Pellicanus is an open-source, RP2040-based INS/GNSS module that you can program in MicroPython, C, or Rust. It allows you to add Vertical Reference Unit (VRU), Attitude and Heading Reference System (AHRS), and INS/GNSS functionality to all kinds of platforms: automobiles, drones, autonomous vehicles, and just about anything else you need to keep track of. We’ve designed Pellicanus as a 33x30 mm castellated module, which makes it easy to integrate into your projects. We also provide a carrier board with various interfaces so you can evaluate the module and get start developing for it right away.

Pellicanus is open hardware driven by open-source software. We will published both the KiCAD design files for the board and the loosely coupled extended Kalman filter (EKF) that comes pre-loaded on it. You can modify our algorithm to suit your needs or replace it with your own!

Features & Specifications

• Accelerometer Measurement Range: ±2 g, ±4 g, ±8 g, or ±16 g
• Gyro Measurement Range: ±250 dps, ±500 dps, ±1000 dps, or ±2000 dps
• Mag Measurement Range: ±8 gauss
• Pressure-Sensor Measurement Range: 300-1200 mbar
• Operational Temperature: -40°C to +80°C
• Gyro Bias Instability: 7-8°/hr
• Dynamic Heading Accuracy: ±1°
• Dynamic Pitch/Roll Accuracy: ±0.1°
• Position Accuracy: ±4 meters
• GNSS Position, Speed, and Heading Correction

Navigation Algorithms

By default, Pellicanus includes a navigation algorithm with a discrete architecture. It includes a nonlinear complementary filter (NCF) for AHRS and a loosely coupled extended Kalman filter (EKF) for navigation. We are working on other algorithms as well, and we intend to publish them when they are ready.

Discrete-Architecture Loosely Coupled Kalman Filter

Graphical User Interface (GUI)

We have also developed a GUI to demonstrate how our algorithms work and to help you with calibration.

Open Source

Pellicanus is a high-precision INS/GNSS with completely open source mathematical models, software, and schematics. We also provide documentation that makes it easy to learn how to incorporate Pellicanus into your project.

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