Computing Units

• LattePanda 3 Delta (Product Page) (LP3)
• NVIDIA Jetson Orin NX 16GB Compute Module (Product Page)
• JNX42-LM carrier board (Product Page)
• Leaf Spring Kit (Product Page)
  • Heatsink and FAN (Product Page)
• 2x 1TB Samsung NVMe SSD

Perception Unit - Jetson Orin NX on Auvidea JNX42

This combination of the Jetson Orin NX module with the JNX42 carrier board provides a versatile platform for deploying AI applications at the edge, suitable for use cases in robotics, industrial automation, and intelligent video analytics

Setup Guide (flashing and installing sensor drivers)

Specifications

RAM: 4GB

Storage: 1TB Samsung NVMe SSD

I/O: Product page

Control Unit - LattePanda 3 Delta (LP3)

​The LattePanda 3 Delta is a compact single-board computer (SBC) designed to deliver robust performance for a variety of applications, including IoT development, robotics, and edge computing.

Specifications

RAM: 8GB LPDDR4

Storage: 1TB Samsung NVMe SSD

I/O: Product page

Sensor Units

• 2x StereoLabs ZED X Stereo Cameras (Product Page)
• Ouster OS1 LiDAR (Product Page)
• Sensonor STIM300 IMU (Product Page) 
• SentiSystems Dual GNSS Receiver with 2x ZED-F9P GNSS modules (Product Page)

Camera

StereoLabs ZED X Stereo Cameras

The ZED X is an advanced AI stereo camera, designed to enhance robotic and spatial perception applications. It features an IMU with vibration resistance which offers motion tracking capabilities. It is used with a Stereo ZED Link Capture Card.

Specifications

Stereo baseline: 120mm

Lens focal length: 2.2mm

Field of view (FoV): 110 (H) x 80 (V) x 120° (D)

Depth range: 0.3m -20m

Shutter type: Global

Resolution:  1920x1200, 1920x1080, 960x600

Frames per second: 15, 30, 60 or 120 (120 fps only at  960x600)

Connector: FAKRA Z plug

NB! The camera delivers video feeds from both cameras at once. The main camera with rectified images is the left camera. SDK only compatible with CUDA

Light Detection and Ranging - LiDAR

Ouster OS1

The Ouster OS1 is a high-resolution, mid-range lidar sensor.

Specifications

Minimum range: 0.5m

Max range: 170m @ >90% detection probability, 100 klx sunlight

Rotation rate: 10Hz or 20Hz

Field of view: Vertical: 42.4° ± 1.0° Horizontal: 360°

Resolution: Vertical: ±0.01° Horizontal: ±0.01°

Points per second: 1,310,720 @32ch., 2,621,440 @64ch., 5,242,880 @128ch.

Connector: Eaton UTGX 12 pin female

Inertial Measurement Unit - IMU

Safran SensoNor STIM300

The STIM300 is a compact, tactical-grade, high-performance Inertial Measurement Unit. Itintegrates three MEMS gyroscopes, three high-stability accelerometers, and three inclinometers within a lightweight package. Also gives temperature. It is configured with software developed by Safran. Configuration software NB! A specialized cable sold by Safran is needed to configure the IMU.

Specifications

Gyroscope Range & Resolution: ± 400°/s, 0.22°/h

Gyro. Bias instability: 0.3°/h

Gyro. Drift: 0.15°/√h

Accelerometer Range & Resolution: ± 10g, 1.9µg

Acc. Bias instability: 0.04mg

Acc. Drift: 0.07m/s/√h

Sample rate: 2000Hz (configureable)

Connector: MICRO-D 15 pin female

Global Navigation Satellite System - GNSS

​The u-blox ZED-F9P is a high-precision GNSS module that delivers centimeter-level accuracy. Supports real-time kinematic (RTK) positioning. Gathers satellite information from almost all constellations. The SentiSystems Dual GNSS Receiver integrates two u-blox ZED-F9P modules with connections for two antennas. It is used with the Sentiboard v1.3. The u-blox ZED-F9P modules is configured with software developed by u-blox. Configuration software. NB! With two modules we can calculate heading

SentiSystems Dual GNSS Receiver with u-blox ZED-F9P module

Specifications

Minimum number of Satellites Used: 4

Positioning Accuracy: 0.01 m + 1 ppm CEP (depending on baseline length and weather conditions ) 

Navigation rate: Up to 20Hz

Cold start time: 24s

Antenna Type: External. Antenna

Connectors: SMA female (antenna), USB-C (configuration), Samtec MicroMate S1SD 10-Pin (data)

Hardware Synchronization

• SentiBoard v1.3
  • Uses GNSS/GPS time signal as reference for synchronization, more on that at Time Synchronization Overview

SentiBoard v1.3 Configuration

Before properly setting up and configuring the SentiBoard follow this guide: SentiBoard v1.3 setup guide.

To properly read out sensor data from the ports the format of the data package must be studied to ensure right formatting in terms of data byte lengths, baud rates and synchronization ids.

Unknown User (lctran) todo triggers

Communication

TODO: Unknown User (lctran) and maybe Unknown User (benjabj) 

Power Distribution

Physical Integration

Watertight enclosure (WE)

The computing units and accompanying power rails, electrical cabling and fans are housed in a waterproof Pelican Air Case which has been modified for cable interfaces for GNSS and image data.

Internal wire diagram

LIDAR mounting structure

In order to mount to OS1- LiDAR to the BlueBoat, a supporting structure and accompanying adapters has to be secured to the vessel.

3D- printed parts

These parts were printed using a Bambu Lab X1C printer.

The parts were sliced using Bambu Studio.   

Slicer settings:

Strength

• Wall loops: 5

Support

• Enable support: Yes
• Type: tree(auto)
• Style: Tree Hybrid

We used glass fiber reinforced PA6(Nylon 6) to print the parts. 

In order to keep the rigidity and structural integrity of the finished print, it is advisable to dry the filament in an applicable filament dryer.

Recommended drying settings:

• 68 degrees celcius
• 48 hours

Manufactured and 3rd party parts

Assembly instructions:

1. Fastening the mounts to the boat

Parts needed:

2x rigid mounts

1x rotating mount L

1x rotating mount R

16x M6 screws (max 8mm in length)

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Fasten the two rigid mounts using 8x M6 screws in the front of the vessel indicated by the red dotted circles.

Fasten the two rotating mounts using 8x M6 screws in the back of the vessel indicated by the red dotted circles. 

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2. Cutting the carbon rods

Equipment needed:

1x Machine capable of cutting carbon rods.

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The carbon rod should be cut into 4x lengths of 452mms. The tubes will act as an interface between the socks and the lidar platform.

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3. Using epoxy to fasten the lidar platform to the rigid and rotating socks. 

Parts needed:

1x rigid sock L

1x rigid sock R

1x rotating sock L

1x rotation sock R

1x lidar platform

Equipment needed:

1x Epoxy

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Apply epoxy in both ends of the 4x lengths of carbon tubes. Attach one variant of socks in the end of the tubes. The other end should be attached to hole in the lidar platform. The structure should then be placed on the rigid mounts fastened in step 1. Attach one M10 screw trough the sock and rigid mount with a locking nut. Make sure that alle the glued parts are pressed together and let it dry. 

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Camera mounting structure

In order to mount the ZED-X camera modules to the BlueBoat, a rigid mount is necessary. 

3D- printed parts

This part were printed using a Bambu Lab X1C printer.

The part was sliced using Bambu Studio.   

Slicer settings:

Strength

• Wall loops: 5

Support

• Enable support: Yes
• Type: tree(auto)
• Style: Tree Hybrid

Orientation

• It is advisible to print the camera mount on its side for additional rigidity. (The short side of the platform should be touching the printing bed)

We used glass fiber reinforced PA6(Nylon 6) to print the part. 

Cables and connections - WIP

Custom cables were manufactured/ordered to meet the demands of the marine environment. The cables needed to withstand a saltwater environment and the connections to the watertight enclosure needed to be sealed with bulkheads to prevent water seeping in. Additional cables for transferring data inside the WE were also made

LIDAR cable wire diagram

Power Sensing Connector Mapping 

• Red → Not connected
• Green → Not connected
• Blue → Current Sensing
• White → Voltage Sensing
• Yellow → Ground
• Black → Ground

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