OrinNav: open-source RTK GNSS + IMU + CAN HAT for Jetson Orin Nano

Robotics & Edge Computing Jetson Systems Jetson Projects
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Hi everyone,

I’ve been working on OrinNav, an open-source navigation HAT for the Jetson Orin Nano. It sits on the 40-pin header and puts the basic navigation hardware on one board, instead of wiring a GNSS module, an IMU breakout, and a CAN adapter together separately. My goal is to keep it cheap enough that RTK-grade positioning is within reach of hobbyists and small robotics projects.

OrinNAV
OrinNAV1920×1669 389 KB

What’s on the board (rev 0.0.1):

GNSS: Quectel LC29HEAMD, dual-band (L1+L5) with RTK, on UART (pins 8/10)
IMU: ST LSM6DSV16X on SPI (pins 19/21/23/24), with INT1/INT2 on pins 29/31
CAN: NXP TJA1462 transceiver with termination, wired to the Orin Nano’s CAN header (J3)
Debug: CH340C USB-serial with a jumper to route the GNSS UART to a PC, so you can use Quectel’s QGNSS tool or anything else
Antenna: SMA with bias for an active antenna (I use the Quectel YEGB001Q1A)
Powered from the Jetson’s 5 V pins, 4-layer board

Status: I’ve verified the IMU, GPS and RTK (NTRIP corrections from Point One) with a small test GUI. The repo has the schematic, layout, gerbers, BOM, and pick-and-place file, so you can order assembled boards.

Repo: GitHub - Bardia-Afshar/OrinNAV: Open-source RTK GNSS + IMU + CAN navigation HAT for NVIDIA Jetson Orin Nano. Schematic, BOM, Gerbers. · GitHub

This is an early prototype, so I’d really appreciate your feedback.

Let me know what you think.

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