@Kris Winer designed this is a small 4-layer PCB for remote logging of absolute position and orientation:

Asset Tracker

STM32L433-based board with CAM M8Q concurrent GNSS, EM7180 + MPU9250 + MS5637 for absolute orientation, and an ESP8285 for wifi connectivity.

The board uses an STM32L433 Cortex M4F host programmable via the USB connector using the Arduino IDE and an Arduino core created by Thomas Roell . The absolute position engine is a UBLOX CAM M8Q concurrent GNSS module connected to the STM32L433 via UART. The CAM M8Q uses a chip antenna so no external wire or patch antenna is required resulting in a very convenient device package. The pcb is an integral part of the CAM M8Q antenna and the pcb has been sized to meet the minimum ground-plane size recommendations (20 mm x 45 mm).

The absolute orientation engine uses the MPU9250 accel/gyro/magnetometer IMU sensor plus the MS5637 barometer as slaves to an EM7180 motion co-processor that sends quaternions and drift-stabilized altitude to the host via I2C.

There is an Arduino library and sketch available on GitHub:

kriswiner/AssetTracker

PeskyProducts has shared the board on OSH Park:

AssetTracker.v02c