project bliss boundary layer in-situ sensing system kyle corkey devan corona grant davis nathaniel...

Project BLISS Boundary Layer In-Situ Sensing System Kyle Corkey Devan Corona Grant Davis Nathaniel Keyek-Franssen Customer Dr. Suzanna Diener Northrop Grumman Faculty Advisor Dr. Donna Gerren Robert Lacy John Schenderlein Rowan Sloss Dalton Smith Team 1

Outline Project Overview Major Changes and Status Update Manufacturing Status Mechanical Electrical Software Budget Update 2

Motivation Northrop Grumman Atmospheric Boundary Layer Model Verification Boundary layer inertial wind data, cloud base altitude used in verification Boundary Layer Wind Model Applications: Airborne pollution monitoring Prediction of forest fire advances Facilitating soldiers in battle 3

Project Deliverables 3-Dimensional U-, V-, W- inertial wind vector data inside the measurement cylinder Cloud base altitude and cloud footprint data above the measurement cylinder Measurement Cylinder 4

Levels of Success 5 Level 1: Certified to operate in an airspace defined as a cylinder with a 100 meter radius and 200 meter height above ground level. Level 2: Executes flight plan following points spaced no more than 30 meters apart spanning the defined airspace. Level 3: Execute level 2 flight plan with Measurement System onboard and collecting data Delivery System Motivation: The measurement system needs to be transported through the measurement cylinder to meet special and temporal requirements.

Levels of Success 6 Level 1: Wind measurement system collects relative wind data with resolution of 0.1 meter/second. Level 2: Post-process the relative wind data from a ground test to compute the U, V, W inertial wind velocity vector components. Level 3: Deliver U-, V-, W- inertial wind velocity vector field with temporal and spatial location for each measurement. Measurement System Motivation: Provide Northrop Grumman with data precise enough to verify a boundary layer wind model.

Levels of Success 7 Level 1: Image the cloud footprint above a 100 meter radius cylinder at 1/4 Hz for a 15 minute period. Level 2: System is tested in full scale to take distance measurement with less than 10% error up to 2km Level 3: Deliver time-stamped cloud footprint images and cloud base altitude measurements at 1/4 Hz during the 15 minute test period. Cloud Observation System Motivation: Provide Northrop Grumman with cloud observation data to correlate with wind vector field measurements.

Concept of Operations 100 m 200 m Legend Within Project Scope NG model wind vector Physical Wind Vector Wind Vector of in-situ data 100 m 200 m 100 m 200 m 100 m 200 m Airspace Test Volume Subject To Modeling Northrop Grumman Wind Model Results In-Situ Relative Wind Velocity Data Collection and Cloud Imaging Inertial Wind from In-Situ Data and Cloud Base Altitude Wind Vector and Cloud Data Used to Verify Northrop Grumman Model 8 100 m

Experimental Setup 100 m 200 m 30 m BLISS Measurement and Delivery System Data points Spaced at most 30m radially in 3D space Legend Physical Wind Velocity Vector Field (u-,v-,w-) Cloud observations constrained to the measurement cylinders vertical projection Atmospheric clouds located high above test volume In-Situ relative wind velocity data collection Cloud Observation System stereovision cameras 9

Functional Block Diagram Aircraft State & Wind Pressure Inertial U-,V-,W- Wind Vector Field Post Processing Algorithm Northrop Grumman Wind Model Delivery System Raspberry Pi Pixhawk Flight Controller Motor GPS Antenna Electrical Power System Power Module Speed Controller 14.8V 5V Flight Path Waypoints Manual Commands 5V GPS Coordinates Elevon Servos Elevon Servos Serial Command PWM Measurement System Pressure Transducers Inertial Navigation System Arduino Due SD Card Relative Wind Electrical Power System 5-Hole Probe Thermistor Aircraft State & Wind Pressure SPI 9V Analog Voltage Air Pressure Analog The Measurement System is packaged in the Delivery System 10 14.8V

Functional Block Diagram Continued Vertical Camera Internal SD Card Cloud Observation System Northrop Grumman Wind Model Computer with Post Processing Algorithm Vertical Camera Battery Internal SD Card Left and Right.RAW Images Cloud Base Altitude & Footprint.RAW Image Power X Cloud Base Camera Field of View Camera Field of View Battery 11

Critical Project Elements 12 CPERequirementMotivationStatus Obtaining a COA4.1.1UAV cannot legally fly without a COAObtained in 12/2014 Rapid Prototyping 5-hole probe 1.2Used to measure windCompleted 1/23/15 Calibrated 5-hole probe1.2.3Need to geometrically calibrate the probe to accurately measure wind Calibration to be conducted 2/10-3/6 Aircraft State Knowledge1.2.2Needed to convert relative wind to inertial wind INS microcontroller code in development, behind but will finish on schedule Flight Path1.1.1.1, 3.1To meet required spatial and temporal measurement resolution Code currently in progress, on schedule Cloud Observation Algorithm 2.2.2Deliver cloud data within required error bounds Phase 1 completed 12/2014. Final code scheduled 3/23/15

Probe Calibration with Wind Tunnel Calibration jet will no longer be used: Difficult to create and verify the needed top-hat profile Cannot quantify uncertainties of the flow Significant man hours in manufacturing Material cost is preventative 13

Probe Calibration with Wind Tunnel 14 To calibrate the 5-hole probe within requirements, the wind tunnel flow must be known to: V to 0.56 m/s to 3.44 to 2.97 VV u v w Probe tip

Wind Tunnel Test 15 X Y Z Traversed a Pitot-static probe in X, Y Plane and a Z axis in 15 m/s and 25 m/s wind 150 mm Horizontal Traverse Origin 298mm from End of Test Section 80 mm Vertical Traverse Origin 165mm from base Wind Direction Mounting Plate Pitot Probe Y is Vertical 266 mm Z Traverse X Y Z Visualization of probe traverse

Wind Tunnel Data for Changing X-Position 16 Slope = 0.000254 (m/s)/mm X Y Z x = 0 mm x = 20 mm Wind Direction Viewed from Side

Wind Tunnel Data for Changing Y-Position 17 Slope = -0.000374 (m/s)/mm X Y Z y = 160 mm Wind Direction Viewed from Side

Wind Tunnel Data for Changing Z-Position Z-position was traversed at one x, y pair. Test setup physically limited by the hole in side wall of tunnel Total of 21 positions at increments from wall to wall in tunnel 18 Mean VelocityStandard Deviation 25.07 m/s0.0487 m/s Viewed from Top X Y Z Wind Direction

Wind Tunnel Conclusions 19 Velocity gradient is negligible in X, Y and Z across tunnel. Significantly less than required 0.56 m/s for 5-Hole Probe Calibration. No outliers from the standard deviation Fl ow angularity is difficult to test Solution: Test with calibrated 5-Hole Probe Only 2 known on campus RECUV Recently Damaged GoJett On Backorder Solution: Make assumptions using our probe Rotate the probe in X Axis, parallel to flow See if raw data is consistent Offramp: Assume angularity is negligible in and Angularity of = 3.44 and = 2.97 are very reasonable with such a small pressure gradient AxisAverage Velocity (m/s) Maximum Standard Deviation (m/s) X24.970.0684 Y24.970.0767 Z25.070.0487

Schedule Overview 20 Mechanical Phase 1 Software Phase 1 Electrical Phase 1 Systems Phase 1 Measurement System Test Phase Hack Cameras Software Phase 2 Systems Phase 2 Cloud Observation Test Phase UAV Test Phase Final Test Phase MSR TRR Mechanical Phase 2

21 Detailed Schedule Through TRR Switching to wind tunnel reduced manufacturing man hours by 4 weeks of work ~1-2 days of work remain Electrical complete Delivery system software is ahead of schedule INS microcontroller code behind schedule Due to shipping time and resources devoted to pressure transducers Devoting extra man hours to catch up Calibration is still on schedule to begin 2/10 MSR TRR

Detailed Schedule After TRR 22 TRR

Mechanical Components 23 ComponentStatusTo Do Rapid Prototype 5-hole probe Completed 1/23/15 Wind Tunnel Calibration Stand Expected Completion 2/6/15, on schedule Integrate Potentiometers, Assemble Stand Skywalker X-8 AssemblyWing assembly complete. Fuselage assembly rescheduled. Integrate UAV probe mount into fuselage, Glue fuselage together

5-hole Probe Status The 5-hole probe was rapid prototyped by Protogenic on 1/23/15 Holes are clear and unobstructed of material Next Steps: Insert stainless steel tubing into the back of the probe Connect pressure transducers Begin probe calibration Expected Completion: 2/6/15 24 4.25 in

25 Roll Potentiometer Yaw Potentiometer Electronics Plate 5-Hole Probe Turntable Locking Mechanism (2x) Wind Tunnel Base Turntable to Move Probe in Yaw Yaw Plate Sits Flush With Wind Tunnel Base All metal components have been machined Two parts will be 3D printed by Friday (2/6) Potentiometers will be delivered on 2/3 Next Steps: Interface potentiometers w/ Arduino Assemble stand Begin probe calibration Expected Completion: 2/6/15 Wind Tunnel Calibration Stand Status

Skywalker X-8 Assembly Status Wing assembly is complete The fuselage assembly has been rescheduled until the probe mount is inserted UAV probe mount would be easier to insert before complete assembly Not critical that assembly is done now Next Steps: Mount probe in Skywalker Integrate delivery and measurement system components into UAV Expected Completion: 3/20/15 26

Electrical Components 27 Arduino Due Interfacing with:StatusTo Do Transducers: 5 Differential & 1 AbsoluteComplete Inertial Navigation SystemIn Progress Interface with GPS antenna, error checking logic, integrate into to final script ThermistorIn Progress Error checking logic, integrate into to final script PotentiometersIn Progress Error checking logic, integrate into to final script

Pressure Transducers Transducers soldered to Vectorbord Successfully communicating with Arduino Due Arduino code written for calibration Arduino code ready for final flight implementation 12-bit resolution voltage written to SD card text file Next Step: Integrate into final script Integrate transducers to 5-Hole Probe 28

Inertial Navigation System (INS) Received INS pre-soldered to breakout board Communicating with Arduino over SPI Code currently written to collect: Roll, Pitch, and Yaw Angular rates To do: GPS interfacing 2 weeks Error checking logic Integrate into final script Expected Completion: 2/16/15 29

Software Components 30 ComponentStatusTo Do Autopilot SoftwareIn Progress, On Schedule Code flight path into Mavlink Messaging Protocol Software in the Loop (SITL) Setup Complete, Ahead of Schedule Run simulation with multi-phase flight path Cloud Observation Algorithm In Progress, not scheduled until 2/23 Improve algorithm with large scale test data, automate the computation process

Autopilot Software Goals: Dynamically create flight path around an arbitrary GPS coordinate Simulate Skywalker in the flight path with a Software in the Loop simulation. Program flight plan onto Pixhawk Autopilot 31

Autopilot Software 32 Data Collection Location Reference Coordinates of Data Collection Cylinder Flight Path Waypoints Matlab Script to Build Flight Path Waypoints Around Reference Coordinate Multi-Phased Flight Algorithm Flight Plan Algorithm uses Aircraft State to Progress through Multi-Stage Flight Plan. SITL ArduPlane Simulation Simulation of Flight Path Using Multi- Phase Flight Plan Flight Path Error Matab Script to compare Expected to Actual Flight Path to Meet Spatial Resolution Requirement Completed In Progress

Software in the Loop 33 Current Functionality: Take-off and Landing Commanding of waypoints and loiter points to a sample aircraft Next Steps: Setup configuration file to define Skywalker X8 Conduct a full mission simulation Program code onto Pixhawk Hardware testing Airspeed Roll & Pitch Altitude

Cloud Observation System Rescheduled to begin on 2/23 Initial camera was only supported in beta with CDHK firmware hack Difficult porting process, low success rates In the process of finding a replacement camera Constrained by resolution and price 34

Budget Update 35 Estimated Expenses at time of CDR: $4708.29 Total Expenditures thus far: ~ $4125 Remaining Margin: ~ $875 Notable savings from shipping budget allocation Additional small purchases have led to an increase in spending

Budget Update 36 Future ExpendituresExpenses To Date

Recap Mechanical components are all on schedule Calibration will still start on schedule on 2/10 Electrical components are complete except for the INS microcontroller code and camera firmware hack INS development is behind schedule but will catch up this week with Bobby Lacy free of additional tasks Cloud observation camera firmware hacks will begin 2/23 Software is on schedule Software in the loop is set up Next step is testing flight path in software in the loop setup Current margin for the project is $874.61 Projected final margin of $524.61 37

Acknowledgements We would like to thank all of the PAB, our advisor Dr. Gerren, our customer Dr. Diener from Northrop Grumman, Trudy Schwartz, Bobby Hodgkinson, Dr. Farnsworth, Matt Rhode, and James Mack for all their help in preparation for this MSR. 38

Questions ? 39

Back Up Slides 40

Contour Plot of Velocity in X, Y Space Gradient scale is within our uncertainty requirement of 0.56 m/s 41 Mounting Plate 5-Hole Probe Location Wind Direction X Y Z

Wind Tunnel Data for Changing X-Position 42 X Y Z x = 0 mm x = 20 mm Wind Direction Viewed from Side Slope = 0.000293 (m/s)/mm

Wind Tunnel Data for Changing Y-Position 43 X Y Z y = 160 mm Wind Direction Viewed from Side Slope = -0.0012 (m/s)/mm

Wind Tunnel Data for Changing Z-Position Z-position was traversed at one x, y pair. Test setup physically limited by the hole in side wall of tunnel Total of 21 positions at increments from wall to wall in tunnel 44 Viewed from Top X Y Z Wind Direction Mean VelocityStandard Deviation 15.04 m/s0.0833 m/s

Contour Plot of 15 m/s in X, Y Space Gradient scale is within our uncertainty requirement of 0.56 m/s 45 Mounting Plate 5-Hole Probe Location Wind Direction X Y Z

Detailed Schedule Through TRR with Resources 46

Detailed Schedule From TRR to Spring Break with Resources 47

Detailed Schedule After Spring Break with Resources 48

Wind Tunnel Calibration Stand Drawings 49

Flight Path Creation Algorithm Matlab script designed to build waypoints in a local NED coordinate frame, then transformed to Geocentric LLA coordinates based on reference waypoint supplied by user. Currently builds flight path tracks to compare to SITL simulation for flight path accuracy comparisons. Final Version will create dynamic loiter waypoints for each helix flight stage. 56

Multi-Phased Flight Path Multiple stage flight plan designed to simplify autopilot control commands. Uses knowledge of aircraft state to progress through stages. Laws for transition between stages are under testing in SITL. 57

Multi-Phased Flight Path Stage separation uses transition between flight path segments. Flight path will include 4 helix stages and 3 connector stages. 58

Multi-Phase Flight Path 59 Stage 1: Climbing Helix Initiated Upon Switch to Autonomo us Flight Stage 2: Connector Initiated When Aircraft Achieved 200 m Climb Stage 3: Descending Helix Initiated when Aircraft is 65 m Distance from Loiter Waypoint 2 Stage 4: Connector Initiated When Aircraft Achieved 200 m Descent Stage 5: Ascending Helix Initiated when Aircraft is 65 m Distance from Loiter Waypoint 3 Stage 6: Connector Stage 6: Ascending Helix Initiated When Aircraft Achieved 200 m Climb Initiated when Aircraft is 65 m Distance from Loiter Waypoint 4

Software in the Loop 60 Flight Plan.TXT File with Waypoint, Loiter as MavLink Commands MAVProxy Ground Control Station MavLink Commands ArduPlane Autopilot Platform to Control UAV Motor and Servos MAVLink Commands Over Serial Connection JSBSim Flight Dynamics Model and Physics Simulator Simulated Motor and Servo Console & Map Display UAV in flight and report data Location, Aircraft State

INS Factory Calibration All sensors (accelerometers, gyroscopes, magnetometers) are calibrated for axis misalignment, scale factor, and bias at the manufacturer. Calibration is stored onboard and applied in real time during operation The performance specifications for the IMU and GPS are validated through ground and air vehicle testing against high-end fiber optic gyro based INS units at the manufacturer 61

project bliss boundary layer in-situ sensing system kyle corkey devan corona grant davis nathaniel...

Documents

wind measurement system

cloud data

relative wind data

w inertial wind vector

cloud footprint data

cloud imaging inertial

situ data

cloud observation data