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TSS Data-logging with Hand-held case

3-Space Data-logging



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Product Overview

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.

YEI 3-Space Sensor Datalogging

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).

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

YEI 3-Space Sensor

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



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
Battery lifetime 5+ hours continuous use at full performance
Communication interfaces USB 2.0
Storage media MicroSD card using FAT32 File System
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)


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
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


YEI 3-Space Sensor

Downloads and Documentation


Technical Brief: 3-Space Sensor Data-logging, 3.0r1, updated 4 Nov 2014, Includes product data and specifications

3-Space Sensor Quick Start Manual Data-logging, 3.0r1, updated 4 Nov 2014

3-Space Sensor User's Manual Data-logging, 3.0r1, updated 4 Nov 2014


3-Space Firmware Update - Data-logging (Combined firmware for TSS-DL and TSS-DL-HH), 3.0r7, updated 17 Mar 2015

Change Log

Informational Resources


http://en.wikipedia.org/wiki/Secure_Digital - Wikipedia entry describing MicroSD storage media

http://en.wikipedia.org/wiki/File_Allocation_Table#FAT32 - Wikipedia entry describing the FAT32 file system