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3-Space Embedded Evaluation Kit

3-Space Embedded Evaluation Kit


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Product Overview

The YEI 3-Space Sensor™ Embedded is an ultra-miniature, high-precision, high-reliability, low-cost SMT Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) which 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 realtime.

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 Embedded

The YEI 3-Space Sensor Embedded module 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).

The 3-Space Sensor Embedded module also offers a range of communication interface options which include SPI, USB 2.0, and asynchronous serial.

Areas of Application

  • Robotics
  • Motion capture
  • Positioning and stabilization
  • 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

Hardware Overview

YEI 3-Space Sensor

Key Features

The YEI 3-Space Sensor Embedded 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:

  • Smallest and lightest high-performance AHRS available at 23mm x 23mm x 2mm and only 1.3 grams
  • 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: SPI, USB 2.0, or asynchronous serial
  • USB communication via virtual COM port
  • When used as a USB device, USB joystick/mouse emulation modes ease integration with existing applications
  • Castellated SMT edge pads provide secure SMT mounting and allow optional through-hole mounting
  • Upgradeable firmware
  • RGB status LED
  • Programmable interrupt capability
  • Development kit available



Part number TSS-EM
Dimensions 23mm x 23mm x 2.2mm (0.9 x 0.9 x 0.086 in.)
Weight 1.3 grams (0.0458 oz)
Supply voltage +3.3v ~ +6.0v
Power consumption 45mA @ 5v
Communication interfaces USB 2.0, SPI, Asynchronous Serial
Filter update rate up 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, normalized sensor data, calibrated sensor data, temperature
SPI clock rate 6 MHz max
Serial baud rate 1,200~921,600 selectable, default: 115,200
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(coming soon)
±100g / ±200g / ±400g selectable for H3 models(coming soon)
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

SMT Layout

YEI 3-Space Sensor

Downloads and Documentation


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

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

3-Space Sensor User's Manual Embedded Evaluation Kit, 1.0.0, updated 21 May 2012

3-Space Sensor Quick Start Guide Embedded Evaluation Kit, 1.0.0, updated 21 May 2012


3-Space Firmware Update - Embedded, 3.0r7, updated 17 Mar 2015

Change Log

Informational Resources


http://en.wikipedia.org/wiki/USB#USB_2.0 - Wikipedia entry describing USB 2.0 communication

http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus - Wikipedia entry describing Serial Peripheral Interface(SPI) bus communication

http://en.wikipedia.org/wiki/Asynchronous_serial_communication - Wikipedia entry describing asynchronous serial communication