Difference between revisions of "PinePhone Sensors and Navigation"
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m (→ST LIS3MDL) |
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Key features: | Key features: | ||
* | * ±4/±8/±12/±16 gauss selectable magnetic full scales | ||
* | * 16-bit data output | ||
* | * ... | ||
=== Sensor reference frames === | === Sensor reference frames === | ||
Revision as of 14:23, 20 March 2021
DRAFT
Overview
The Pinephone contains various components that enable or aid in orientation and navigation tasks.
- Multi-GNSS Receiver as part of the cellular modem (GPS/Galileo/Glonass/BeiDou)
- IMU (Inertial Measurment Unit), combined Accelerometer and Gyroscope sensor (MPU6050)
- Magnetometer (LIS3MDL or AF8133J)
...
[TODO: add block diagram]
Hardware
Quectel EG25G Modem / GNSS Receiver
[TODO: add interfaces, constraints]
Invensense/TDK MPU6050 IMU
Key features:
- Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with selectable range of ±250, ±500, ±1000, and ±2000°/sec
- Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
- 400kHz Fast Mode I2C for communicating with all registers
ST LIS3MDL
Key features:
- ±4/±8/±12/±16 gauss selectable magnetic full scales
- 16-bit data output
- ...
Sensor reference frames
[TODO: add sensor mounting positions/orientation in respect to body frame, introduce coordinate systems]