty items(see below) Yost Labs will repair or replace any defective product which is returned within
this time period Returned items will be tested in order to confirm a manufacturing defect is present No warranties
exist for any misuse
OEM Limited Product Warranty: The following OEM products are subject to additional return limitations beyond the
Standard Limited Product Warranty: surface-mount modules, integrated circuits, bare PCB modules, and other
electronic components Because of the risk of damage or malfunction due to user testing and handling problems, returns
will be granted only upon evidence and/or inspection conclusively demonstrating manufacturing defect All OEM
products are individually tested prior to shipment for quality control
Product Support: Yost Labs provides technical and user support via our toll-free number (740-876-4936) and via email
(support@yostlabs com) Support is provided for the lifetime of the equipment Requests for repairs should be made
through the Support department For damage occurring outside of the warranty period or provisions, customers will be
provided with cost estimates prior to repairs being performed
1.3 Regulatory Approval
1.3.1 United States FCC Approval
The 3-Space Wireless Sensor and Dongle devices contain FCC ID: OA3MRF24J40MA
This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of
the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential
installation This equipment generates, uses and can radiate radio frequency energy, and if not installed and used in
accordance with the instructions, may cause harmful interference to radio communications However, there is no
guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to
radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try
to correct the interference by one or more of the following measures:
•Reorient or relocate the receiving antenna
•Increase the separation between the equipment and receiver
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User's Manual
•Connect the equipment into an outlet on a circuit different from that to which the receiver is connected
•Consult the dealer or an experienced radio/TV technician for help
To satisfy FCC RF Exposure requirements for mobile and base station transmission devices, a separation distance of 20
cm or more should be maintained between the antenna of this device and persons during operation To ensure
compliance, operation at closer than this distance is not recommended The antenna(s) used for this transmitter must not
be co-located or operating in conjunction with any other antenna or transmitter
If the Wireless Unit is used in a portable application (antenna is less than 20 cm from persons during operation), the
integrator is responsible for performing Specific Absorption Rate (SAR) testing in accordance with FCC rules 2 1091
1.3.2 Canada IC Approval
The 3-Space Wireless Sensor and Dongle devices contain IC ID: 7693A-24J40MA
This device has been certified for use in Canada under Industry Canada (IC) Radio Standards Specification (RSS) RSS-
210 and RSS-Gen
1.3.3 European Approval
The 3-Space Wireless Sensor and Dongle devices contain a communication module that has been certified for use in
European countries
The following testing has been completed:
Test standard ETSI EN 300 328 V1 7 1 (2006-10):
•Maximum Transmit Power
•Maximum EIRP Spectral Density
•Frequency Range
•Radiated Emissions
Test standards ETSI EN 301 489-1:2008 and ETSI EN 301 489-17:2008:
•Radiated Emissions
•Electro-Static Discharge
•Radiated RF Susceptibility
1.4 Battery Safety Considerations
The 3-Space Wireless Sensor, Data Logging Sensor, and Bluetooth Sensor contain a rechargeable lithium-polymer
battery Lithium-polymer batteries have high energy densities and can be dangerous if not used and cared for properly
These sensors have been designed to include multiple levels of battery safety assurance The sensor circuitry includes
smart charging circuitry with thermal management to prevent over-charging the battery The battery pack itself also
includes protection circuitry to prevent over-charge, over-voltage, over-current, and over-discharge conditions
Most battery issues arise from improper handling of batteries, and particularly from the continued use of damaged
batteries
As with any lithium-polymer battery-powered device, the following should be observed:
•Don’t disassemble, crush, puncture, shred, or otherwise attempt to change the form of your battery
•Don't attempt to change or modify the battery yourself Contact Yost Labs technical support for battery
replacement or battery repair
•Don’t let the mobile device or battery come in contact with water
•Don’t allow the battery to touch metal objects
•Don’t place the sensor unit near a heat source Excessive heat can damage the sensor unit or the battery High
temperatures can cause the battery to swell, leak, or malfunction
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•Don’t dry a wet or damp sensor unit with an appliance or heat source, such as a hair dryer or microwave oven
•Don't drop the sensor unit Dropping, especially on a hard surface, can potentially cause damage to the sensor
unit or the battery
•Discontinue use immediately and contact Yost Labs technical support if the battery or sensor unit produce
odors, emit smoke, exhibit swelling, produce excess heat, exhibit leaking
•Dispose of Lithium-polymer batteries properly in accordance with local, state, and federal guidelines
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2. verview of the 3-Space Sensor
2.1 ntroduction
The 3-Space SensorTM is a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS)
The 3-Space family includes sensors with a variety of communication methods, including USB, wireless, serial, and
SPI 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 gradient descent
calibration process and high update rates increase accuracy and greatly reduce and compensate for sensor error The 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 3-Space Sensor unit 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)
When used as a USB device, the 3-Space Sensor provides mouse emulation and joystick emulation modes that ease
integration with existing applications
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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2.3 Sensor Types
2.3.1 Wireless Sensor
2.3.1.1 Wireless Sensor Hardware Overview
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 switched 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 L D – The 3-Space Sensor includes an RGB LED that can be used for visual status feedback
5. Input Button 2 – See Input Button 1
2.3.1.2 Wireless Dongle Hardware Overview
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
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2. Indicator L D – The 3-Space Wireless Dongle includes an RGB LED that can be used for visual status
feedback
2.3.1.3 Wireless Sensor Features
The 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, real-
time immersive simulation, and robotics
•Highly customizable orientation sensing with options such as tunable filtering, oversampling, and orientation
error correction
•Advanced integrated orientation 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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2.3.1.4 Wireless Sensor Block Diagram
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2.3.1.5 Wireless Sensor Specifications
General
Part number TSS-WL (Handheld Sensor Unit)
TSS-WL-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 DSSS Wireless (FCC certified)
Wireless communication range up to 200'
Wireless PAN Ids selectable 65536
Wireless channels selectable 16 ( 2 4GHz channel 11 through 26 )
Filter update rate up to 200Hz with full functionality
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
Shock survivability 5000g
Temperature range -40C ~ 85C ( -40F ~ 185F )
Processor 32-bit RISC running @ 60MHz
Sensor
Orientation range 360º about all axes
Orientation accuracy ±1º average 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/±1000/±2000 º/sec selectable
Gyro resolution 16 bit
Gyro noise density 0 009º/sec/√Hz
Gyro bias stability @ 25°C2 5º/hr average for all axes
Gyro sensitivity 0 00833º/sec/digit for ±250º/sec
0 0666º/sec/digit for ±2000º/sec
Gyro non-linearity 0 2% full-scale
Gyro temperature sensitivity ±0 03%/°C
Compass scale ±0 99 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
Dongle
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Part number TSS-DNG (Wireless Communication Dongle)
Dimensions 22 5mm x 65 6mm x 15mm (0 86 x 2 58 x 0 59 in )
Weight 12 grams ( 0 42 oz )
Supply voltage +5v USB
Communication interfaces USB 2 0, 2 4GHz DSSS Wireless (FCC certified)
Wireless communication range up to 200'
Wireless sensors supported 15 simultaneous
Wireless PAN Ids selectable 65536
Wireless channels selectable 16 ( 2 4GHz channel 11 through 26 )
Processor 32-bit RISC running @ 60MHz
*Specifications subject to change
2.3.1.6 Wireless Sensor Physical Dimensions
2.3.1.7 Wireless Sensor 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 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 sub-
menu, under Dongle Info & Wireless Settings For more information on reading or setting logical IDs, please refer to
the command chart
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User's Manual
2.3.1.8 Wireless Sensor LED
Both the dongle and wireless unit have built-in LEDs that are meant to convey information about the state of the
respective device These LEDs may also be set to a custom color 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 yellow 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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User's Manual
2.3.2 USB Sensor
2.3.2.1 USB Sensor Hardware Overview
1. USB Connector – The 3-Space Sensor uses a 5-pin mini USB connector to connect to a computer via USB
The USB connector provides for both power and communication signals
2. RS232 Connector – The 3-Space Sensor can respond to protocol messages via RS232 by using this port The
port is a 2 5mm 4 conductor jack that carries TxD, RxD, Gnd, +5vdc Input signals The +5vdc Input signal is
provided as a means to provide power and communications in a single connector If an external power adapter
is used the +5vdc Input signal may be left unconnected
3. xternal Power Connector – The 3-Space Sensor can be powered via an external power supply via this port
The port is an EIAJ-1 standard barrel jack with a positive center pin Nominal supply voltage is +5vdc,
however, any voltage in the range of +3 5vdc to 10vdc will power the unit safely
4. 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
5. Indicator L D – The 3-Space Sensor includes an RGB LED that can be used for visual status feedback
6. Input Button 2 – See Input Button 1
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User's Manual
2.3.2.2 USB Sensor Features
The 3-Space Sensor USB 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 50mm x 15mm and 17 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 orientation 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 RS232 asynchronous serial
•USB communication via virtual COM port
•USB joystick/mouse emulation modes ease integration with existing applications
•Upgradeable firmware
•RGB status LED, two programmable input buttons
•Miniature barrel jack for optional external power input
•Miniature TRS connector for RS232 and power input
•Available in either hand-held or strap-down packaging
•RoHS compliant
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2.3.2.3 USB Sensor Block Diagram
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User's Manual
2.3.2.4 USB Sensor Specifications
General
Part number TSS-USB (Handheld Sensor Unit)
TSS-USB-S (Screw-down Sensor Unit)
TSS-USBWT-S (Watertight Screw-down Sensor Unit)
TSS-MUSB (Micro-USB Sensor Unit)
Dimensions 35mm x 50mm x 15mm (1 38 x 1 97 x 0 59 in ) (USB)
35mm x 67 6mm x 20mm (1 38 x 2 66 x 0 79 in ) (USBWT-S)
23mm x 23mm x 2 2mm (0 9 x 0 9 x 0 086 in ) (MUSB)
Weight 17 grams (0 60 oz) (USB), 21 grams (0 74 oz) (USBWT-S), 1 3 grams (0 0458 oz) (MUSB)
Supply voltage +5v USB, +3 3v ~ +6 0v external jack
Communication interfaces USB 2 0, RS232 Asynchronous Serial
Serial baud rates 1,200~921,600 selectable, default: 115,200
Filter update rate1up 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
Shock survivability 5000g
Temperature range -40C ~ 85C (-40F ~ 185F)
Sensor
Orientation range 360º about all axes
Orientation accuracy2±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 Specifications are subject to change
2 Average value when calibrated
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