Lidar Mapping (PoC) »

Components

Last update: 2022-05-07

Table of Content

The system has 2 main parts:

Rover System is mounted on an RC Car or Drone to scan an area and map the captured point-cloud.
Base Station acts as a stationary point which provide positioning correction to Rover for better accuracy.

Rover System#

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Base Station#

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Raspberry Pi 3 B+
This can be repalaced by a MCU as Base only needs to log data and transmit RTCM3 messages
- Broadcom BCM2837B0, Cortex-A53 (ARMv8) 64-bit SoC @ 1.4 GHz
- 1 GB LPDDR2 SDRAM
- 2.4 GHz and 5 GHz IEEE 802.11.b/g/n/ac wireless LAN, Bluetooth 4.2, BLE
- Gigabit Ethernet over USB 2.0
- 4 USB 2.0 ports
- GPIO, I2C, I2S, SPI, UARTs
Unicorecomm GNSS UB4B0M
- GPS L1/L2/L5 + BDS B1/B2/B3 + GLONASS L1/L2 + Galileo E1/E5a/E5b+ QZSS L1/L2/L5
  
  Should cover the same constellation system of the Rover
- UARTs, 1x PPS
- ~~Onboard MEMS integrated navigation~~ Confirmed by Unicorecomm: new products do no have MEMS due to lack of chips!
Harxon HX-CH7604A antennas
- All-constellation Multi-frequency L1/L2, G1/G2, E1, B1/B2/B3
SMA Female to MCX Male

UB4B0M has MCX Female connector
HX-CH7604A has SMA Male connector
MicroSD Card
- Sandisk Ultra 16 GB, class 10, SDHC I
Rechargeable Battery
- 5 V with 2000 mAh
- Peak current at 2 A
nRF24L01 2.4 GHz Transceiver + PA + LNA
- ISM 2.4 GHz, 126 Channels GFSK
- 250 kbps, 1 Mbps và 2 Mbps
- SPI interface to host MCU
- PA + LNA for upto 1 Km range
USB TTL to COM
No need this component if using on-board UARTs port after reconfiguring OS kernel
- 3.3 V/ 5 V to USB COM
OLED LCD
Show system status without connecting to PC via WiFi
- 128x64 Monochrome
- I2C interface

Other stuff#

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PCB boards, M2.5 and M3 Copper Cylinder, Bolts
STM32 Dev board
- Emulate GNSS data when GPS is not available (in house, or cloudy days)
Header 2.0 mm, 2.54 mm
- Unicorecomm GNSS modules use headers at 2.0 mm pitch
- Jetson and Pi modules use headers at 2.54 mm pitch
Remote Control Car with large base

Mount Rover on the car for testing

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