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Project ASCEND!Embry-Riddle Aeronautical University
Spring 2014
Presented By:Ankit Jain – Project Manager
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Team Organization
• Ankit Jain: Project Manager• Ben Anderson: Assistant Project Manager• Patrick Deskin: System Integrator• Brigette Cochran: Software Engineer• Dallas Hodge: Hardware Engineer• Austin Leonard: Structural Engineer• Loren Williams: Structural Engineer
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Presentation Overview
• Project Overview• Computer Aided Design (CAD) & Rapid
Prototyping• Fabrication• Hardware & Software• Attitude Determination• Flight Results• Future Developments• Acknowledgments
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Project Overview
• Accurate attitude determination
• Real-time implementation
• PCB manufacturing• 26-sided structure• Booms for stabilization• Standard clamp rod
attachment
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CAD & Rapid Prototyping
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Early CAD Design
CATIA V5 R17
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Final CAD Design
Red: Switch Mount
Blue: IMU and Power Regulator Mount
Yellow: 9V Battery Mount
Purple: PCB and Data Logger Mount
Green: Camera Mount
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Rapid Prototyping
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Fabrication
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Fabrication
• Bi-directional carbon• NOMEX honeycomb• 2/10” styrofoam
insulation
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Fabrication
• Epoxy• Fiberglass
reinforcement• Microballoons
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Fabrication
• Lexan plate for camera window
• Velcro door mechanism
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Assembly
• All mounts are removable
• Bolted into place• Central rod holds all
mounts in place• Booms screw into
mounting block
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Hardware & Software
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FlightSoftware / Hardware
• Dr. Isenberg’s data logging system utilizing a PIC processor
• 3.3V and 5V power regulators
• IMU board• PCB – signal routing &
conditioning• Video recorder• Data Analysis: MATLAB
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Attitude Determination
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Attitude Determination
• 23 solar panels as sun sensors• IMU consisting of a 3-axis rate gyroscope
and 3-axis accelerometer• Two vector attitude determination using
Wahba’s Problem o Acceleration Vectoro Sunlight Vector
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IMU Calibration
• Both rate gyroscope and accelerometer calibrated
• Cross-coupling effects considered between axes
• Verification of calibration
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Light Measurement Vector
• Orientation of each panel with respect to x, y, and z axes of gondola (i.e., body frame)
• Transformation of data into light measurement vector with respect to the body frame
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Flight Results
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Acceleration Vector
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Angular Velocity Vector
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Light Measurement Vector
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Attitude (Quaternion)
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Results Comparison
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Future Developments
• Recruit more software engineers• Debug I2C • Complete external SD & file system • Real-time implementation• Moving to C++ for libraries containing array
math • Determine better attitude estimation algorithm• Attitude control
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Acknowledgements
• Jack Crabtree – ERAU & ANSR • Dr. Gary Yale - ERAU• Dr. Douglas Isenberg - ERAU• Jim Weber – ERAU• Dr. Brian Davis - ERAU• Patrick David - ERAU• Chris Smith – ERAU• Ben Ellefson – Powerfilm Solar• NASA Space Grant Members • University of Arizona