Difference between revisions of "PinePhone Sensors and Navigation"

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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]

Software

Drivers

OS level services

Applications

Development