1

SOARS

Arseny DolgovNick Driver

Galina Dvorkina Kevin EberhartMatt Edwards

Johnny JannettoEric Kohut

John Shelton

Self Organizing Aerial Reconnaissance System

Critical Design ReviewASEN 4018 Senior Projects

11/15/06Professor Dale LawrenceProfessor James Maslanik 1

2

Presentation Outline

• Overview and Objectives• System Architecture• Critical Test Results• Design Elements

• Electrical Design• Software Design

• Integration and Verification• Project Plan & Management• Appendix

2

3

Project Overview• Objective: Design, build and test an autonomous aerial system (UAS)

capable of imaging multiple targets within a 1km circle as quickly as possible with 99% probability of object detection (according to Johnson criteria).

• AFRL COUNTER Project• Optimal imaging altitude <100m for a small aerial vehicle• Minimize risk to larger master vehicle

31. AFRL COUNTER Project. Used with permission.

hmax = 45 m

Truck

Target

(X,Y,Z)

Slave

Master

Ground Station

GPS Coordinates, Heading

4

Test Scenario

4

5

Requirements Overview• Image at least 3 targets, satisfy Johnson Criteria

• Time: <8 minutes• Flying distance: >4 km

• Slave UAV >1km radius of operation in relation to stationary (assumed) Master vehicle

• Targets given by GPS location and heading from ground station

• Slave UAV• Max weight: 1.5kg• Maximum width for below-wing mounting:

120 cm• New critical requirement: Image lag < 2 seconds from slave

to ground-station• Motivation: Operator must react quickly if a threat is detected• Camera image retrieval takes at least 1 second

5

Slave loiters above preprogrammed target, acquiring images.

Fully loaded take-off and deployment of two slaves. Advanced flock management.

Slave flies to and loiters above any target specified by GS and sends back pictures.

As below, but coordinates and pictures relayed through master vehicle.

Demonstrate “theoretical” slave deployment capability w/ designed

mechanism.

Demonstrate ground-deployment of slave.

6

Deliverables

6

• Selection of slave vehicle• GS to Master to Slave RF link

• Image reception• Target specification• Demonstrate <2 sec image delay

• Slave telemetry (GPS position, altitude, heading, speed)

• 3 Images taken with correct position, attitude (Johnson criteria)

• Autonomous navigation• Deployment feasibility

Future COUNTER Mission

Target System

Requirements Summary

7

Slave Vehicle

Communications

Power

Control

Imaging

Range > 4km

Bandwidth >250kbps

Resolution >300 lines

Working Distance <90m

30° < FOV <60°

Heading within 30°Rate < 12°/s

Roll within 30° Rate < 115 °/s

Pitch within 30° Rate < 12°/s

Position accurate to 10m

· Telemetry/Images Sent over >1km to Master· Delay to receiving image: <2sec· >3 Targets imaged, satisfying Johnson Crit.· < 10% Image Blur· Travel at least 4km in 8 minutes· Autonomous navigation to GPS coord, heading· Deployable from SIG Master vehicle

<2 seconds image delay

Speed > 30km/h

Master Vehicle

· Relay 640x480 images in <2 sec· RF Link endurance >20min· >2km range to Ground Station· Manually Piloted RC· Must be able to carry Micropilot module

Power

Must fit inside 5x10x5 cm box

Range: >2km

> 20 min operating time for avionics/comm subsystem

Data relay, >250kbps< 2 sec delay

Communications

Ground Station

Communications

Graphical User Interface

Control Software

· Slave telemetry update rate: 1Hz· Identify image w/ location and timestamp· Send target (GPS, heading) commands to

slave via master· Range to Master: >2km· Receive 640x480 images in <2 sec

GS-Master Handshaking

Receive Data at 1Hz

Range >2km

Bandwidth >250kbps

GPS XY InputHeading Input

Display 640x480 image

Display slave telemetry: position, velocity

Ensure slave receives command

SLAVE VEHICLE

CU Autopilot

PIC MicrocontrollerControl Software

1000mAhLiPo Battery

ESC

GPS

Rate Gyro

Servos

Motor

Altimeter

TO MASTER @ 2.4Ghz

Short-Range ZigBee Transceiver, 250kbps OTR

Send BufReceive Buf

Daughter Board

CMOS JPEGCamera

3.3 V Regulator

Level Shift

115kbps Asynch

System Architecture: Slave

8

Design and Fabricate PCB (Printed Circuit Board)

•Slave requires custom interface and power board to house camera and send data to CU Autopilot.•Custom autopilot and controls software will be developed to meet target imaging requirements.

Power Subsystem

Processing Element

Communications

MASTER VEHICLE

Long Range Radio Modem, 800kbps OTR

1000mAhLiPo Battery

3.3V Regulator

Servos

Motor

Microcontroller – PIC18F8722

Short-Range ZigBee Transceiver, 250kbps OTR

Send Buf Receive Buf Send BufReceive Buf

TO SLAVES @ 2.4GhzTO GROUND STATION @ 2.4 Ghz

5.0 V Regulator

Control Software

UART0

Send Buf

Receive Buf

Level Shift

CU Autopilot

PIC MicrocontrollerStock Software

UART0

Receive Buf

Send Buf

800kbps Asynch

250kbps Asynch

ESC

System Architecture: Master

9

Design and Fabricate PCB

•Master houses two COTS radios•1 long-range point-to-point (for communication with ground-station)•1 short-range multipoint (for communicating with multiple networked slaves)

•CU autopilot provides data for verification, maintains master UAV loiter•Custom microcontroller software handles command dispatch and data/telemetry

Power Subsystem

Processing Element

Communications

System Architecture: Ground Station

10

Power Subsystem

Processing Element

Communications

•Ground station houses 1 long-range radio for sending commands to master•Laptop uses software to interface directly to radio – no need for MCU.•MATLAB interfaces with/controls Aerocomm development board via serial link

•MATLAB GUI allows user to enter target location, issue commands•Image and telemetry display

Aerocomm Development Board

Long Range Radio Modem, 800kbps OTR

USB Power

Send Buf Receive Buf

TO MASTER @ 2.4Ghz

800kbps Asynch

250kbps Serial to USB Converter

Target GPS: XYZHeading: θ°

Slave Component Layout

11

2.4GHz RF Antenna

GPS Antenna

ZigBee Radio

Rate Gyro

LiPo Battery Pack

ESC

RC Receiver

Camera MountUnder Wing

Winglet Stabilizers

Elevon Control Surfaces

Ducted Fan

Custom Canopy

Complete System Assembly

12

SIG Rascal 110 ARF

Mounting Pylon

Slave Vehicle

Comm Board & Battery Pack

Expected Performance• Autopilot

• Imaging

• Communications

• Propulsion & Power

13

Autopilot Performance• Vector field guides slave UAV to arbitrary target and heading

• Total distance traveled for three targets: 7 km

• Minimum speed for mission length <8 min: 33 mph

14

Trajectory Control

Vector Field

d

dd dy

dx1tanDesired

Heading Angle

+

Heading Angle

Error eΨ

Commanded Roll Angle

Roll Angle Error

-

Commanded Servo Voltage

Vs

Plant(Vehicle)

Rate Gyro

Actual Roll Rate

ecom

V

g )tan(

s

1

cosVx

sinVy

Roll angle

Heading Rate

Integrator

Actual Heading Angle

d Velocity Components

yx ,

Desired Velocity Components

dd yx ,

s

1

Software Sensor

PhysicalModel

SOARS PATH CONTROL SYSTEM BLOCK DIAGRAM

HEADING ANGLE DEFINITION

X

Y

x

y

V

s

1Position

Vehicle

GPS

YX ,

YX ˆ,ˆs

se

scom

_

++

yd

xdˆ

ˆtanˆ 1

g

Vcom

1_ tan

Desired Heading Rate

d

+-

sesVs

s

1

Integrator

IntegratorAssume

Coordinated Turn

15

Imaging Performance

Cruise velocity: 17 m/s

Radial VelocityRequired: <80 m/sActual: 8 m/s

Tangential VelocityRequired: <60 m/sActual: 15 m/s

Imaging Altitude: 45 m

Ground distance to target: 45 m

DepressionAngle: 45 deg

Quick Imaging Geometry Facts

•Max Imaging Range: 80 m(actual: 65 m)

•Camera can see 19,000 m2

•Airplane is in imaging windowfor 2.7 s

Pitch RateRequired: <0.4 rad/sActual: 0.2 rad/s

16

Communications Performance• Communications subsystem must ensure <2 seconds image propagation

delay• Camera outputs 16kbyte JPEG images• Slowest link in system must be >115kbps

• Current system limited by image retrieval speed from camera• 115kbps bottleneck in camera interface• No other camera available with built-in JPEG compression• Most cameras output RAW format in 8-bit parallel, image size too big (>400kbytes)

• Communications system has large margin (250kbps minimum data rate) to leave room for protocol overhead, errors and dropped packets

17

Actual Path Delay: 1.4 s

Ground Station Master Vehicle Slave Vehicle

800 kbps 250 kbps

Camera Module

MCU

115 kbps

Radio 1

250 kbps

MCU

Radio 2Radio 3

250 kbps800 kbps

Graphical User Interface

MCU

250 kbps

Radio 4

800 kbps

Critical Pre-CDR Test Results

18

Critical Testing: Camera Jitter

19

• Image blur/distortion due to engine jitter and vibrations is unpredictable and must be tested

• High-frequency (kHz range) vibrations cause CCD to move while rows of pixels are read – resulting image gets shifted between row reads

• Engine must be stopped during imaging

Engine OFF

Engine ON, 80% Throttle Engine ON, Camera Rotated 90°

CCDScan Direction

Current Read Row

Camera Movement Direction

Blur – Shutter too slow:

Rolling Shutter Distortion:

Fast Global Shutter:

[1] Electronic Shuttering for High-Speed CMOS. - Dalsa Corp.

Critical Testing: Camera Resolution• JPEG compression might cause loss of effective camera

resolution: must be verified experimentally• Resolution test pattern used to verify actual resolution• Test indicates no noticeable loss in camera resolution• Camera meets design-to specification of >300 lines

20

Lines become indistinguishable at approximately 400 lines of resolution marker

Critical Testing: Power System• Wingless ducted fan tested at 56mph (manufacturer’s optimal speed) in

the wind tunnel to simulated actual load conditions

• Measured battery discharge voltage and current• ElectriFly: 3 Li-Polymer Cells• 11.1 Volts• 910 mAhr• Ran for 5.5 minutes

21

Electrical Design

22

• Master to Ground: Aerocomm AC1524 Modem• Master to Slave: X-Bee PRO ZigBee Radio• Multiple selectable channels on each radio to prevent

interference

23

Electrical Design: Communications

Required: 2 kmActual: 3.2 km

Required: 1 kmActual: 1.6 km

Required: 250 kbpsActual: 800 kbps Required: 250 kbps

Actual: 250 kbps

Electrical Design: Power• Slave UAV power requirements driven by propulsion system

(avionics consume <2% compared to motor)

• Master UAV requirements driven by high-power RF transceivers

24

• Slave avionics must operate for >8 minutes• Battery: 3-Cell 1800mAh LiPo

• Master avionics must operate for >30 minutes• Battery: 3-Cell 1000mAh LiPo

• Master UAV power supply design-to:• Input Voltage : 7.5V-11.1V due to LiPo discharge variation

• Outputs:• 1A @ 5.0V for Long-Range transmitter

• 500mA @ 3.3V for Short-Range Zig-Bee radio

25

Electrical Design: Power

Master UAV Comm Board Layout• Minimize trace length for high-frequency/data rate signals

• Power supply decoupling close to MCU pins to minimize noise from RF

• Bottom-layer ground plane to reduce noise

26

PIC Microcontroller

ZigBee short-range Radio

Long Range Radio Modem

Power Supplies

• Slave “daughter board” connects to main autopilot board• Provides camera connection and power (from main LiPo battery)

• Provides SPI-to-Asynchronous bridge from MCU to Camera

• Translates voltage signals between 5.0V and 3.3V

27

Electrical Design: Slave UAV Daughter Board

Power Supply

SPI Header

SPI Bridge Chip

Level Shifter

Crystal

Camera Header

Software Design

28

Software Design• Design-to:

• Slave• Control algorithm must ensure proper entry into imaging

cone

• Perform imaging within allowable window of opportunity

• 250kbps image uplink rate

• Update X,Y,Z, heading, velocity at 1Hz

• Master: • 250kbps data throughput

• Manage at least 2 slaves

• < 2 seconds image data lag

• Ground Station• Allow Lat/Long/Heading target designation

• Image display

• Telemetry display & update at 1Hz

29

Software: Slave

Main Loop

Initialize System

Read Sensors

Read GPS

Read RC Receiver

Execute Control Algorithms

Mix Servos (for Elevons)

Command Servos

Process Ground Commands

Interrupt Service Routine

Power-On

UART Receive/Transmit

Send PWM commands for servos

Imaging Control

Safety Routine

RC Receiver Handler

Send Telemetry

Denotes Key Additons

• Software performs major function of:• Hardware Configuration

• Control Implementation

• Imaging Control/Transmission

• Telemetry Transmission

• Servo and Peripheral communications handled via interrupt service routine

• Major additions are ability to receive ground commands in flight and imaging system

30

Slave: Imaging SoftwareImaging Control

Image Transfer In Progress?

Within Imaging Window?

No Yes

Configure Color(2 bit, 4-bit, 8-bit grayscale,

12-bit, 16-bit color)

Configure Resolution80x64, 160x128, 320x240,

640x480

Yes

Configure Data Package Size

Configure Light Frequency

Compile command with configurations to take picture

Return to Main Code

No

Set Image Transfer In Progress Indicator

Last Packet?

Clear Image Transfer In Progress Indicator

YesNo

Increment Packet ID and sent to Camera

Reinitialize Packet ID

Last Image Data Packet Complete?

Yes

Save Latitude, Longitude, Altitude for Transmission back to Ground

• Compressed image sent as packets (64-512 bytes)

• Image will be taken with 6 byte configuration information

• Location information (Lat, Long and Altitude) will be attached to image transmission

31

Slave: Received Command Handling• The ID is one byte of data

specifying what the MCU should do with the following data.

• Two main options:• Next Target

• Emergency Mode• Manual Control• Turn off Engine

Receive Data from Ground Station

What is the ID?

Next Target

Manual Control Initiation

Go into emergency mode.

Turn off engine and trim control surfaces

Goto Manual Control Handler

Goto engine shutoff handler

Set next heading and target variables

Send data back specifying receipt of transmission and successful

change with original ID

32

Software Design: Master• Master vehicle acts as client to ground station and as server to slaves

• Ground station initializes master service requests• Master initializes slave service requests

• Get image• Get telemetry• Download targets

• Chosen Network Topology:• Ground to Master: Point-to-Point

• Master to Slave(s): Point-to-Multipoint

33

2.4Ghz RadioModem

2.4Ghz Zig-Bee

Master Software Design

34

• Interrupt-driven operation ensuresthat both radios are serviced bymaster vehicle

• Master waits in idle most of the time• Ground issues data request• Interrupt occurs from serial

data being received• Master accumulates packet• Performs decision • Issues commands and data

requests to slaves• Slave response causes

interrupt• Cycle repeated…

Initialization

Slave Receive Interrupt Service Routine

GS Receive Interrupt Service Routine

Init UART0Init UART1

Baud RateParity

Data Bits

Setup SR ZigBee

AddressPacket SizePower, etc

Setup LR Modem

AddressPacket SizePower, etc

Enable UART0/UART1 Interrupt

IDLE

Read UART0 Buffer

Read UART1 Buffer

Parse out packet

Ready to send?

Transfer Data to UART0

YES

Ready to send?

Transfer Data to UART1

YES

NONO

Slave IDTarget Spec:

XYZ, HCommand

Power-On

Image DataTelemetry

Assemble Outgoing Packet

Assemble Outgoing Packet

• Need to optimize packet size to meet < 2 sec image delay requirement

• Zig-Bee data frames have at least 120bits overhead

Software: Data Transmission Model

35

Packet too small – Overhead Dominates

Packet too big – Wasted Idle Time

Optimal Packet Size – Delay Approaches 115kbps limit

Total Image Delay Time

Software: Packet Length Optimization

• Transmission time does not meet requirement for very short or very long packets.

• Optimal packet size: 50bytes

36

Maximum Zig-Bee Packet Size

Software: Ground Station• Ground station runs MATLAB GUI which controls LR radio• GUI allows user to enter target information, visualize slave

telemetry and take pictures

37

Integration & Testing

38

Systems Integration and ValidationIntegration and Testing Progression

Level 1: Isolated Component TestingPerformance verification of individual components

Level 2: Subsystems Integration and TestingAircraft, Control System (slave vehicle), Imaging, Communications

Level 3: Systems Integration and TestingTest systems functionality

Level 4: System Validation and VerificationValidate integrated system performance and verify mission objectives met

Subsystems IntegrationIntegrate isolated components into relevant subsystems

Systems IntegrationIntegrate individual subsystems into complete system

Integrated System ValidationValidate complete integrated system performance

39

Level 1: Component Testing

Aircraft CommunicationsSlave avionics and propulsion test Autopilot (Zig-bee) transceiver

test

Range and battery discharge verification Master communications link

Long period axial oscillation frequency Ground station communications link

Flight test (GPS speed/altitude verification) Verify GUI (display slave altitude,

Sig Rascal performance verification speed, current target image)

(GPS speed/altitude verification)

Autopilot ImagingParticle vector field simulation High frequency motor vibration

Simulink vector field simulation with Stryker Camera resolution determination

Simulink vector field simulation with Miglet Rotational blur (spinning table)

Flight test Miglet (autonomous control) Camera data output rate

JPEG compression error

40

Level 2: Subsystems Testing

Aircraft CommunicationsSlave controllability Verify air-to-air & air-to-ground comm.

- RC from ground Verify transceiver ranges

Master flight capability with slaves attached Quantify bit error in data transmission

Slave deployment from master (simulated) -Ground/master, master/slave

Determine transmission time between

ground and master, master and slave

Autopilot ImagingGenerate target vector field for GPS coord. Take image per autopilot instruction

sent from external comm. link Compress image to JPEG

Command elevon servos to execute flight path Pass image to slave transceiver

Instruct camera to take image

Receive images from camera, tag picture data

with telemetry and pass to comm. link

41

Level 3: Integrated System Validation

Flow Up Integrated System Testing

Ground/ Master • Ground station to master comm. link

• Ground station sends GPS coordinate to master/ master receives GPS coordinate

• Master to ground station comm. • Master sends picture and telemetry data to ground station and

Master/Slave• Master sends GPS coordinate and is received by slave• Slave sends picture and telemetry data to master

Slave/Autopilot• GPS coordinate received by autopilot (Zigbee)

• Autopilot generates flight path and target vector fields

• Autopilot communicates with elevons and ESC to actively control slave to follow flight path

Autopilot/Camera• Autopilot instructs camera to capture image• Camera compresses image and passes to autopilot (RS232-to-Zig-bee) • Image relayed to master

**Complete Integrated Systems Test

42

Level 4: System Requirements Verification

Aircraft• 3 targets imaged in under 8 minutes from acquisition of first GPS coordinate

• 99% probability of detection (Johnson Criteria)

Communications• Image and telemetry data received by GUI within 2 sec of time captured

Autopilot• 3 target locations navigated to and over flown with 99% probability of detection (Johnson Criteria)

•< 15 degree heading error at time of imaging•< +/- 6 m deviation from intended altitude•< +/- 5 m/s derivation from intended flight speed at time of imaging

Imaging• Image 3 targets each with 99% probability of detection (Johnson Criteria)• Images have sufficient resolution that a human can discern 1 x 0.5 x 1.5m object

43

Systems Integration Flow Chart

Time

Aircraft-Slave avionics/propulsion-Slave battery discharge

-Slave stability-Master/Slave flight test

Communications-Master/slave comm. link verification-Ground station com. link verification-Verify GUI display

Autopilot-Particle vector field sim.-Simulink vector field simulation (Stryker)-Simulink vector field simulation (Miglet)-Autonomous control flight test (Miglet)

Imaging-High frequency motor vibration-Verify camera resolution-Rotational blur test-Camera data output rate-Camera JPEG compression pixel error

Autopilot-Generate target vector fields -Command of elevon servos-Instruct camera to take image-Receive image data from camera and pass to comm. link

Aircraft-Slave controllability (RC from ground)-Master flight capability with slaves-Slave deployment (simulated)

Communications-Verify air-to-air/ air-to-ground comm. links-Verify transceiver ranges-Determine bit error in data transmission -Determine data transmission times

Imaging-Take image per autopilot instruction-Compress image to JPEG-Pass image to slave transceiver

Aircraft/Comm.-Ground station to master comm. link -Master to ground station comm. -Slave to master comm. link

Aircraft/Comm./Autopilot

-GPS coordinate received by autopilot (Zigbee radio)

Aircraft/Comm./Autopilot/Imaging

-Autopilot instructs camera to capture image-Camera compresses image and passes to autopilot (RS232-to-Zig-bee) -Image relayed to master

Aircraft-3 targets imaged in under 8 -99% probability of detection

Communications-Image data received by GUI within 2 sec of time captured

Autopilot-3 target locations navigated to and over flown with 99% probability of detection

Imaging-Image 3 targets - Images have sufficient resolution that a human can discern 1 x 0.5 x 1.5m object

Level 1: Component Testing

Level 2: Subsystems Integration

Level 3: Systems Integration

Level 4: System verification

44

Project Plan & Management

45

Project Management Overview

• Organizational Chart

• Work Breakdown Structure

• Critical Path Elements

• Budget Predictions/Expenditure

46

Organization

Project Manager

Matt Edwards

Financial OfficerGalina Dvorkina

Systems EngineerArseny Dolgov

WebmasterNick Driver

Safety OfficerEric Kohut

Aircraft Design:AerodynamicsPerformance

Imaging:Cameras

Optics

Controls:Autopilot

Navigation

Avionics:Power

SoftwareCommunication

Assistant PMJohn Shelton

LeadJohnny Janetto

AssistantMatt Edwards

LeadKevin Eberhart

AssistantJohnny Janetto

LeadJohn Shelton

AssistantGalina Dvorkina

LeadNick Driver

AssistantGalina Dvorkina

AssistantEric Kohut

AssistantArseny Dolgov

Organization Chart

AssistantKevin Eberhart

Verification:Testing Procedures

Requirements Review

LeadEric Kohut

AssistantGalina Dvorkina

47

Work Breakdown Structure

Work BreakdownStructure

ControlsImagingVehicle

Dynamics

Power CommSoftware

Project Management

Systems Engineering

Scheduling

Group Management

Task Management

Task Management

Requirements Flowdown

Subsystem Integration

Risk Assessment

Mission Design

Customer Relations

CFO

Funding/BudgetManagement

Track Expenditures

Adhere to Fiscal Policies

Team Procurement

Safety& Test

Engineer

Maintain Facility Safety Standards

Advise on Safety Procedures

Ensure Team & Environment Safety

Fabrication Engineer

Create Necessary Solid Models

Fabrication Requirements

Materials Selection

Machining & Manufacturing

Webmaster

Update Website

Maintain Document Server

Imaging Geometry:FOV and Working

Distance

Processing & Retrieval

Camera Selection

Detection Criteria

Aircraft Selection

Aircraft Config.

Stability

Aerodynamics

Performance

Battery Selection

Power Budgets

Motor Selection

Distribution and Regulation

Autopilot Selection

Control Modeling

Servo Requirements

Attitude Sensors

Stability Performance

Microcontroller

Autopilot

Ground Station

Protocols

Transceiver

Bandwidth Budgets

Frequency

Range

InterfacesCreate and Maintain all Test Procedures

48

Critical Path Elements• Defined as elements with highest

unknown time requirement and risk which are heavily depended on elsewhere in the project.• Imaging Software/Interface• PCB Verification• Control Software/Algorithms• Communications Software

49

50

Budget AnalysisCategory Name/Item Description Unit Price ($) Quantity Total Cost Purchased Amount ($)

Controls Microcontroller Unit $ 20.00 3 $ 60.00    

  GPS (Units) $ 75.00 2 $ 150.00    

  Rate Gyros $ 50.00 3 $ 150.00    

  Radio Development $ 120.00 1 $ 120.00    

  Radios $ 35.00 2 $ 70.00    

  Receiver $ 60.00 3 $ 180.00    

  Autopilot $ 500.00 1 $ 500.00    

  PCB Manufacturing $ 100.00 3 $ 300.00    

Vehicles SIG Rascal $ 399.99 1 $ 399.99    

  Motor $ 40.00 1 $ 40.00    

  Slave Plane $ 150.00 3 $ 450.00 3-Nov-06 $ 99.99

  Glue $ 8.00 1 $ 8.00 3-Nov-06 $ 7.99

  6 Channel Radio $ 180.00 1 $ 180.00 3-Nov-06 $ 34.99

  Battery $ 60.00 3 $ 180.00 3-Nov-06 $ 39.99

  Battery Charger $ 100.00 1 $ 100.00 3-Nov-06 $ 36.48

  Electronic Speed Control $ 85.00 3 $ 255.00    

  Servo $ 15.00 10 $ 150.00 3-Nov-06 $ 159.99

  Servo Extension Wires $ 5.00 1 $ 5.00 3-Nov-06 $ 4.29

Power Slave Motor $ 40.00 3 $ 120.00    

  Speed Control $ 40.00 1 $ 40.00    

  Battery Charger $ 50.00 1 $ 50.00    

  Voltage Regulators $ 50.00 3 $ 150.00    

Communications Modules $ 199.95 2 $ 399.90    

Imaging Camera $ 50.00 3 $ 150.00    

  Evaluation Board $ 50.00 3 $ 150.00 5-Nov-06 $ 55.80

Sub-Total $4,357.89 Total Spent $ 439.52

TOTAL with 25% Margin $5,810.52  Total Left  $ 5,480.48

Total Available:$5,900.00

Funding:•Senior Project Funds: $4000•EEF: $1900

Appendix

51

Electrical Design: Communications

• Network topology trades:• Server-client point-to-point direction connection network

• Suitable for high-data rate

• Minimal protocol and handshaking overhead

• Long ranges possible

• Simple to design, robust

• Minimal required CPU intervention

• Server to multiple-client point-to-multipoint connection network• Suitable for medium data rates

• Lots of protocol and handshaking overhead

• Short-range

• More difficult to design

• Allows for more complex networks with multiple clients

52

ZIG

-BE

EZ

IG-B

EE

RA

DIO

MO

DE

MR

AD

IO M

OD

EM

53

Testing Plan• Testing and Verification Tree• Requirements Verification Breakdown• Order of Testing• Component Verification• Major System Test Procedures

53

Testing and Verification Tree

SOARS SystemMission

Ground StationSystem

Slave VehicleSystem

Master VehicleSystem

SoftwareSubsystem

InterfaceSubsystem

PowerSubsystem

ImagingSubsystem

Autopilot

Algorithms andControl Software

SubsystemGPS Positioning

AttitudeDetermination

PowerSubsystem

SystemCommunications

54

Master Vehicle Requirement VerificationSlave Vehicle

Control Communications Power Imaging

Pitch within 30°Rate < 12°/s

Roll within 30°Rate < 115°/s

Heading within 30°Rate < 12°/s

Position Accurate To 10m

Bandwidth > 250 kbps

< 2 SecondsImage Delay

Range > 4 km

Speed > 30 kph

Resolution > 600 lines

30° < FOV < 60 °

Working Distance< 90m

SimulationFlight Testing

SimulationFlight Testing

SimulationFlight Testing

GPS VerificationTest

File TransferTest

Image CaptureTiming

GPS Verification

Flight Testing

Resolution Test

Field of View TestFlight Testing

Flight Testing

55

Master Vehicle Requirement Verification Master Vehicle

Avionics Power

Data Relay > 250 kbps> 2 Second Delay

Must Fit Inside 5x10x5 cm Box

Range > 2 km

> 20 Minutes OperatingTime for Avionics and

Comm System

File Transfer TestImage Capture Timing

Size Verification

GPS Verification Test

Battery TestingFlight Testing Verification

56

Ground Station Requirement VerificationGround Station

Graphical UserInterface

Communications

GPS XY InputHeading Input

Display 640 x 480Resolution Image

Display SlaveTelemetry

Receive Dataat 1 Hz

Range > 2 km

Software Testing

Image Display Test

Software Testing

Data TransmissionTest

GPS Verification

Control Software

Bandwidth > 250 kbps

File Transfer Test

GS – MasterHandshaking

Ensure SlaveReceives Command

Ground StationStatic Testing

Ground StationStatic Testing

57

Testing Progression

TestMission

Static TestMission

SlaveIntegration Flight Test

MasterIntegrationFlight Test

GroundStation

OperationTest

MissionSuccess

ImagingTesting

PowerTesting

MotorTesting

ResolutionTesting

SlaveVibrationTesting

BatteryEndurance

Testing

Ground StationDisplay Testing

CommunicationsRange Verification

CommunicationsSystem Test

System Level Testing

Sub System Level Testing

Component Level Testing

AutopilotTesting

SoftwareAnd Interface

Testing

Miglet InitialFlight Testing

58

Major Systems• Ground Station System Test

• Goal: To verify proper operation of the User Interface and display software

• Master Vehicle System Test• Goal: To verify proper operation of the Master Vehicle’s

communications system and handshaking ability in conjunction with the Ground Station

• Slave Vehicle System Test• Goal: To verify proper operation of the Slave Vehicle’s

integrated subsystems in conjunction with the Ground Station and the Master Vehicle

• Communications System Test• Goal: To verify proper operation of the communications

system prior to integration with the SOARS system

59

Ground Station System Test

• Procedure• Place master and slave within

LOS of the ground station• Have ground station request

image from slave through the master

• Record time requested and time elapsed to ground station display

• Verify location of the slave and master with handheld GPS receiver

Stationary

Stationary

2 km 1 km

• Test Location: Arvada Associated Modelers Club

60

Master Vehicle System Test

• Procedure• Launch the master and place

on station 2 km from the ground station and place the slave within LOS of the master

• Have ground station request image from slave through the master

• Record time elapsed to ground station display

• Ensure flight endurance of 20 minutes

Stationary

2 km1 km

61

Slave Vehicle System Test

• Procedure• Launch master and slave and

place on station at 2 km and 1 km, respectively

• Have slave conduct target run on field setup

• Record time elapsed to ground station display

• Ensure slave flight endurance of 10 minutes

• Observe test images

Target62

Communications System Test

• Connect Test Procedure• Use internal testing option of

communications system program

• Plug both radios into two different USB ports on the same computer

• Run test program for 10 minutes

• Save file• Repeat test for varying time

and test settings (continuous, break on error)

• Range Test Procedure• Plug both radios into two

different USB ports on two different computer

• Place computers 2 km apart at test field and verify distance through a handheld GPS receiver

• Run same settings as in previous test to ensure proper operation for communications system

63

Hardware Integration Flow ChartSlave:

3 Cell/ 910mAh LiPo Battery

6 Ch Futaba receiver

Autopilot

Imaging(camera)

Elevon Mixer

ESC Throttle Servo

Elevon Servos

380 Brushed motor(Ducted Fan Unit)

Master:

Futaba 6EXSController

Futaba 6 Ch.receiver

ESC Throttle Servo

Elevator/Aileron Servos

GUI(Laptop)

Ground Transceiver Slave

- Blue boxes denote isolated subsystem components - Orange boxes denote primary integrated subsystems

64

Imaging: Camera Choice

Study Results: the C328-7640 Camera Module will be our initial imager

65

Imaging: Specific Requirements

• We can now calculate maximum imaging range using Johnson Criteria (80 m)

• Given this range, we can calculate maximum pitch, yaw, roll, and velocity and ensure our chosen airplane conforms to these requirements in its planned flight path• Max tangential velocity: 60 m/s• Max radial velocity: 80 m/s• Max pitch/yaw: 0.2 rad/s• Max roll: 2 rad/s

66

Imaging: Fulfillment of Requirements

• We will fly our airplane at a cruising speed of 17 m/s (40 mph) directly over the target, imaging at just under max imaging range

• Altitude: 45 m (allows for error in altimeter)• Satisfies all blur requirements

• Pitch Rate: 0.1 rad/s (<0.2 rad/s)• Yaw Rate: 0 rad/s by definition of flight path • Roll Rate: 0 rad/s by definition of flight path • Radial Velocity: 8 m/s (<80 m/s)• Tangential Velocity: 15 m/s (<60 m/s)

• Imaging window time of 3 seconds

67

Power – Ducted Fan Test• Measured Baseline Normal and Axial

Forces in Wind Tunnel with Motor Off• Measured Forces With Motor On• Results Inconclusive

• Reexamine Test Set Up

68

Power - Backup

• Normal Force Plot

69

Power – Motor Test• Measure Ducted Fan Forces and Motor Power

Consumption• Speed 370 Brushed Motor• 0.8 Resistance• 5.5 Minutes

70

Power - Conclusions• Need to Increase Battery Capacity

• Current – 910 mAh (stock) lasts 5.5 min• Need – 1800 mAh for >8 min• Found Pro Lite 11.1 V, 20C discharge

battery

Battery Capacity Mass (g) Volume (mm)

ElictriFly

GPMP0815910 mAh 79 20 x 34 x 62

Pro Lite

TP200032000 mAh 120 19 x 47.6 x 63.5

71

Electrical Design: Master UAV Comm Board

72

Electrical Design: Slave UAV Daughter Board

73

Project Risk

LOW MediumHigh

Impact on System

Payload Mass too High

Cannot control aircraft to requirements

Microcontroller cannot handle all operations

Battery endurance not to requirement

Unable to take picture in desired location

Failure of communications relay

Software Failure

74

Facility Requests• Wind Tunnel

• Dynamic thrust test and battery power testing.

• Table Mountain Radio Quiet Zone• Secured for flight testing of slave,

master and ground system.

• Aerospace Electronics Lab

75

Schedule Overview• Aircraft Selection and Stability

• Power and Electrical

• Imaging

• Controls

• Communications

• Software/Electrical Hardware

• Safety/Testing

• Management

• Presentations/Documentation

76

Schedule (Slide 1)WBS Task Name

1 Aircraft Selection and Stability1.1 Design

1.2 Fabrication/Test/Verification

1.2.1 Test of Slave Motor (Wind Tunnel Test)

1.2.2 Vibration Testing

1.2.3 Sig Procurement and Fabrication

1.2.4 Second Slave Aircraft Procurement and Fabrication

1.2.5 Manual Test Flights

2 Power and Electrical2.1 Design

2.2 Fabrication/Test/Verification

2.2.1 Battery Test (Voltage & Current Rolloff)

2.2.2 Motor Dynamic Thrust Test

2.2.3 Test of Power Subsystem

2.2.4 Procurement of Final Battery

3 Imaging3.1 Design

3.2 Fabrication/Test/Verification

3.2.1 Resolution Testing/Verification

3.2.2 Static Testing on Aircraft Body while Engine On

3.2.3 Testing of Camera Timings and Settings using Costume Interface

3.2.4 Ground Test with Communications

3.2.5 Camera Mounting on Airframe

3.2.6 Initial Testing on Aircraft Using Memory Card

4 Controls 4.1 Design

4.2 Fabrication/Test/Verification

4.2.1 System Integration

4.2.2 Virtual (Simulink) Testing

4.2.3 Testing of Gains manually

5 Communications5.1 Design

5.2 Fabrication/Test/Verification

5.2.1 Product Procurement

5.2.2 Integration

5.2.3 Communications Interface/Range Test

16 19 22 25 28 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24 27 30 2 5 8 11 14 17 20 23November 2006 December 2006 January 2007 February 2007

77

Schedule: Software (Slide 2)Task Name

Software/Interface/Electrical HardwareDesign

Fabrication/Test/Verification

Ground

Development Board Connectivity/Functionality Test

Software GUI Creation and Testing

Slave

Hardware

Daughter Board Finalize PCB and Order

PCB Connectivity and Testing

Board Population

Functionality Test

Software

Old Software Testing and Timing Measurements

Pressure Sensor

GPS

Xbee Transeiver

Servo Command

Control Algorithm & Rate Gyro Updating

New Software

Imaging Interface

Safety Algorithms

Ground Command Processing

Master

Hardware

Finalize PCB and Order

PCB Connectivity and Testing

Board Population

Functionality Test

Software

Xbee (Slave) Interface

Ground Communications Link

GPS interface

16 19 22 25 28 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24 27 30 2 5 8 11 14 17 20November 2006 December 2006 January 2007 February 2007

78

Schedule: Integration and TestingWBS Task Name

7 Safety/Testing7.1 Design

7.2 Fabrication/Test/Verification

7.2.1 Review/Oversee Testing of Subsystems

7.2.2 Review/Oversee Testing of Individual System

7.2.2.1 Ground Station System Test

7.2.2.2 Slave System Test

7.2.2.3 Master System Test

7.2.3 Review/Oversee Testing of Complete System

7.2.3.1 Static Test Mission

7.2.3.2 Complete Test Mission

8 Systems8.1 Design

8.2 Integration

8.2.1 Subsystem

8.2.2 Individual System (GS,Slave,Master)

8.2.3 System

8.3 Master Equipment List (MEL)

8.3.1 Creation/Compilation

8.3.2 MEL Update

8.4 Requirements Review

24 27 30 2 5 8 11 14 17 20 23 26 1 4 7 10 13 16 19 22 25 28 31 3January 2007 February 2007 March 2007 April 2007

79

Schedule: Project ManagementTask Name

ManagementBudget

Preliminary Cost Budget and Tracking Method Set up

EEF Proposal

Exploring of other Funding Sources

Procurement Plan

Update Budget

Update Schedule

Management Review/Team Feedback

Facilities Procured

Presentations/DocumentationDesign

Fabrication/Test/Verification

Interim Review

ITLL Design Expo Preperation

ITLL Design Expo

Final Paper

Final Review

31 3 6 9 12 15 18 21 24 27 30 2 5 8 11 14 17 20 23 26 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24December 2006 January 2007 February 2007 March 2007 April 2007

80

Control System Requirements

• Path Tracking

• Altitude Control

• Slave- Path tracking to allow imaging

of target

• Master- Circular loiter

81

Control System Selection• Using existing graduate student

board

• Modifying autopilot • Consists of developing new vector field• New model and controller to fit different

aircraft

82

Design and Verification Process• Design of vector fields for trajectory tracking• Verifying vector field via particle simulation• Model aircraft dynamics and controller design• Verification of system via Simulink Model• Flight Test

83

Vector Field Design

•Globally attractive

•Field switched for individual targets

84

Master Vector Field• 300m Diameter Loiter Circle

-400 -200 0 200 400 600 800 1000-400

-200

0

200

400

600

800Master Vector Field Particle Simulation

85

Altitude Control• Throttle Control

• Elevon Control

• Combination

86

Camera Mounting• Camera module is embedded in the foam wing, far enough

away from the fuselage to prevent blocking the FOV

87

Camera Lens

PCB and CMOS sensor

Pylon Attachment Point

Slave UAV Interconnect Diagram

Battery

Autopilot

Camera Power & Interface Board

Camera Module

ESC Motor

Servos

RC Receiver

+-

4-Channel Bus

PowerData

PWMBus

16 gage high-current wire

Asynchronous Serial Bus

Master UAV Interconnect Diagram

Battery

Autopilot ESC Motor

Servos

RC Receiver

+-

4-Channel Bus

PowerData

PWMBus

16 gage high-current wire

Comm BoardRF Coax RF Coax

2.4 GHz Antenna 1 2.4 GHz Antenna 2