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gps-aided-inertial-navigation-system-module's Introduction

GPS-aided Inertial Navigation System Module (In Progress)

  • MCU: STM32F103C8T6
  • Communication Protocol: CAN
  • Features: Pitch, Roll, Yaw, Direction, Latitude, Longitude, Temperature, Altitude, Pressure

CAN Frame

(Based on CANopen)

Upper 6 bits - Module ID - max 0x3F
Lower 5 bits - Command ID - max 0x1F
CAN ID = (Module ID << 5) | Command ID
Default Module ID : 0x200 (Standard)

CMD_ID Name Sender Signals Start byte Signal Type Bits
0x001 Heartbeat Module Latitude, Longitude 0, 4 IEEE 754 Float, IEEE 754 Float 32, 32

Sensors:

  • MPU-9250

    • 9-axis MEMS sensor
    • Pinout:
      • PB11: SDA
      • PB10: SCL
    • Communication Protocol: I2C

  • NEO-6M

    • GPS Module
    • Pinout:
      • PA3: TX
      • PA2: RX
    • Communication Protocol: UART

  • BMP180

    • Barometric Pressure/Temperature/Altitude Sensor
    • Pinout:
      • PB7: SDA
      • PB6: SCL
    • Communication Protocol: I2C

PCB Design

Screenshot 2022-07-18 at 11 41 18 PM

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