This week, I primarily focused on ensuring that all our parts were in order. This was a much deeper dive into each hardware component than before, and I checked for things like compatibility, interfacing, and outputs. This caused me to revise a few of the prior hardware choices and realize that more needed to be added. In particular, the GPS module we planned to use did not give accurate heading data for stationary subjects. As such, I added a new IMU module to act as a compass, the Adafruit 9-DOF IMU Fusion Breakout BNO055. The module allows us to get accurate user heading without movement up to ±2°, while automatically compensating for head-tilt and sensor noise.
Another update regarding parts is the audio output and power supply. I had previously thought a Type C Power delivery power bank could power the Jetson board. However, for the Jetson Orin Nano Development Kit, the Type C port is data only and does not power the board. As such, I am looking into alternative power supplies/options for when we make the system portable. Additionally, the board does not come with a 3.5mm audio jack. While there is audio over the HDMI port, that is not a viable solution since we will not connect the board to a display. As such, I need to find a compatible USB sound card for the board.
So far, I have the Jetson Orin Nano on hand. The Arducam IMX219 (camera) and BNO055 IMU (Compass) are being shipped. These are necessary for us to begin testing the navigation system of our project, so we should be able to start testing actual inputs when they arrive (assuming that interfacing goes smoothly). There are a few remaining components to order (speakers, soundcard, portable power supply), but they are not system-critical for the work that needs to be done so far. I plan to order these components by the following weekly report. I am on schedule so far. By next week, I hope to have placed orders for all the components. I also aim to successfully interface the IMU and camera to the Jetson Orin Nano board.