Hardware Setup

Hardware Setup

Components

• Arduino Mega (controller)

• GPS module (UART)

• Ultrasonic sonar sensor (depth)

• DS18B20 temperature sensor

• BNO085 IMU (orientation)

• I2C LCD display

• SD card module

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Wiring

Component | Connection -- | -- GPS | RX1 (19), TX1 (18) Sonar | RX2 (17), TX2 (16) SD Card | CS Pin 53 Temp Sensor | Pin 6 LCD / IMU | SDA (20), SCL (21)

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Power Considerations

• Ensure stable 5V supply

• Avoid voltage drops under load

• Isolate noisy components where possible

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Sensor Notes

GPS

• Requires clear sky view

• Accuracy affected by satellite count and HDOP

Sonar

• Sensitive to angle and surface reflection

• Beam spread introduces uncertainty

IMU

• Used to reject unstable measurements

• Requires calibration for best performance