obluA shoe-mounted indoor GPS

oblu is an opensource motion sensing platform for wearables and robots. It comes pre-programmed as a shoe sensor for pedestrian navigation. Whether you are a student, researcher, hobbyist or an entrepreneur, oblu allows you to explore motion sensing and innovate further. Save significant time and resources, gain further insights of inertial sensing, add more features to the existing navigation algorithm, and develop further s/w and h/w around it - All with one single device.

Ø Openshoe based firmware for accurate indoor positioning

Ø Wireless precision IMU with sampling rate of 125 Hz

Ø Allows individual IMU data at a sampling rate of 1 KHz

Ø 32-bits floating pt controller with 512 Kb internal flash

Ø Bluetooth Low Energy (BLE) 4.1 & USB 2.0 interfaces

Ø USB (Bootloader) programmable

Ø JTAG programming interfaces for main controller & BLE

Ø Access to UART, SPI, I2C and GPIO pins

Ø Access to ADC input of BLE (for battery indication)

Ø Access to 3.3 V, 5 V, GND & RESET

Ø Powering with Li-ion battery & USB

Ø Battery charging through USB

Ø Battery connector for easy attachment

Ø Maximum current: 100 mA

Ø Backup of 5 hrs 30 min with 500 mAh battery

Ø On-board LED indicators; Reset button

Ø Dimensions: 35.0 x 25.9 x 11.8 mm

Ø MIMUscope - a PC based tool to access and log data

Ø Xoblu - Android App for realtime positioning

Ø Openxoblu - an opensource Android app

Ø Opensource Python and Matlab based calibration script

Some of the highlighting features are:

Ø Four 6-axis IMUs (3-axis Accelero + 3-axis Gyro)o Accelerometer range: ±2g, ±4g, ±8g, ±16go Accelerometer :

o Gyroscope range: ±250, ±500, ±1000, ±2000 deg/so Gyroscope:

o Maximum sampling rate: 1 KHzo IMUs' placement in 2x2 array form

Axis Bias Stability Velocity Random Walk

X 0.037mg 3.46mg/ hr√

Y 0.034mg 3.46mg/ hr√

Y 0.034mg 5.99mg/ hr√

Axis Bias Stability Angle Random Walk

X o2.40 /hr o0.115 / hr√

Y o1.55 /hr o0.115 / hr√

Y o1.54 /hr o0.115 / hr√

Unique Features

On-board MotionProcessing

Simplifiedinterface

Multi-IMU (MIMU)Technology

Applications

Robotics Geo IoTIndoorNavigation

VirtualReality

Platform

Simplerequirement

97% accurate

Accuracy

Value Proposition

No need to solve motion equations

Integration Development

Reduced effort & time

Affordability

Accuracy @ reduced price

hello@oblu.io © 2017 GT Silicon Pvt Ltd www.oblu.io

Pedestrian Dead Reckoning (PDR) is simplified with the foot-mounted oblu. The device starts transmitting location data at every step, on receiving start command from the application platform. Based on oblu’s data, path is constructed on the application platform.

Block Diagram of oblu showing interfacing between micro controller and Inertial Measurement Unit (IMU) via I2C, with USB and with BLE . It also shows the accessible i/o pins.

oblu as a shoe sensor oblu as a robot navigation sensor oblu as a development board

Xoblu – a PDR tool for oblu – performs

PDR on the data transmitted from oblu, over

BlueTooth , to the Android device

(Smartphone, Tab etc). One can take advantage

of many inbuilt features for personnel tracking,

land mapping & surveying, gait analysis etc.

Calibration: A simple calibration procedure

which compensates for the inter IMU

misalignment. We have used a novel

mechanical-rotation-rig-free calibration

procedure for oblu. A simple 3D printable 20-

faced polyhedron (Icosahedron) can do the job.

MIMUscope is a Windows based data

logging and analysis tool for oblu development

board. It is very helpful in gaining insights of

inertial sensing and navigation without getting

tangled with data communication protocol,

parsing etc.

GT SILICON PVT LTDKanpur, IndiaCell : +91 700 741 0690Mail : hello@oblu.io URL: www.oblu.io© 2017 GT Silicon Pvt Ltd oblu.io