Looking to the Ardusimple product, I see that they launch a new simpleRTK2B V3 board that can be populated at choice by an ZED-F9P or an ZED-F9R.
ZED-F9R is a module that have an integrated IMU for GNSS+IMU sensor fusion.
I don’t find a lot of documentation on the ZED-F9R specially on GNSS + IMU sensor fusion part (what it’s done exactly, data output format etc…).
Perhaps a alternativ to the MMA + BNO with a GPS “all in one board” ? But more expensiv alternativ
Advantage of this F9R board: F9R use an IMU to provide dead reckoning, allowing to keep RTK accuracy for a limited time when we loss correction or GPS signal.
Other adantage I see: computed attitude (yaw, pitch, roll) of the rover by the IMU is dirrectly available through UBX protocol: UBX-NAV-ATT. So perhap’s we could use this data as a replacement of our current sensors (BNO055, MMA) as an other alternativ to CMPS.
Perhaps we need to connect this board to a microcontroleur that read NMEA and UBX-NAV-ATT message, and send it to the appropiate format to AOG (like OGI for dual antenna) ?
Drawback : the price compare to the Ardusimple F9P
I’m interested to see future firmware updates, but the implementation is not quite there yet in my opinion. The dynamic model needs to be improved to handle off-road conditions before I will consider using one, especially as I could nearly buy a dual antenna system for the same price!