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GPS-PIE slice GPS modules with 9DOF IMU
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motion sensor & barometric pressure sensor
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The GPS-PIE slice GPS modules feature a GPS receiver combined with a BNO055 9 degree
of freedom (9DOF) IMU motion sensor and MS5637 barometric pressure sensor in a Raspberry Pi pHAT format. The great
advantage of the BNO055 is that it incorporates its own microprocessor which runs the sensor fusion algorithms
that combine the accelerometer, gyroscope and magnetometer data into three axis orientation. Euler angles or quaternion
data can be read directly from the BNO055 to give pitch, roll and yaw with no need for any calculation to be done
on the Raspberry Pi. However the raw data from each sensor can also be accessed if you prefer to use your own application
specific algorithms. Data from the accelerometer is available separately as linear acceleration without the effect
of gravity and acceleration due to gravity. The pressure sensor allows tracking of relative altitude suitable for
a wide range of applications. |
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GPS-PIE slice GPS modules summary
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GPS-PIE L80 slice
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GPS-PIE Gmm slice
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L80 GPS Receiver |
The L80 is a compact GPS module with an integrated patch on top antenna. It is ideal
for small electronic devices. It can also be used with an external active antenna. The L80 has exceptional performance
both in acquisition and tracking. |
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Gmm-u1 GPS Receiver |
The Gmm-u1 is a stand-alone GPS module with ultra-high sensitivity (-165dBm) in an
ultra-slim form factor, utilising the MediaTek MT3329 chipset. It is designed to be suitable for
embedded system integration. |
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BNO055 Intelligent 9-axis absolute orientation sensor |
The BNO055 is a highly advanced 9 degree of freedom motion sensor. It combines a
triaxial accelerometer, a triaxial magnetometer and triaxial gyroscope into a single package with an ARM microcontroller.
The microcontroller runs the sensor fusion algorithms which combine the data from the three sensors into a simple
three axis orientation in 3D space. Alternatively data from the individual sensors can be read separately allowing
for the use of custom algorithms. The data is read via I2C. Address fixed to 0x28. |
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Measuring three dimensional motion in real time is complicated. Therefore the BNO055
is a complex sensor with numerous settings and variables. We regret that we cannot provide application specific
advice on the best settings for individual projects. |
BNO055 calibration procedure.
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Please note that due to the need for calibration you will not be able to guarantee
an "instant on" for the IMU fusion mode functionality of the BNO055. Although the process can be shortened
by reloading a stored calibration, it cannot be guaranteed that the system will start with all sensors calibrated.
In NDOF fusion mode the magnetometer will tend to lose accurate absolute heading over time. As the GPS receiver
is able to provide absolute heading, the relative IMUPLUS fusion mode may be preferred for some applications. |
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MS5637 Barometric Pressure Sensor |
The MS5637 is an ultra-compact barometric pressure sensor that interfaces via a simple
I2C bus comms protocol. The address fixed to 0x76. It is optimised for altimeter and barometer applications in
small electronic devices. The sensor module includes a high-linearity pressure sensor and an ultra-low power 24
bit ADC that provides precise digital 24-bit pressure and temperature values. The high-resolution temperature output
allows the implementation of an altimeter / thermometer function without any additional sensor. |
Please note that this sensor is not able to measure absolute altitude, ie height
above sea level, without a continuously updated sea level reference pressure measurement. It is best used to accurately
measure relative altitude changes. It does not measure ambient temperature, but the temperature of the sensor on
the board with the influence of surrounding electronics plus the effect of any enclosure. |
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Example Software |
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Please note that the only software support available for these modules are simple
interfacing routines written in C. These routines only demonstrate how to communicate with and control the GPS
receiver, BNO055 and MS5637. No application specific code or GPS - IMU - barometer sensor fusion code is available.
Example software description. |
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BNO055 IMU output being used to animate an OpenGL cube.
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No RaspberryPi is included.
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The pHAT format GPS-PIE slice GPS modules are compatible with all Raspberry Pi boards
with the standard 40 pin GPIO connector. |
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Raspberry Pi Alternatives |
Due to Raspberry Pi shortages we have been asked if the GPS-PIE slice boards are
compatible with other SBCs. We only support the Raspberry Pi, but we have put together a short guide to using other SBCs based on the Banana
Pi 2M Zero as an example. |
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Suitability |
Please ensure you are aware of the limitations of the GPS system before ordering.
Due to the configuration required by the BNO055 when used in 9DOF IMU mode it may not be suitable for some applications. For general questions
please read our FAQs. |
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© The BlackBoxCameraTM Company Limited
2023
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