Sensor Orientation

Orientation Sensor

The sonar is assuming it is pointing straight down, and hence will read the shortest path from the transducer to the bottom. Waves, boat wakes and wind can cause the orientation of the SUV to change and if the boat is yawed (see this article for technicals), it may not be capturing the shortest path. Including a DoF (Degrees of Freedom) sensor can flag out of bound conditions that may cause the depth data to be rejected. DoF is part of the NAVIO2, but it may be convenient to duplicate this information in the sensor package.

Hardware

• BN0055 This is one option, though higher priced, the integration software is built into the chip.