The Challenge
Centimeter-level positioning for a mobile application, with dead reckoning through GNSS dropouts (tunnels, dense foliage) and wireless data backhaul.
The Solution
u-blox NEO-M8P for RTK corrections, BNO055 IMU for inertial fill-in, Taoglas active antenna with LNA. Processing split across two MCUs: ATSAM handles real-time sensor fusion and position computation, ESP32-S3 manages Wi-Fi/BLE networking. This separation was deliberate: putting networking and GNSS processing on the same core caused timing jitter in the position solution during Wi-Fi traffic bursts.
Results
Consistently under 3cm CEP in open sky RTK mode. The IMU dead reckoning holds under 1m drift for about 30 seconds of GNSS outage, covering most short tunnel transits.
Have a Similar Challenge?
GNSS, sensor fusion, and multi-MCU architectures are a regular part of the work.
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