RTK GNSS + 9-DOF IMU + Barometer. Fused Odometry on One Board.
Disha integrates the u-blox F9P RTK GNSS receiver, BNO085/55 9-DOF IMU, and BMP380 barometer onto a single 32-bit STM/ESP32 board with onboard sensor fusion. Centimetre-accurate positioning over CAN and ROS 2 — including dead-reckoning through GNSS-denied zones.
Disha in Action
RTK GNSS + IMU fusion in the field — centimetre-accurate positioning on a real autonomous vehicle platform.
Four Subsystems. One Fused Output.
Every component on the Disha board is purpose-selected and tightly integrated — no external modules required for a fully fused odometry output.
Full Spec Reference
| Parameter | Specification |
|---|---|
| GNSS Constellations | GPS, GLONASS, Galileo, BeiDou |
| GNSS Accuracy (RTK) | <1 cm (fixed mode) |
| GNSS Accuracy (Standalone) | <1 m (SBAS) |
| GNSS Update Rate | 25 Hz |
| RTK Correction | RTCM 3.x via UART / NTRIP |
| IMU Chipset | BNO085 / BNO055 |
| IMU Axes | 9-DOF — Accelerometer + Gyroscope + Magnetometer |
| IMU Output | Quaternion, Euler, linear accel, gravity |
| Onboard Fusion | Dead-reckoning engine on MCU |
| Barometer | BMP380 — ±0.5 hPa, <0.25 m altitude resolution |
| MCU | 32-bit STM32 / ESP32 |
| Interface | CAN Bus · ROS 2 native |
| Power | 5V DC (3.3V logic) |
| Operating Temperature | -20°C to +70°C |
Precision Positioning for Any Platform
Disha's fused output makes it the positioning backbone for autonomous vehicles, mobile robots, and any platform that needs centimetre-level accuracy.
Autonomous Vehicles & AGVs
Centimetre-level accuracy for autonomous navigation — on road, campus, and warehouse environments.
- Precise localisation for autonomous navigation
- Dead-reckoning in GNSS-denied zones (tunnels, parking)
- Odometry fusion for path planning
- EV & electric fleet tracking
Robotics & Mobility
ROS 2-native integration makes Disha a drop-in odometry source for any mobile robot stack.
- ROS 2-native mobile robot integration
- Agricultural & field robotics
- Drone / UAV GNSS + IMU fusion
- Survey-grade mapping & geofencing
Integrates Directly with DRWIG-Auto
Disha pairs directly with DRWIG-Auto for a complete perception + localisation stack. Both output over CAN and ROS 2 on the same vehicle harness — enabling simultaneous radar sensing and centimetre-accurate positioning with zero additional integration overhead.
Get the Disha Datasheet
Full technical documentation, integration guides, and ROS 2 example code available on request.
Request Documentation