p13231: uav ground-station project...
TRANSCRIPT
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P13231: UAV Ground-station Project Review
Team Members:
Aurora Kiehl (ME) Scott Nueman (EE) Jeremie Snyder (EE)
Dennis Vega (CE) Stephen Wess (ME)
Guide:
Dr. Jason Kolodziej
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Project Overview • A continuation of past UAV projects
– Produce a proof-of-concept test bed for testing of future developments
• Goals
– Autonomous flight via user input GPS waypoints
– Receive and log flight data from plane
– Initiate and detect seeded faults from ground
– Capture aerial images and live video
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Function Tree
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Autopilot System
• Open Source, allows for automated flight via GPS waypoints. Multiple Flight Modes are possible.
• Includes instruments for measuring roll, pitch, yaw, altitude, ground speed, and (with pitot tube) airspeed.
• Collects measurements at 10Hz or 50Hz, and GPS at 5Hz.
• 4MB of onboard flash memory.
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ArduPilot Telemetry
• Data collected in flight is streamed real-time to ground • Stored in “tlog” files on the ground • Also stored on ArduPilot memory at higher sample rate
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First Person Video System
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Aerial Imagery System
• GoPro Hero 3 Silver chosen for still imagery.
• ArduPilot code outputs sequence of highs and lows in order to take image.
• Time-lapse mode used before ArduPilot code was made functional.
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Aerial Imagery System
GoPro Mounting Location
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Faults
• Simulate hole in wing lift surface. • Damaged rudder. • Aileron power loss.
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Accelerometers
• Represent proof-of-concept health monitoring system
• ± 6g Range
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Accelerometers
• Shake table test
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Testing & Results • ArduPilot
– Data collection and storage: Successful
– Automated flight capabilities: Under Investigation
• Accelerometers & Data Storage – Shake table test: Successful
• Seeded Faults – Ground test of fault initiation: Successful
– Test of fault detection system: Pending
• FPV System – Video capture and heads-up display: Successful
– Video recording systems: Successful
• Aerial Imagery System – GoPro mounting scheme: Successful
– Integrated control through ArduPilot: Pending
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Budget
• Proposed Budget: $987
• Actual Spent: $1420
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Project Outcome Evaluation • Customer Needs Met
– Fight data acquisition, display, and storage
– Video capture and associated data display
– Accelerometer data storage
– Ability to seed faults
• Customer Needs Still to be Met and Verified
– Automated flight via GPS waypoints
– Aerial imagery remote capture
– Seeded Fault detection and display to user
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Future Work
• Integrate test bed on larger airframe
• Develop sophisticated health monitoring system
– Select higher quality sensors
– Investigate optimal sensor locations
• Investigate integrating imaging system developed by the Imaging Science Center with ArduPilot
• Perform flight tests to fully vet the autopilot mode
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Acknowledgments
• Thanks to Phil Nguyen for volunteering his time to serve as the team pilot
• Thanks to team guide Dr. Kolodziej for his support throughout the past two quarters
• Thanks to Dr. Becker-Gomez for providing feedback at design reviews