3-Space Sensor HiPerGyro User`s Manual
Contents
1. Return Data Command Description Long Description Data Len Return Data Details Len Data Details Read gyroscope fusion Returns the final gyroscope reading output from the 0 0x00 resu fusion filter 12 Vector float x3 0 Returns the final accelerometer reading output from 1 0x01 Read accel fusion result the fusion filter 12 Vector float x3 0 Read compass fusion Returns the final compass reading output from the 2 0x02 resu fusion filter 12 Vector float x3 0 Returns the final orientation output from the fusion 3 0x03 Read orient fusion result filter relative to the tare orientation 16 Quaternion float x4 0 Gyro vector float x3 Accel Read all component fusion Returns the final gyroscope accelerometer and vector float x3 Compass 4 0x04 results compass readings from the fusion filters 36 vector float x3 0 Mode bitfield U8 bit 5 on for delta theta off bit 4 on for orient off bit 3 on for compass off bit 2 on for 14 0x0E Set filter modes Set which types of filters are enabled or disabled 0 1 accel off bit 1 on for gyro off Mode bitfield U8 bit 5 on for delta theta off bit 4 on for orient off bit 3 on for compass off bit 2 on for accel off bit 1 on for gyro 15 0x0F Read filter modes Read which types of filters are enabled or disabled 1 off 0 Read the difference in orientation based on the Read delta theta for last gyroscope since the last calculati2. Y 3 Space Sensor HiPerGyro High Performance Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www YeiTechnology com www 3SpaceSensor com 3 Space Sensor Patents Pending 2007 2012 Yost Engineering Inc Printed in USA Y 3 Space Sensor HiPerGyro Miniature Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www YeiTechnology com www 3SpaceSensor com Toll Free 888 395 9029 Phone 740 355 9029 Patents Pending 2007 2012 Yost Engineering Inc Printed in USA Table of Contents l Usage Safety Considerations a 1 LL Usage Conditions a aaa tati baina 1 1 2 Technical Support and Repaits ccccccecccessessesseesseeseeeeeseeseeesecceesecsceesecsaeeseceseeaeceaesaeeesecaeseaeceseaeseeeseseeeesesseeeaeenaes 1 2 Overview of the YEI 3 Space Sensor HiPerGyro ecceeceeccescessceseesseeseceeeesecsceeseceaeeseceaeesecesecaeenseseeeeseceeeeaeseseeseeeesaeeens 2 2 VSItrOGuctiGm 2252 A nts a sede a eel 2 ZX Applications seis UNS 2 DS O A RN 2 2 A Hardwate OVA iaa 3 2 5 Block Diagram of Sensor Oper dci 4 DO POCA ati 5 27 PHYSICAL DIMENSIONS dt a E E aia tes 6 UE DIARI aiaa n E E E E Leesa re aac ae a E E A aesnc es ee eee oe ees 6 3 Description of the 3 Space Sensor HiPerGyro ececccceescesseeseesseeseeseceseeseeeseceeeeseceaeeseeeaecsesesecseeeaeeseeeaec
3. command value specifier byte followed by zero or more command data bytes and terminated by a packet checksum value byte Each binary packet is at least 3 bytes in length and is formatted as shown in figure 1 247 0xF7 A First Byte Start of Packet Second Byte Command Value Selected from the command chart Command l Command Data Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Data Last Byte Packet Checksum Checksum Sum of all other bytes except the first Figure 1 Typical Binary Command Packet Format Binary Return Values When a 3 Space Sensor command is called in binary mode any data it returns will also be in binary format For example if a floating point number is returned it will be returned as its 4 byte binary representation For information on the floating point format go here http en wikipedia org wiki Single precision floating point_format Also keep in mind that integer and floating point values coming from the sensor are stored in big endian format The Checksum Value The checksum is computed as an arithmetic summation of all of the characters in the packet except the first byte and the checksum value itself modulus 256 This gives a resulting checksum in the range 0 to 255 The checksum for binary pa
4. Set bias tracking mode fusion 0 1 tracking Method U8 O for none 1 for gyro bias only 2 for fusion bias only 3 for both Read the bias tracking method used by gyroscope 7 for both with no temp bias 103 0x67 Read bias tracking mode fusion 1 tracking 0 104 0x68 Set fusion bias Set the fused gyroscope reading bias 0 12 Vector foat x3 105 0x69 Read fusion bias Read the fused gyroscope reading bias 12 Vector float x3 0 Read the stillness value used by bias tracking and 106 0x6A Read sensor stillness the deadband 4 Stillness float 0 Set bias tracking stillness 107 0x6B threshold Set the threshold used for stillness by bias tracking 0 4 Stillness foat Read bias tracking 108 0x6C stilliness threshold Read the stillness threshold used by bias tracking 4 Stillness float 0 16 User s Manual 4 3 6 Calibration Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Run gyroscope bias calibration Both LEDs will tum purple during this process Leave the sensor as still as possible until the LEDs revert to their normal 128 0x80 Calibrate all gyro biases colors 0 0 Set gyro calibration Index U8 Bias float x3 130 0x82 parameters Set bias and scale parameters for a gyroscope 0 49 Matrix float x9 Read gyro calibration Bias float x3 Matrix float 131 0
5. from all compasses 24 Raw vector short x3 x4 0 Read all raw with Read the raw values from all sensors along with a Timestamp U32 Raw 38 0x26 timestamp timestamp 148 vector short x3 x24 0 39 0x27 Read raw barometer Read the raw barometer value 2 Raw value short 0 14 User s Manual 4 3 3 Calibrated Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 48 0x30 Read single gyro Read the calibrated value from a single gyroscope 12 Vector float x3 1 Index U8 Read the calibrated value from a single 49 0x31 Read single accel accelerometer 12 Vector float x3 1 Index U8 50 0x32 Read single compass Read the calibrated value from a single compass 12 Vector float x3 1 Index U8 51 0x33 Read all gyros Read the calibrated values from all gyroscopes 192 Vector float x3 x16 0 52 0x34 Read all accels Read the calibrated values from all accelerometer 48 Vector float x3 x4 0 53 0x35 Read all compasses Read the calibrated values from all compasses 48 Vector float x3 x4 0 Read the calibrated values from all sensors along Timestamp U32 Vector flo 54 0x 36 Read all with timestamp with a timestamp 292 latx3 x24 0 Read the calibrated temperature of a gyroscope in 56 0x38 Read gyro temperature C degrees C 4
6. per degree float x9 Bias per degree float x3 Read compass Linear scale per 141 0x8D temperature parameters Read temperature parameters for a compass 48 degree float x9 1 Index U8 Mode U8 0 for scale and bias 142 0x8E Set calibration mode Set calibration mode for sensors 0 1 only 1 for vector correction Mode U8 0 for scale and bias only 1 for vector 143 0x8F Read calibration mode Read calibration mode for sensors 1 correction 0 Value type U8 0 for compass 1 for accelerometer Index short 144 0x90 Set lookup table vertex Set a vertex in the vector lookup table 0 15 Value float x3 Value type U8 O for compass 1 for 145 0x91 Read lookup table vertex Read a vertex in the vector lookup table 12 Value float x3 3 accelerometer Index short Set ortho calibration from Set an ortho calibration point using the current 146 0x92 current orient orientation 0 0 Type U8 0 for compass 1 for accel Index U8 Vector float 148 0x94 Set ortho calibration point Set an ortho calibration point manually 0 14 1x3 Read ortho calibration Type U8 O for compass 1 for 149 0x95 point Read an ortho calibration point 12 Vector float x3 2 accel Index U8 150 0x96 Perform ortho calibration Use the ortho calibration data to fill the lookup table 0 0 151 0x97 Clear ortho calibration Clear the ortho calibration data 0 0 Index U8 Range U8 0 for 250 dps 1 for 500 dps 2 for 152 0x98 Set gyro range Set the range of a
7. raw sensor data normalized sensor data and filtered absolute and relative orientation outputs 2 2 Applications e Navigation e Autonomous vehicles e Antenna and platform stabilization e Optical stabilization e Personnel pedestrian navigation and tracking e Unmanned air land water vehicle guidance e Marine motion sensing 2 3 Key Features The YEI 3 Space HiPerGyro has many features that allow it to be a flexible all in one solution for your high accuracy inertial and orientation sensing needs Below are some of the key features e Small self contained ultra high performance AHRS at 54mm x 64mm x 10mm and lt 40 grams e Optical gyro IMU performance characteristics at MEMS size weight and power e Fast sensor update and filter rate allow use in real time applications including navigation stabilization and guidance e Advanced integrated on board multi sensor fusion provides ultra high accuracy e Proprietary dynamic sensor error tracking and bias tracking automatically minimize the effects of sensor noise and sensor error across a wide range of operating conditions e Proprietary bias tracking achieves gyro bias drift of less than 0 001 hr for all axes and gyro ARW of less than 0 00005 Vhr e Robust open protocol allows commands to be sent in human readable form or more quickly in machine readable form e Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix
8. single gyroscope 0 2 2000 dps Range U8 0 for 250 dps 1 153 0x99 Read gyro range Read the range of a single gyroscope 1 for 500 dps 2 for 2000 dps 1 Index U8 Index U8 Range U8 0 for 154 0x9A Set accel range Set the range of a single accelerometer 0 2 2G 1 for 4G 2 for 8G Range U8 0 for 2G 1 for 155 0x9B Read accel range Read the range of a single accelerometer 1 4G 2 for 8G 1 Index U8 Index U8 Range U8 0 for 10 156 0x9C Set compass range Set the range of a single compass 0 2 G 157 0x9D Read compass range Read the range of a single compass 1 Range U8 0 for 10 G 1 Index U8 Oversample rate U8 1 to 10 158 0x9E Set gyro oversample rate Set the current oversample rate for all gyroscopes 0 1 1 being no oversampling Oversample rate U8 1 to 10 1 being no 159 0x9F Read gyro oversample rate Read the current oversample rate for all gyroscopes 1 oversampling 0 17 User s Manual Return Data Command Description Long Description Data Len Return Data Details Len Data Details Sets the alpha value of the temperature s low pass 160 0xa0 Set temperature filter alphajfilter 0 4 Alpha value fioat Read temperature filter Reads the alpha value of the temperature s low pass 161 0xa1 alpha filter 4 Alpha value fioat 0 4 3 7 System Commands Return Data Command Description Long Descripti
9. which you consider the plug to be towards you and the LEDs up The act of giving this reference orientation to the sensor is called taring just as some scales have a tare button which can be pressed to tell the scale that nothing is on it and it should read zero For instructions on doing this refer to command 64 0x40 to 66 0x42 on the command chart 3 3 Communication Obtaining data about orientation from the sensor or giving values for any of its settings is done through the sensor s communication protocol The protocol can be used through either the USB port or the RS422 port A complete description of how to use this protocol is given in section 4 of this document 3 4 Sensor Settings 3 4 1 Committing Settings Changes made to the HiPerGyro will not be saved unless they are committed This allows you to make changes to the sensor and easily revert it to its previous state by resetting the chip To commit your changes call command 225 0xe1 Any changes relating to the multiple reference vector mode are an exception to this rule as all these changes are saved immediately User s Manual 3 4 2 Settings and Defaults Setting Name Purpose Default Value RS232 Baud Rate Determines the speed of RS232 communication 115200 RS422 Baud Rate Determines the speed of RS422 communication 115200 LED 0 Color Determines the color of the first LED 0 0 255 LED 1 Color Determines the color of the sec
10. will be ignored This allows the controlling system to send command data at leisure without loss of functionality The command buffer will however be cleared whenever the 3 Space Sensor is either reset or powered off on Specific details of the 3 Space Sensor protocol and its control commands are discussed in the following pages 4 1 2 Computer Interfacing Overview When interfacing with a computer the HiPerGyro presents itself as a COM port which provides an interface by which the serial communication the protocol requires may happen The name of this COM port is specific to the operating system being used and the communication interface being used It is possible to use multiple HiPerGyro on a single computer Each will be assigned its own COM port The easiest way to find out which COM port belongs to a certain sensor is to take note of what COM port appears when that sensor is plugged in provided the drivers have been installed on that computer already Otherwise find out what COM port appears once driver installation has finished For more information on how to install the sensor software on a computer and begin using it see the Quick Start guide 10 User s Manual 4 2 Protocol Packet Format 4 2 1 Binary Packet Format The binary packet size can be three or more bytes long depending upon the nature of the command being sent to the controller Each packet consists of an initial start of packet byte followed by a
11. Temperature float 1 Index U8 Read the calibrated temperature of a gyroscope in 57 0x39 Read gyro temperature F_ degrees F 4 Temperature float 1 Index U8 Read all gyro temperatures Read the calibrated temperatures of all gyroscopes 58 0x3A c in degrees C 64 Temperature float 16 0 4 3 4 Orientation Fusion Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Tare with current 64 0x40 orientation Set the tare orientation to the current orientation 0 0 65 0x41 Tare with quaternion Set the tare orientation to the give quaternion 0 16 Quaternion float x4 66 0x42 Read tare orientation Read the tare orientation 0 Quaternion float x4 0 67 0x43 Read covariance matrix Read the current Kalman filter covariance matrix 0 Covariance matrix float x16 0 Index U8 State U8 0 for 68 0x44 Set gyro enabled Enable or disable a gyroscope 0 2 disabled 1 for enabled State U8 0 for disabled 1 69 0x45 Read gyro enabled Read the enabled state of a gyroscope 1 for enabled 1 Index U8 Index U8 State U8 0 for 70 0x46 Set accel enabled Enable or disable a accelerometer 0 2 disabled 1 for enabled State U8 0 for disabled 1 71 0x47 Read accel enabled Read the enabled state of a acclerometer 1 for enabled 1 Index U8 Index U8 State U8 0 for 72 0x48 Set compass enabled Enable or disable a compass 0 2 disabled 1 for enabled State U8 0 for disabled 1 73 0x49 Read compass
12. ad LED color Read the color of an LED 4 Blue U8 1 LED index U8 0 or 1 18 User s Manual Appendix USB Connector The 3 Space Sensor has a 5 pin USB Type B jack and can be connected via a standard 5 pin mini USB cable RS422 Connector The RS422 connector provides a means to provide to and communicate with the 3 Space Sensor via full duplex RS422 signals The RS422 connector is a 6 pin 2mm Hirose part number DF3A 6P 2DS and allows connection of several style mating connector including IDC and crimp pin options See the DF3A series datasheet for all mating connector options The signals of the RS422 connector are assigned as follows Signal Number Signal Description 1 3 3 6 vdc External Power Input 2 RS422 A Signal RxD into unit 3 RS422 B Signal RxD into unit 4 RS422 Z Signal TxD from unit 5 RS422 Y Signal TxD from unit 6 Gnd Shared power and signal ground Mating plugs are available from Yost Engineering Inc or from other electronics vendors Note that the RS422 power input is provided as a convenient way to provide power along with communications via a single connector Thus the external power input is only required when the unit is not being powered via USB Hex Decimal Conversion Chart Second Hexadecimal di
13. age bytes are reserved for future expansion All commands are listed in the command chart which follows When looking at the command charts note the following The Data Len field indicates the number of additional data bytes the command expects to follow the command byte itself This number doesn t include the Start of Packet Command or Checksum bytes Thus the total message size can be calculated by adding three bytes to the Data Len listed in the table Likewise the Return Data Len field indicates the number of data bytes the command delivers back to the sender once the command has finished executing Under Return Data Details each command lists the sort of data which is being returned and next to this in parenthesis the form this data takes For example a quaternion is represented by 4 floating point numbers so a command which returns a quaternion would list Quaternion float x4 for its return data details Command length information only applies to binary commands as ascii commands can vary in length For quaternions data is always returned in x y z w order Euler angles are always returned in pitch yaw roll order When calling commands in ASCII mode there is no fixed byte length for the parameter data or return data as the length depends on the ASCII encoding 13 User s Manual 4 3 1 Filtered Data Commands
14. axis angle two vector User s Manual e Absolute or custom reference axes e Includes barometric sensor to aid in altitude estimation e Flexible communication options USB 2 0 or Full Duplex RS422 e Communication through a virtual COM port e Upgradeable firmware RGB status LEDs 2 4 Hardware Overview 4 RGB Status Indicator LEDs SN 0x20000100 YEI 3 Space HiPerGyro AHRS IMU www 3SpaceSensor com Patents Pending 1 Power Switch 3 Mini USB 2 0 Port 2 RS 422 Ext Power Connector 1 Power Switch The 3 Space Sensor HiPerGyro can be switch on and off by using the power switch 2 RS 422 Connector The 3 Space Sensor HiPerGyro allows for external power and full duplex RS 422 communication via connection to this port The RS 422 connector provides for both power and communication signals 3 USB Connector The 3 Space Sensor HiPerGyro uses a 5 pin mini USB connector to connect to a computer via USB The USB connector provides for both power and communication signals 4 Indicator LEDs The 3 Space Sensor HiPerGyro includes two RGB status LEDs that can provide visual status feedback during operation User s Manual 2 5 Block Diagram of Sensor Operation USB 2 0 RS422 Serial Host System Host System RS 422 Driver USB 2 0 Interface Final Orientation amp Fused Inertial Data High Performance Dynamic Senso
15. bers 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 HiPerGyro are as follows e The positive X axis points out of the right hand side of the sensor which is the side that is facing right when the LEDs face upward and USB plug faces towards you e The positive Y axis points out of the top of the sensor the side with the LEDs e The positive Z axis points out of the front of the sensor the side opposite the USB plug The natural axes are illustrated in the diagram below User s Manual 3 Description of the 3 Space Sensor HiPerGyro 3 1 Navigation Grade Gyroscope The primary purpose of the HiPerGyro is to act as a navigation grade gyroscope This means that it is highly accurate and does not suffer as much from error sources as other gyroscopes In order to understand how to calibrate the HiPerGyro and use the output in a meaningful way there are a few concepts about the sensor that should be understood The following sections describe these concepts 3 1 1 Fusion The HiPerGyro uses an array of gyroscopes and other sensors in order to deliver a single high accuracy gyroscope reading The process of combining these sensors is called fusion and there are several options for each phase of fusion e Fusion Method This determines how the outputs of the sensors are combined toget
16. ckets is transmitted as a single 8 bit byte value 11 User s Manual 4 2 2 ASCII Text Packet Format ASCII text command packets are similar to binary command packets but are received as a single formatted line of text Each text line consists of the following an ASCII colon character followed by an integral command id in decimal followed by a list of ASCII encoded floating point command values followed by a terminating newline character The command id and command values are given in decimal The ASCII encoded command values must be separated by an ASCII comma character or an ASCII space character Thus legal command characters are the colon the comma the period the digits 0 through 9 the minus sign the new line the space and the backspace When a command calls for an integer or byte sized parameter the floating point number given for that parameter will be interpreted as being the appropriate data type For simplicity the ASCII encoded commands follow the same format as the binary encoded commands but ASCII text encodings of values are used rather than raw binary encodings Each ASCII packet is formatted as shown in figure 2 Command Data DD aan Na Ad End of Packet The ASCII newline character Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Value Select
17. ctor float x3 0 Read the estimated change in velocity since the last Read delta velocity since call to this command as calculated from an 23 0x 17 last read orientation compensated accelerometer reading 12 Vector float x3 0 Read the orientation filtered accelerometer vector This should point in roughly the same direction as Read orientation filtered the accelerometer vector but it is much more stable 24 0x18 accelerometer vector as it comes from the fused orientation 12 Vector float x3 0 Read the orientation filtered compass vector This should point in roughly the same direction as the Read orientation filtered accelerometer vector but it is much more stable as 25 0x 19 compass vector it comes from the fused orientation 12 Vector float x3 0 4 3 2 Raw Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 32 0x20 Read single raw gyro Read the raw value from a single gyroscope 6 Raw vector short x3 1 Index U8 33 0x21 Read single accel raw Read the raw value from a single accelerometer 6 Raw vector short x3 1 Index U8 34 0x22 Read single compass raw Read the raw value from a single compass 6 Raw vector short x3 1 Index U8 35 0x23 Read all gyros raw Read the raw values from all gyroscopes 96 Raw vector short x3 x16 0 36 0x24 Read all accels raw Read the raw values from all accelerometer 24 Raw vector short x3 x4 0 37 0x25 Read all compasses raw Read the raw values
18. ed from the command chart in decimal Start of ASCII Packet Indicated by the colon character Figure 2 Typical ASCII Command Packet Format Thus the ASCII packet consists of the the following characters the ASCII colon character signifies the start of an ASCII text packet the ASCII comma character acts as a value delimiter when multiple values are specified the ASCII period character is used in floating point numbers 0 9 the ASCII digits are used to in integer and floating point values the ASCII minus sign is used to indicate a negative number n the ASCII newline character is used to signify the end of an ASCII command packet b the ASCII backspace character can be used to backup through the partially completed line to correct errors If a command is given in ASCII mode but does not have the right number of parameters the entire command will be ignored Sample ASCII commands 0 n Read orientation as a quaternion 106 21n Set oversample rate to 2 ASCII Return Values All values are returned in ASCII text format when an ASCII format command is issued To read the return data simply read data from the sensor until a Windows newline a carriage return and a line feed is encountered 12 User s Manual 4 3 Command Chart There are over 90 different command messages that are grouped numerically by function Unused command mess
19. eeeeaeceeeeaeenseeaeeess 7 3 l Navigation Grade Gyroscope meriteria aac Ree Ss eee ie A RS AA de 7 BVA FUSION NN 7 3 2 Orientation Estimation cccccccsccescesceeseesecesecsceesecceesecesecsecesecseeesecseeesecseceseseeeesecnsesaecesesseseseceeeeaeceseeeeeseeteenseenses 7 3 2 1 Component Sensis erica iS A AA A AR 7 3 2 2 Scale Bias and Cross ARS E da 8 3 2 3 Reference di s 8 3 2 4 Reference Orientation Taring ccecceccesscsssesseeseseseeseeseeseeeseeseceseesecesecseeeseceeeeaeceaeesesesecsesesecneeeeeeeeseaeeeeaeeens 8 3 3 COMMUNICATION 3 iee eaves iis hee EE ade 8 3 4 Sensor Seti Seen even ees was eek aes la E Boece ence cone dnt el eee en ee eee A 8 AL Commmiittini g Sethi A id 8 3 42 Settings and Detalla ETE ltda been gh 9 4 HiPerGyro Usage ProtocoL e aie ee cats Gace ete eases 10 41 Usage OVA dd ed eke 10 A Aol a NN 10 4 1 2 Computer Interfacing OVNI eiii 10 4 2 Protocol Packet Ford da E E 11 4 2 1 Binary Packet Forti leidas 11 4 22 ASCH Text Packet Ford n A a aa ad IES 12 AICM Cd A ed 13 4 3 1 Filtered Data Commannds ececcceccesccessesseeseceeeesecsceeseesceesecneeseceseeseeaeeaeceaecaeseaeceenseceeesaesesesneeessateneaeeenaes 13 4 3 2 Raw Data Command necia cia 13 4 3 3 Calibrated Data Commands ise cesses cscs Settee sie ethene aio 14 4 3 4 Onentation Fusion Commands ios 14 4 35 Gyto Fusion COMA Sp Ai das 15 4 3 0 Calibr tion COM S r e a e E cacasacoussescasisusseebsciesectuncgacsuteai
20. enabled Read the enabled state of a compass 1 for enabled 1 Index U8 Accel ref vector float x3 74 0x4A Set reference vectors Set accelerometer and compass reference vectors 0 24 Compass ref vector float x3 Accel ref vector float x3 Compass ref vector float 75 0x4B Read reference vectors Read accelerometer and compass reference vectors 24 x3 0 15 User s Manual 4 3 5 Gyro Fusion Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Method U8 0 for average 3 96 0x60 Set gyro fusion method Set the filtering method the gyroscope fusion uses 0 1 for filtered Method U8 0 for average 3 97 0x61 Read gyro fusion method Read the filtering method the gyroscope fusion uses 1 for filtered 0 State U8 0 for disabled 1 for 98 0x62 Set deadband Enable or disable the deadband 0 1 enabled State U8 O for disabled 1 99 0x63 Read deadband Read the enabled state of the deadband 1 for enabled 0 100 0x64 Set deadband threshold _ Set the threshold used for stillness by the deadband 4 Stillness float Read the threshold used for stillness by the 101 0x65 Read deadband threshold deadband 4 Stillness foat Method U8 0 for none 1 for gyro bias only 2 for fusion bias only 3 for both 7 for Set the bias tracking method used by gyroscope both with no temp bias 102 0x66
21. ge occurring outside of the warranty period or provisions customers will be provided with cost estimates prior to repairs being performed User s Manual 2 Overview of the YEl 3 Space Sensor HiPerGyro 2 1 Introduction The YEI 3 Space HiPerGyro is an integrated system that utilizes a novel arrangement of sensing elements combined with advanced algorithmic processing to produce an ultra high precision high reliability miniature navigation grade Attitude and Heading Reference System AHRS Inertial Measurement Unit IMU The system exhibits size weight and power characteristics similar to MEMS based solutions yet achieves performance characteristics previously only attainable in laser ring and fiber optic systems The YEI 3 Space HiPerGyro utilizes a combination of gyroscope accelerometer magnetometer and barometer sensing elements in conjunction with advanced on board processing and filtering algorithms to achieve ultra accurate inertial measurements and attitude heading outputs in real time A proprietary multi sensor fusion approach combined with dynamic sensor error and bias tracking allow for extreme accuracy and precision across a wide range of operating conditions The YEI 3 Space HiPerGyro unit features are accessible via a well documented open communication protocol that allows access to all available sensor data and configuration parameters using either RS422 or USB 2 0 interfaces Versatile commands allow access to
22. git 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 1 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 2 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 3 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 4 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 Sp 5 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 Z 6 096 097 098 099 100 101 102 103 104 105 06 107 108 09 10 111 3 A 12 113 114 15 116 117 118 119 120 121 22 123 124 25 26 127 E 8 28 129 130 31 132 133 134 135 136 137 38 139 140 41 42 143 9 44 145 146 47 148 149 150 151 152 153 54 155 156 57 58 159 E 60 161 162 63 164 165 166 167 168 169 70 171 172 73 74 175 B 76 177 178 79 180 181 182 183 184 185 86 187 188 89 90 191 E 92 193 194 95 196 197 198 199 200 201 202 203 204 205 206 207 D 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 E 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 F 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 19 User s Manual Notes Serial Number 20 Technology YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 www YeiTechnology com www 3SpaceSensor com Patents Pendin 2007 2012 Yost Engineering Inc Printed in USA
23. her Currently the options are Averaged which will just take a simple average of the gyroscopes or Filtered where the outputs are put through a more complex algorithm which reduces the noise greatly but is more computationally expensive than Averaged e Deadband This sets up a deadband around the gyroscope readings so that if it falls below a certain threshhold the reading will be set to zero This can be enabled or disabled e Bias Tracking In order to reduce the effects of bias instability the HiPerGyro can automatically track how the bias of the gyroscopes change over time and how the bias of the final fusion reading changes as well It also has a mode where gyroscopes will be compared to each other allowing some bias tracking to occur while the sensor is in motion e Orient Gyro Filter This will use the orientation estimate to further filter the gyroscope reading This helps to reduce drift greatly but makes it more susceptible to accelerations and magnetic effects This can be enabled or disabled 3 2 Orientation Estimation Another purpose of the HiPerGyro is to estimate orientation In order to understand how to handle this estimation and use it in a meaningful way there are a few concepts about the sensor that should be understood The following sections describe these concepts 3 2 1 Component Sensors The HiPerGyro estimates orientation by combining the data it gets from three types of sensors a gyroscope an accelerome
24. noise density 24 8 ug V 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 2000 sec selectable Gyro resolution 20 bit effective Gyro angular random walk lt 0 00005 V hr Gyro bias stability lt 0 001 hr average for all axes Gyro sensitivity 0 00875 sec digit for 250 sec 0 01750 sec digit for 500 sec 0 070 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 016 C Compass scale 10 Ga Compass resolution 20 bit effective Compass sensitivity 1 mGa digit Compass non linearity 0 1 full scale Barometer resolution 10 bit Barometer range 50 kPa to 115 kPa Absolute Barometer sensitivity 0 15 kPa digit Barometer accuracy l kPa 1 Depends upon communication mode and filter mode 2 All performance data are preliminary and subject to change 3 With full filtering and bias tracking enabled Some parameters may be application and configuration dependent Specifications are subject to change User s Manual 2 7 Physical Dimensions TSS HG Case With Mounting Tabs oon E E All dimensions in mm 2 8 Axis Assignment All YEI 3 Space Sensor product family mem
25. on Data Len Return Data Details Len Data Details Restore all settings to their defaults Does not 224 0xe0 Restore factory settings automatically commit this 0 0 225 0xe1 Commit settings Commit current changes to flash 0 0 226 0xe2 Software reset Reset the sensor from software 0 0 227 0xe3 Set idle mode Pauses or resumes the execution of all filters 0 1 Mode 0 for no idle 1 for idle Mode 0 for no idle 1 for 228 0xe4 Read idle mode Reads the state of execution of the filters 1 idle 0 229 0xe5 Enter bootloader mode Put the sensor into bootloader mode 0 0 230 0xe6 Read hardware id Read hardware version information 32 Version string 0 231 0xe7 Read software id Read software version information 32 Version string 0 Index U8 1 for RS422 0 for 232 0xe8 Set serial rate Set the communication rate of a serial port 0 5 debug port Baud rate U32 Index U8 1 for RS422 0 for 233 0xe9 Read serial rate Read the communication rate of a serial port 4 Baud rate U32 1 debug port Read the current time taken by the filter loop per Update rate U32 235 0xeb Read current update rate cycle in microseconds 4 microseconds 0 Code Byte x4 Serial 236 0xec Set serial number Set the serial number 0 8 number U32 237 0xed Read serial number Read the serial number 4 Serial number U32 0 LED index U8 0 or 1 238 0xee Set LED color Set the color of an LED 0 4 Red U8 Green U8 Blue U8 Red U8 Green U8 239 0xef Re
26. on frame as a 16 0x 10 time frame gyroscope quaternion 16 Quaternion float x4 0 Read the difference in orientation based on the Read delta theta since last gyroscope since the last call to this command as a 17 0x11 read gyroscope quaternion 16 Quaternion float x4 0 Read the difference in orientation based on the Read delta theta for last fused orientation since the last calculation frame as 18 0x 12 time frame orientation a quaternion 16 Quaternion float x4 0 Read the difference in orientation based on the Read delta theta since last fused orientation since the last call to this 19 0x13 read orientation command as a quaternion 16 Quaternion float x4 0 Read the time integrated sum of the gyroscope readings since the last calculation frame Useful in cases where a stable rotation about a single axis is Read accumulated axis being measured but the overall orientation does not 20 0x 14 rotations since last frame matter 12 Vector float x3 0 Read the time integrated sum of the gyroscope readings since the last call to this command Useful in cases where a stable rotation about a single axis Read accumulated axis is being measured but the overall orientation does 21 0x15 rotations since last read not matter 12 Vector float x3 0 Read the estimated change in velocity since the last Read delta velocity for last calculation frame as calculated from an orientation 22 0x16 time frame compensated accelerometer reading 12 Ve
27. ond LED 0 255 0 Calibration Mode Determine how sensors are calibrated Vector Correction Mode 1 Gyro Fusion Method Determine how gyro fusion is carried out Filtered 3 Bias Tracking Mode Determine how bias tracking is carried out Both 3 Orient Gyro Filter Determine if orientation plays a role in gyroscope readings Disabled 0 Deadband Determines if the gyroscope reading should have a deadband on it Disabled 0 For more information on these settings see the command chart User s Manual 4 HiPerGyro Usage Protocol 4 1 Usage Overview 4 1 1 Protocol Overview The 3 Space Sensor receives messages from the controlling system in the form of sequences of serial communication bytes called packets For ease of use and flexibility of operation two methods of encoding commands are provided binary and text Binary encoding is more compact more efficient and easier to access programmatically ASCII text encoding is more verbose and less efficient yet is easier to read and easier to access via a traditional terminal interface Both binary and ASCII text encoding methods share an identical command structure and support the entire 3 Space command set The 3 Space Sensor buffers the incoming command stream and will only take an action once the entire packet has been received and the checksum has been verified as correct ASCII mode commands do not use checksums for convenience Incomplete packets and packets with incorrect checksums
28. r Fusion Scale Bias Normalization Weighting 8 Error Compensation 3 Axis 3 Axis 3 Axis Component Barometric Processor Asynchronous Serial Interface Non volatile Calibration Performance Settings Accelerometer Rate Gyro Compass Temperature Pressure Sensor Set Sensor Set Sensor Set Sensor Set Sensor User s Manual 2 6 Specifications General Part number TSS HG 1 Dimensions 52 8mm x 64mm x 9 2mm 2 08in x 2 525in x 0 36in Weight lt 45 grams 1 6 oz Supply voltage 5v USB or 3 3v 6v External Power requirement lt 0 72W lt 150mA 5VDC Communication interfaces USB 2 0 RS422 Full Duplex Filter update rate 180Hz with full performance filtering and bias tracking Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data normalized sensor data calibrated sensor data barometric pressure temperature Shock survivability 5000g Temperature range 40C 85C 40F 185F Sensor Orientation range 360 about all axes Orientation accuracy TBD Orientation resolution lt 0 02 Orientation repeatability 0 021 for all orientations Accelerometer scale 2g 4g 8g selectable other ranges up to 400g available Accelerometer resolution 16 bit effective Accelerometer
29. ration provides default values for these parameters for the accelerometer and compass but end users may need to recalibrate the sensor to obtain parameters more appropriate to their location and application The gyroscope is also factory calibrated and these parameters should not change based on location or application 3 2 3 Reference Vectors In order to get an absolute estimation of orientation from the accelerometer and compass the sensor needs a reference vector for each to compare to the data read from it The default for these are the standard direction of gravity down and the standard direction of magnetic force north respectively The component sensor data and reference vectors are fed into a Kalman filter which uses statistical techniques to optimally combine the data into a final orientation reading 3 2 4 Reference Orientation Taring Given the results of the Kalman filter the sensor can make a good estimation of orientation but it will likely be offset from the actual orientation of the device by a constant angle until it has been given a reference orientation This reference orientation tells the sensor where you would like its zero orientation to be The sensor will always consider the zero orientation to be the orientation in which the plug is facing towards you and top the side with LEDs on it facing up The sensor must be given a reference orientation that represents the orientation of the sensor when it is in the position in
30. rmation User s Manual 3 2 2 Scale Bias and Cross Axis Effect The readings taken from each component sensor are not in a readily usable form The compass and accelerometer readings are not unit vectors and the gyroscope readings aren t yet in radians per second To convert them to these forms scale and bias must be taken into account Scale is how much larger the range of data read from the component sensor is than the range of data should be when it is converted For example if the compass were to give readings in the range of 500 to 500 on the x axis but we would like it to be in the range of 1 to 1 the scale would be 500 Bias is how far the center of the data readings is from 0 If another compass read from 200 to 900 on the x axis the bias would be 350 and the scale would be 550 The last parameter used in turning this component sensor data into usable data is cross axis effect This is the tendency for a little bit of data on one axis of a sensor to get mixed up with the other two This is an effect experienced by the accelerometer and compass There are 6 numbers for each of these one to indicate how much each axis is affected by each other axis Values for these are generally in the range of 1 to 10 These parameters are applied in the following order 1 Bias is subtracted from each axis 2 The three axes are treated as a vector and multiplied by a matrix representing scale and cross axis parameters Factory calib
31. susel E SE NE aan Enar ASSES 16 4 3 1 System FUSION Command is 17 Appendiks eee a E o ed eee eto 18 USB Connectorae e eea eE EEE A a A E A a nad oe E A O E 18 RZ Oo E OT a a edo da edo nd a 18 Hex Decimal Conversion Cati ec 18 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 G Because of its reliance on a compass the 3 Space Sensor s orientation estimate will not work properly near the earth s north or south pole e Because of its reliance on a compass and accelerometer the 3 Space Sensor s orientation estimate 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 1 2 Technical Support and Repairs YEI provides technical and user support via our toll free number 888 395 9029 and via email support Y ostEngineering com Support is provided for the lifetime of the equipment Requests for repairs should be made through the Support department For dama
32. ter and a compass A few things you should know about each of these sensors e Accelerometer This sensor measures the acceleration due to gravity as well as any other accelerations that occur Because of this this sensor is at its best when the 3 Space Sensor is sitting still Most jitter seen as the orientation of the sensor changes is due to shaking causing perturbations in the accelerometer readings To account for this by default when the 3 Space Sensor is being moved the gyroscope becomes more trusted becomes a greater part of the orientation estimate and the accelerometer becomes less trusted e Gyroscope This sensor measures angular motion It has no ability to give any absolute orientation information like the accelerometer or compass and so is most useful for correcting the orientation during sensor motion Its role during these times becomes vital though as the accelerometer readings can become unreliable during motion e Compass This sensor measures magnetic direction The readings from the compass and accelerometer are used together to form the absolute component of orientation which is used to correct any short term changes the gyroscope makes Its readings are much more stable than those of the accelerometer but it can be adversely affected by any ferrous metal or magnetic objects When the accelerometer is less trusted the compass is treated in the same way so as to avoid updates to orientation based on partial absolute info
33. x83 parameters Read bias and scale parameters for a gyroscope 48 x9 1 Index U8 Index U8 Bias per Set gyro temperature degree float x3 Linear scale 132 0x84 parameters Set temperature parameters for a gyroscope 0 49 per degree float x9 Bias per degree float x3 Read gyro temperature Linear scale per 133 0x85 parameters Read temperature parameters for a gyroscope 48 degree float x9 1 Index U8 Set accel calibration Index U8 Bias float x3 134 0x86 parameters Set bias and scale parameters for an accelerometer 0 49 Matrix float x9 Read accel calibration Read bias and scale parameters for an Bias float x3 Matrix float 135 0x87 parameters accelerometer 48 x9 1 Index U8 Index U8 Bias per Set accel temperature degree float x3 Linear scale 136 0x88 parameters Set temperature parameters for an accelerometer 0 49 per degree float x9 Bias per degree float x3 Read accel temperature Linear scale per 137 0x89 parameters Read temperature parameters for an accelerometer 48 degree float x9 1 Index U8 Set compass calibration Index U8 Bias float x3 138 0x8A parameters Set bias and scale parameters for a compass 0 49 Matrix float x9 Read compass calibration Bias float x3 Matrix float 139 0x8B parameters Read bias and scale parameters for a compass 48 x9 1 Index U8 Index U8 Bias per Set compass temperature degree float x3 Linear scale 140 0x8C parameters Set temperature parameters for a compass 0 49
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