Design of Navigation System with Wireless Connectivity

The paper proposed a Kalman filter algorithm implemented in Xiao ESP32-C3 module for data processing of the inertial sensors built in BNO055 module for calculation of the absolute orientation of an object. For verification of the algorithm under real conditions, an experiment was conducted along the perimeter of an approximately square area. The Euler angle values determined were compared with the Euler angle values obtained from the same module but processed by the proprietary BSX3.0 Fusion Lib software, as well as with instrumental track measurements. The calculated values are sent via wireless connection to the remote station via WiFi network using UDP connection for real-time spatial orientation visualization and analysis.