Instrumentation of UAV for 6-DOF Modeling
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1 Instrumentation of UAV for 6-DOF Modeling Quarterly Review of the NASA/FAA Joint University Program for Air Transportation Research Friday June 14 th, 2002 Presented By: Sean M. Calhoun Jacob Campbell Principal Investigator: Dr. Frank Van Graas Dr. Douglas Lawrence Avionics Engineering Center Ohio University, Athens 1
2 Introduction Brumby Aircraft Specifications Past and Future Projects Instrumentation for 6 DOF Modeling Development Path 2
3 Brumby Specifications Delta Wing Aircraft Wing Span (8.27 ft) Dual Fins Fuselage Length (6.46 ft) Payload Weight <= 17.6 lbs Air Speed > 100 Knots (40 60 min.) Pusher Propeller Configuration (7.2 hp) Fiberglass Composite Fuselage 10 Channel Radio Control Receiver Take Off and Land from Grass or Paved Surfaces 3
4 Short Base Line GPS Attitude Determiation Conducted By Matt Harris and Dr. Dan Aloi 3 Marconi Allstar GPS Receivers 4
5 Digital Divide Goals For Service in Areas where the Subscribers are Separated by > 1 km. Service» Single Subscribers: DSL Equivalent (500 kbps into the service, 2-4Mbps from the network to the subscriber)» Businesses: Mbps, Symmetrically. Use of Spot Beams» Frequency reuse» Scaling and Adaptability 5
6 Possible Platforms 6
7 Digital Divide Datalink Demonstration 7
8 8
9 9
10 Development of Other Projects GPS/Low Cost IMU Integration Brumby Autopilot Airborne Control Automatic Landing More 10
11 Data Collection Component Diagram CMC GPS IMU RS-232 Timing Compass RS pps TTL (serial) Z-World µc 232 Ps Pd α TTL (serial) RS-485 Analog Z-World µc 232 DATA Collection PC Free Wave β Analog Actuator Rx. PIC RS-232 Z-World µc 232 Absolute Altimeter Z-World µc
12 Air Data Static and Dynamic Pressure (psi) RS-232 / RS-485 Outputs VDC / ma Input 5 oz. Each Transducer Angle of attack and slide-slip (deg) Analog Output (potentiometer leads) 1.5K ohms / 1 Watt PR Mini Air Data Boom Approx. 6 oz. 12
13 Electronic Compass Accuracy Azimuth +- 6mils (1σ) Tilt +- 3mils (2σ) Range Azumuth 360 o Tilt o 15VDC +- 10%, 0.5 Watts Weight 3.75 oz. RS-232 Interface User Definable Internal Calibration Constants 13
14 Free Wave Wireless Data Transceiver Frequency 902 to 928 MHz Range: 20 mi (unity gain antenna) Output Power 650 ma at 12V for 1W (Transmit Current) RS-232 Interface Weight: oz. 14
15 Control Surface Sensor Decodes 10 Channels from a Dummy Radio Control Receiver Built In House PC-104 Form Factor 7-25 VDC, 40mA Weight 3.95 oz. RS-232 Output 15
16 Marconi Allstar GPS Receiver 5.0 VDC Input 1.4 Watts at 5.0 VDC Typical 2 serial RS-232 (TTL Level) outputs Weight 1.76 oz. Altitude: ft to 60,000 ft Dynamic Limitations Velocity: 514 m/s Acceleration: 4g Jerk: 2 m/s 16
17 Crossbow IMU X,Y,Z Accelerations 3-Axis Angular Rates 9 30 VDC, < 250 ma input RS-232 output Approx oz. 17
18 Z-World Microcontroller BL1800 Jackrabbit Time-Tags Data to GPS Reference» 29.5 MHz» 4 serial inputs» 1 analog input» 8 40 VDC, 1.2 W max. 18
19 Data Storage Advanced Micro Devices LTD. Multi- Channel Serial Port Controller for PC serial ports Individual Configurable R232/422/485 Output 5 VDC / < 800mA Input Lippert 300MHz Cool Space Runner PC-104 Supports Windows, Linux, QNX, VxWorks On Board: 2 RS-232C Serial Ports 2 USB Ports 10/100 Mb Ethernet Port Infrared Interface DiskOnChip Flash Drive (96 MB) 128 MB Ram IDE Controller Floppy Drive Controller Video / Keyboard / Mouse 5 VDC / 5.5 Watt Input 19
20 Power Budget Device Requirements Supply Draw, 5 Volts Supply Draw, 12 Volts Lippert 300MHz PC VDC / 5.5 Watt 1100mA AMPLTD 8 Port Serial Card (4) Z-World 1800 Microcontroller Crossbow IMU Marconi GPS Electronic Compass PPT Pressure Transducer HPA Altimeter Freewave Data Transceiver Control Surface Sensor Total 5 VDC / < 800mA 8 40 VDC, 1.2 W 9 30 VDC, < 250 ma 5.0 VDC, 1.4 Watts 15 VDC, 1Watt VDC / ma VDC / ma 12V, 650 ma 7-25 VDC / 40 ma 800mA 280mA - 2.2A 400mA 250mA - 35mA 35mA 650mA 40mA 1.4A Supply 4A 1.7A Available 1.8A 0.3A 20
21 Weight Budget Device Lippert 300MHz PC-104 AMPLTD 8 Port Serial Card (4) Z-World 1800 Microcontroller Crossbow IMU Marconi GPS Electronic Compass PPT Pressure Transducer HPA Altimeter Air Data Boom Freewave Data Transceiver Control Surface Sensor Total Max Payload Available for Batteries, Fuel, Wiring, etc. Weight 5 oz. * 3 oz. * 5.76 oz oz oz oz. 5 oz. 6 oz. 6 oz oz oz oz (4lbs, 13oz.) 17lbs, 10oz. 13lbs, 3oz. * Indicates Exact Weight Not Available, Weight Estimated to Similar Products 21
22 UAV Instrumentation Plan Acquisition: Model airplane category Significant payload GPS Receiver Data link Compass Brakes IMU Airdata boom Advanced data collection system Model Prediction Remotely Piloted with autopilot aiding Fully autonomous Aero Model Inputs Controls Enroute Hold modes Automatic takeoff Accurate height Autoland 22
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