> For the complete documentation index, see [llms.txt](https://gryfn.gitbook.io/gryfn-hardware/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://gryfn.gitbook.io/gryfn-hardware/development/gobi-hardware.md).

# GOBI Hardware

## Sensor Integrations

<table data-card-size="large" data-view="cards" data-full-width="false"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th></tr></thead><tbody><tr><td><h2>High-Performance GNSS Aided Inertial Navigation</h2></td><td><ul><li><a href="https://www.sbg-systems.com/products/quanta-series/#quanta-micro">SBG Systems Quanta Micro</a></li><li>Tactical-grade IMU with dual-antenna multi-frequency GNSS receiver</li><li><a href="https://support.sbg-systems.com/sc/hp/latest/documentation-resources/quanta-micro-documentation">Documentation</a></li></ul></td><td data-object-fit="contain"><a href="/files/hxx5RECAC4uYYycbg4W3">/files/hxx5RECAC4uYYycbg4W3</a></td></tr><tr><td><h2>Hyperspectral Line-Scan Camera</h2></td><td><ul><li><a href="https://headwallphotonics.com/products/machine-vision/mv-c-vnir-hyperspectral-imager/">Headwall Photonics Nano HP</a></li><li>High resolution aberration-corrected concentric spectrometer</li><li>1020 spatial pixels, 340 spectral bands, 400-100nm</li></ul></td><td data-object-fit="contain"><a href="/files/6fp8eKJfPgeBakqNpnE9">/files/6fp8eKJfPgeBakqNpnE9</a></td></tr><tr><td><h2>Rotating Digital LiDAR</h2></td><td><ul><li><a href="https://ouster.com/products/hardware/os1-lidar-sensor">Ouster OS1-64, and 128 rev7</a></li><li>Up to 200m range</li><li>5.2M points per second</li><li>128 channels of vertical resolution</li><li><a href="https://static.ouster.dev/sensor-docs/hw_user_manual_OS1/hw_common_sections_OS1/os1-overview.html">Documentation</a></li></ul></td><td data-object-fit="contain"><a href="/files/NOwfnx4IJ9xf1aWXow8A">/files/NOwfnx4IJ9xf1aWXow8A</a></td></tr><tr><td><h2>Optional Frame Camera</h2></td><td><ul><li><a href="https://pro.sony/ue_US/products/installable-cameras/ilx-lr1">Sony ILX-LR1</a></li><li>61 MP RGB frame camera</li><li><p>Interchangeable front panel module</p><ul><li>ILX-LR1 supported on release, <a href="https://thermalcapture.com/thermalcapture-2-0/">IR</a>, <a href="https://www.alliedvision.com/fileadmin/pdf/en/Alvium_G1-130m_VSWIR_Closed-Housing_C-Mount_DataSheet_en.pdf">SWIR/NIR</a>, <a href="https://www.oceaninsight.com/products/spectrometers/general-purpose-spectrometer/ocean-sr4-series-spectrometers/ocean-sr4-vis-nir-spectrometers/">downwelling</a>, and others to follow</li></ul></li><li><a href="https://www.sony.com/electronics/support/camcorders-and-video-cameras-interchangeable-lens-camcorders/ilx-lr1/manuals">Documentation</a></li></ul></td><td data-object-fit="contain"><a href="/files/aTgtp5jOXCd44JJSjMfk">/files/aTgtp5jOXCd44JJSjMfk</a></td></tr></tbody></table>

## Compact and Versatile

<table><thead><tr><th width="258.3333740234375">PARAMETER</th><th>METRIC UNITS</th><th>IMPERIAL UNITS</th></tr></thead><tbody><tr><td>Gobi Weight <br>w/ Sony ILX-LR1</td><td>2.305 kg</td><td>5.082 lbs</td></tr><tr><td>Gobi Dimensions<br>w/ Sony ILX-LR1</td><td>25.85 x 11.09 x 14.28 cm</td><td>10.18 x 4.37 x 5.62 in</td></tr><tr><td>Gobi Weight <br>w/o Sony ILX-LR1</td><td>1.710 kg</td><td>3.770 lbs</td></tr><tr><td>Gobi Dimensions <br>w/o Sony ILX-LR1</td><td>17.85 x 11.09x 14.25 cm</td><td>7.03 x 4.37 x 5.62 in</td></tr><tr><td>Gobi Weight w/ LiDAR+GNSS Only (dimensions same as w/o Sony)</td><td>1.485 kg</td><td>3.274 lbs</td></tr><tr><td>Pelican Air 1525 Case Size</td><td>55.8 x 33.5 x 19 cm</td><td>21.96 x 13.97 x 7.49 in</td></tr><tr><td>Pelican Air 1525 Case Weight w/o Gobi</td><td>3.7 kg</td><td>8.16 lbs</td></tr></tbody></table>

## User Interface

|                        |                                                                                                                                                                                                |
| ---------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Gobi External Ports    | <p>USB-C (Power Delivery)<br>USB-C (Data Tansfer)<br>ix Industrial (Ethernet) <em>- Also accessible via WiFi</em><br>Dual SMA (GNSS Antennas)</p>                                              |
| Gobi Payload Interface | <p><a href="https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-014%20Pixhawk%20Payload%20Bus%20Standard.pdf">Pixhawk Payload Bus Standard</a> <br>(power and mechanical mounting)</p> |

## Additional Components

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th></tr></thead><tbody><tr><td><h3>GRYFN Compute PCB</h3></td><td><ul><li>Support SoC carrier, INS breakout, power, and sensor conneAVLpv0HHSv5fctions</li><li>Input power range: 12-36V</li></ul></td><td data-object-fit="contain"><a href="/files/spOObH8DPB4d8LFi1VyP">/files/spOObH8DPB4d8LFi1VyP</a></td></tr><tr><td><h3>Network Switch</h3></td><td><ul><li><a href="https://botblox.io/ubiswitch-module-3-x-10gbase-t-8-1gbase-t-switch/">BotBlox UbiSwitch</a></li><li>Contained internally to allow networking of SoC, INS, LiDAR, RGB, UAV, and user PC</li></ul></td><td data-object-fit="contain"><a href="/files/ccFBTnYDJ9KkHJo3T4Hw">/files/ccFBTnYDJ9KkHJo3T4Hw</a></td></tr><tr><td><h3>Compute Module</h3></td><td><ul><li><a href="https://developer.nvidia.com/embedded/jetson-tx2">NVIDIA Jetson TX2</a></li><li><a href="https://developer.nvidia.com/embedded/downloads#?search=Jetson%20TX2%20Series%203D%20CAD%20STEP%20Models">Documentation</a></li><li><a href="https://connecttech.com/ftp/pdf/CTIM-ASG001_Manual.pdf">Connect Tech Astro Carrier Board</a></li></ul></td><td data-object-fit="contain"><a href="/files/qE4BfMe63U6Z6GvohRCt">/files/qE4BfMe63U6Z6GvohRCt</a></td></tr><tr><td><h3>USB to Ethernet IC</h3></td><td><ul><li><a href="https://www.microchip.com/en-us/product/lan7800">Microchip LAN7800</a></li></ul></td><td data-object-fit="contain"><a href="/files/RrtYNVqdSy0K5TQsQJ3v">/files/RrtYNVqdSy0K5TQsQJ3v</a></td></tr><tr><td><h3>Power &#x26; Mechanical Mounting</h3></td><td><ul><li><a href="https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-014%20Pixhawk%20Payload%20Bus%20Standard.pdf">Pixhawk Payload Bus</a> "<a href="https://store.freeflysystems.com/products/smart-dovetail-for-payload">Smart Dovetail</a>" </li><li>Hardware connections for power, <a href="https://mavlink.io/en/">MAVLink</a> (UART), camera trigger, capture, and payload sense via <a href="https://www.kel.jp/files/user/product_design/assets/pdf/c_dy_en.pdf">DY11-040S</a>.</li></ul></td><td><a href="/files/lT95w9alEmLzzr79aWMO">/files/lT95w9alEmLzzr79aWMO</a></td></tr></tbody></table>

## Compatible UAV Platforms

* Medium Lift Drones (DJI M350, Inspired Flight IF800, etc.)
* Heavy Lift Drones (Freefly Alta X, Inspired Flight IF1200A, etc.)
* Other custom integrations with UAVs of suitable size and power

Whatever your multi-modal research needs, transform your aerial missions with the GRYFN Gobi, delivering unmatched performance and flexibility in [#UAV](https://www.linkedin.com/feed/hashtag/?keywords=uav\&highlightedUpdateUrns=urn%3Ali%3Aactivity%3A7217467726930337792) based remote sensing. Reach out to discuss your sensing objectives, options, and pricing at <info@GRYFN.io>.


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