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Brumby Flight Dynamics- Brumby Flight Dynamics- Instrumentation and Instrumentation and Flight Test ResultsFlight Test Results
Jacob CampbellJacob Campbell
Advisors:Advisors:
Frank van Graas &Frank van Graas &
Maarten Uijt de HaagMaarten Uijt de Haag
Presented at:Presented at:
JUP Quarterly ReviewJUP Quarterly Review
January 9-10, 2003January 9-10, 2003
22
OutlineOutlineOutlineOutline
Previous WorkTriple GPSAirborne Wireless LAN
Repeater
Current ResearchSensorsPlanningFlight TestResults
Future Work
33
Previous Work-Previous Work- Short Base Line Short Base Line
GPS Attitude DeterminationGPS Attitude Determination
Previous Work-Previous Work- Short Base Line Short Base Line
GPS Attitude DeterminationGPS Attitude Determination
Conducted By Matt Harris and Dr. Dan Aloi
3 Marconi Allstar GPS Receiver
44
Previous Work-Previous Work-Airborne Wireless Internet RepeaterAirborne Wireless Internet Repeater
Previous Work-Previous Work-Airborne Wireless Internet RepeaterAirborne Wireless Internet Repeater
55
Current ResearchCurrent ResearchCurrent ResearchCurrent Research
• Acquisition:•Model airplane
category•Significant
payload
• GPS Receiver
• Data link• Compass• Brakes
• IMU• Airdata
boom
• ModelPrediction
Controls Automatic takeoff
Accurate height
Autoland
Remotely Pilotedwith autopilot aiding
Fully autonomous
• Advanceddata collectionsystem
Aero Model Inputs
EnrouteHold modes
Red - Complete
Blue - In Progress
Black - Future Plans
66
Current Research – Data Wire DiagramCurrent Research – Data Wire DiagramCurrent Research – Data Wire DiagramCurrent Research – Data Wire Diagram
Lippert Computer
PC-104300 MHz (passive cooling)
100 MB Disk on Chip
10 RS-232 Ports
10 Base T (for data
download)
Lippert Computer
PC-104300 MHz (passive cooling)
100 MB Disk on Chip
10 RS-232 Ports
10 Base T (for data
download)
Z-World Jack Rabbit 30 MHz
-C
Z-World Jack Rabbit 30 MHz
-C
Z-World Jack Rabbit 30 MHz
-C
Z-World Jack Rabbit 30 MHz
-C
Z-World Jack Rabbit 30 MHz
-C
Z-World Jack Rabbit 30 MHz
-C
HoneywellStatic Pressure
HoneywellStatic Pressure
X-Bow IMUX-Bow IMU
HoneywellDynamic Press.
HoneywellDynamic Press.
Angle of AttackVane
Angle of AttackVane
Side SlipVane
Side SlipVane
CMC GPSCMC GPS
Leica 3-axis Compass
Leica 3-axis Compass
PW to Serial Converter (PIC)
PW to Serial Converter (PIC)
TTL, 19.2kb/s, 1 Hz Position, 10 Hz Pseudo Range and Carrier Phase
TTL, 1 Pulse Per GPS Second (PPS)
232, 19.2kb/s, Data Rate-133 Hz
TTL, 19.2kb/s, Data Rate-20 Hz
485, 19.2kb/s, Data Rate-20 Hz
Analog, Sampled at ~ 5 Hz
Analog, Sampled at ~ 5 Hz
TTL, 9.6kb/s, Data Rate ~ 3.3 Hz
PPM, 50Hz
TTL, 4.8kb/s, Data Rate ~ 8 Hz
(PPS)
(PPS)
RS-232, 115.2kb/s
RS-232, 115.2kb/s
RS-232, 115.2kb/s
DATA COLLECTIONDATA COLLECTIONTIME STAMPINGTIME STAMPINGSENSORSSENSORS
TTL->232
TTL->232
JR PCM10S RC Receiver
JR PCM10S RC Receiver
77
Current Research-Current Research--C GPS Time Synchronization-C GPS Time Synchronization
Current Research-Current Research--C GPS Time Synchronization-C GPS Time Synchronization
Initialize Jack Rabbit Real Time Clock (RTC) to GPS Time Message
GPS Time Message Delayed ~ 0.6 seconds
Creates an Offset between GPS Time and the Jack Rabbit’s RTC
Jack Rabbit Real Time Clock (RTC)
GPS Time
1 32 4
1 32 4
RTC_Offset
88
Current Research-Current Research--C GPS Time Synchronization-C GPS Time Synchronization
Current Research-Current Research--C GPS Time Synchronization-C GPS Time Synchronization
ISR StartISR Start
PPS_Time (Read RTC)PPS_Time (Read RTC)
FIRST PPS?
FIRST PPS?
RTC_Offset (ceil(PPS_Time) -PPS_Time)RTC_Offset (ceil(PPS_Time) -PPS_Time)
RTC_Offset RTC_Offset – diffRTC_Offset RTC_Offset – diff
diff < (1-c)diff < (1-c)
diff (PPS_Time – PPS_TimePrev)diff (PPS_Time – PPS_TimePrev)
diff diff - 1diff diff - 1
diff >= cdiff >= c
PPS_TimePrev PPS_TimePPS_TimePrev PPS_Time
ISR ReturnISR Return
NO
NO
NO
YES
YES
YES
Mis
sed
P
ulse G
litch
c: Jack Rabbit Clock Drift
(absolute value, thus positive)
PPS_Time: Time Interrupt Received
PPS_TimePrev: Time Last Interrupt Received
RTC_Offset: Difference between GPS Time and RTC
diff: Time between Last Interrupt and Current Interrupt
Missed Pulse & Missed Pulse & Glitch CorrectionGlitch Correction
99
Sensor Measurement Time StampingSensor Measurement Time StampingDelaysDelays
Sensor Measurement Time StampingSensor Measurement Time StampingDelaysDelays
SensorMeasurement
Integration Time (ms)
Sensor Processing Time (ms)
Data Transmission
Delay (ms)
Jack Rabbit Time Stamping
Delay (ms)
Total Delay (ms)
CMC GPS 0 0 n/a n/a 0
X-Bow IMU 0.8 0.9 0.260 ~0.05 2.01
PPT & HPA
(Pd & Ps)50 16.7 0.521 ~0.05 67.2
Alpha & Beta 250 n/a n/a ~0.05 250
Leica
Compass100 200 1.04 ~0.05 301
JR PCM10S
RC Receiver~120 n/a 2.08 ~0.05 122
1010
Current Research - PlanningCurrent Research - PlanningCurrent Research - PlanningCurrent Research - Planning
1111
Current Research - PlanningCurrent Research - PlanningCurrent Research - PlanningCurrent Research - Planning
Avionics Platform Avionics Platform with Brumby Hull
1212
Current Research, Current Research, Flight TestFlight Test
Current Research, Current Research, Flight TestFlight Test
Wire Wrap used to allow for flexibility in signal routing
GPS Antenna Inside Hull
1313
Current Research – Flight TestCurrent Research – Flight TestCurrent Research – Flight TestCurrent Research – Flight Test
1414
Current Research:Current Research:Power ConsumptionPower ConsumptionCurrent Research:Current Research:
Power ConsumptionPower Consumption
4 Ah, 14.4 V, Li-Ion Battery (16.4 - 14.0 volts)
Measured Load: 1.1 A
3+ hours of Battery Life
1515
Current Research: Current Research: WeightWeight
Current Research: Current Research: WeightWeight
Device Weight
Data Collection Panel 6.4 lbs.
Li Ion Battery 1.2 lbs.
Freewave Data Transceiver 1.0 lbs.
Compass 0.2 lbs.
Data Boom 0.4 lbs.
Rx bat. (2, 4-cell Nicad) 2.1 lbs.
Total Payload 11.3 lbs.
Available
(AMA Legal, w/ fuel)
4.75 lbs.
Payload Weight Budget
Aircraft Empty Weight 37.5 lbs.
Aircraft Weight 10/23/2002
(w/ fuel)
50.25 lbs.
Max Gross Takeoff Weight
(AMA* restricted
takeoff weight w/ fuel)55.0 lbs
Max Gross Takeoff Weight
(Design Specifications
w/o fuel)
66.0 lbs
Aircraft Weight Budget
* ACADEMY OF MODEL AERONAUTICS
1616
Flight Test- October 23, 2002Flight Test- October 23, 2002Flight Test- October 23, 2002Flight Test- October 23, 2002
1717
Flight Test – Gyro OutputsFlight Test – Gyro OutputsFlight Test – Gyro OutputsFlight Test – Gyro Outputs
0 10 20 30 40 50 60 70-50
0
50
roll
rate
, d
eg
/s
0 10 20 30 40 50 60 70-50
0
50
pit
ch
ra
te,
de
g/s
0 10 20 30 40 50 60 70-40
-20
0
20
t, sec
ya
w r
ate
, d
eg
/s
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
1818
Flight Test – Pitch GyroFlight Test – Pitch GyroFlight Test – Pitch GyroFlight Test – Pitch Gyro
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
1919
Flight Test – Roll GyroFlight Test – Roll GyroFlight Test – Roll GyroFlight Test – Roll Gyro
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
2020
Flight Test – Yaw GyroFlight Test – Yaw GyroFlight Test – Yaw GyroFlight Test – Yaw Gyro
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
2121
0 10 20 30 40 50 60 70-2
-1
0
1
ax
, g
0 10 20 30 40 50 60 70-2
0
2
4
ay
, g
0 10 20 30 40 50 60 70-2
0
2
4
t, sec
az
, g
Flight Test – Accelerometer OutputFlight Test – Accelerometer OutputFlight Test – Accelerometer OutputFlight Test – Accelerometer Output
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
2222
Flight Test – X AccelerometerFlight Test – X AccelerometerFlight Test – X AccelerometerFlight Test – X Accelerometer
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
2323
Flight Test – Y Accelerometer Flight Test – Y Accelerometer Flight Test – Y Accelerometer Flight Test – Y Accelerometer
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
2424
Flight Test – Z AccelerometerFlight Test – Z AccelerometerFlight Test – Z AccelerometerFlight Test – Z Accelerometer
Throttle : 75%Duration: 60 s
Straight and Level w/ Turn the last 10 Seconds
2525
Future WorkFuture WorkFuture WorkFuture Work
Data Collection ImprovementsIncrease IMU Time Tagging Precision and Accuracy
Second Internal Counter on JackrabbitIMU Timing PulseIsolate IMU from Engine “Noise”
Add messages to convey the operational state of the JR to the PC-104 and vice-versa.Improve JR subroutine to sample Alpha and BetaGround Link and Ground Station
Sean’s Work on the 6 DOF ModelAdd a Truth Reference for Multipath StudiesSatellite Link
QUALCOMM Globalstar GSP-1620 Satellite Data Modem (see next slide)
2626
Future WorkFuture WorkFuture WorkFuture Work
QUALCOMM Globalstar GSP-1620 Satellite Data Modem
Power Consumption: 5.4 W max
Voltage: 5.6-16 VDC
Dimensions: 7.48 x 2.95 x 0.68 in
Weight
Modem: 6.3 oz.
Antenna: 8.8 oz.
2727
AcknowledgementsAcknowledgementsAcknowledgementsAcknowledgements
Dr. van Graas (sponsor and advising)
Jamie Edwards (brumby pilot)
Sean Calhoun (controls and hardware)
Jared Kresge (hardware and programming)
Massimo Crisci (hardware and programming)
Andrey Soloviev (frequency domain analysis)
2828
QuestionsQuestionsQuestionsQuestions