prof. kristofer s.j. pister’s team berkeley sensor and actuator center university of california,...
TRANSCRIPT
Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
Part IVInertial Measurement and Control
Ankur Mehta
3
Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
4
Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
5
GINA board: “back”
wsn.eecs.berkeley.edu
6
GINA board: “back”
wsn.eecs.berkeley.eduTI MSP430F2618 : 16 bit 16 MHz microprocessor
7
GINA board: “back”
wsn.eecs.berkeley.eduAtmel AT86RF231 : 802.15.4 compliant 2.4GHz radio
8
GINA board: “back”
wsn.eecs.berkeley.eduRainsun chip antenna, coax cable jack, RF switch
9
GINA board: “back”
wsn.eecs.berkeley.eduST Micro LIS344ALH : Sensitive, low noise analog XL
10
GINA board: “back”
wsn.eecs.berkeley.eduDebugging LEDs
11
GINA board: “back”
wsn.eecs.berkeley.edu32 kHz, 16 MHz crystals
12
GINA board: “front”
wsn.eecs.berkeley.edu
13
GINA board: “front”
wsn.eecs.berkeley.eduKionix KXSD9-1026 : Large range +/- 8g digital XL
14
GINA board: “front”
wsn.eecs.berkeley.eduInvensense ITG3200 : Digital gyroscope
15
GINA board: “front”
wsn.eecs.berkeley.eduHoneywell HMC5843: Digital magnetometer/compass
16
GINA board: “front”
wsn.eecs.berkeley.eduTI TMP20: Analog temperature sensor
17
GINA board: “front”
wsn.eecs.berkeley.eduOp amps for noise filtering on sensitive XL
18
GINA board: “front”
wsn.eecs.berkeley.edu3V LDO linear regulator
19
GINA board: “front”
wsn.eecs.berkeley.eduReset, auxiliary user input switches
20
GINA board: “front”
wsn.eecs.berkeley.eduJTAG programming header
21
GINA board: “front”
wsn.eecs.berkeley.eduExpansion headers
22
Power Consumption
TX+g
yro+m
ag+x
l+adc
TX+g
yro+x
l+adc
TX+x
l+adc
TX+a
dc
radio tx
radio id
le
radio sle
epLP
M3
90.979.8
55.8 54.9 54.3
7.4 4.2 1.5
GINA 2.2b/c Power Consumption
AveragePower (mW)
16 MHz clock, 3 ms instrumentation loop
wsn.eecs.berkeley.edu
23
Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
24
GINA main board sensors
• Large range accelerometer• Gyroscope• Magnetometer• Sensitive accelerometer • Temperature sensor
wsn.eecs.berkeley.edu
25
Exposed interfaces
• Analog input pin• Digital GPIO• Serial communication– I2C– SPI–UART
wsn.eecs.berkeley.edu
26
Additional sensors
• GPS (UART)• Battery meter (I2C)• Infrared camera (I2C)• Video camera (SPI)• Hydrogen Sulfide sensor (Analog)• ???
wsn.eecs.berkeley.edu
27
Sensor calibration
Accelerometer Gyroscope
wsn.eecs.berkeley.edu
28
Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
29
Actuator controllers
• Hardware based PWM outputs–Processor configurable–10 (3 + 7) channel output–Can drive servos, brushless or brushed
motors, SMA actuators?• Digital GPIO pins• Serial interfaces
wsn.eecs.berkeley.edu
30
Servo actuation
31
Motor actuation
32
Motor actuation
33
Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
34
Inertial navigation
• Extended Kalman filter state estimator–3DOF pose: attitude / orientation
• Additional sensor fusion–6DOF position
• Offboard or onboard computation
wsn.eecs.berkeley.edu
35
Inertial navigation
• Kalman filter state estimator
wsn.eecs.berkeley.edu
36
Inertial navigation
• Kalman filter state estimator
wsn.eecs.berkeley.edu
37
Inertial navigation
• Kalman filter state estimator
wsn.eecs.berkeley.edu
38
Motion Capture
39
Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
40
Feedback control
wsn.eecs.berkeley.edu
41
wsn.eecs.berkeley.edu
Feedback control
42
Feedback control
wsn.eecs.berkeley.edu
43
Feedback control
wsn.eecs.berkeley.edu
44
Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley