Airframe Measurements

AIRFRAME MEASUREMENTSP09233 – Detailed Design Review

Team Structure Team Lead: Michael Skube – Mechanical

Engineer Co-Team Lead: James Hunt – Mechanical

Engineer Electrical Lead: Joseph Peters – Electrical

Engineer Kevin Li – Electrical Engineer William Atkinson – Mechanical Engineer Heidi Morgan – Electrical Engineer John Isely – Mechanical Engineer

Power – Airframe A On-Board Supply

Airframe Measurement System

MCU

BEC

PCGPS

Pitot Static Tube

Altimeter

IMU

JTAG

Altimeter Control

GPS Control

IMU Control

Serial

Serial

SPI

ADC

14.4V 5V

5V

5V

5V

5V

5V

Additional Electronics

Power – Input Voltages

Device Minimum Vin

Maximum Vin

VinUsed

Micro-controller*

4.5V 10V 5V

GPS 3.3V 5V 5VPitot Static

Tube3.0V 16V 5V

IMU 4.5V 5.5V 5VAltimeter 3.7V 5V 5V*LM1117 – Linear Regulator

Power – CalculationDevice Vin Min

CurrentMax

CurrentMin

PowerMax

PowerMicro-

controller5V .06 mA .11 mA .06 mW .55mW

GPS 5V 33 mA 55 mA 109 mW 182 mWPitot Static

Tube5V 20 mA 30 mA 100 mW 150 mW

IMU 5V 33 mA 57 mA 165 mW 285 mWAltimeter 5V 13 mA 16 mA 65 mW 80 mW Total Power Consumption: : . 439 W – .697 W Airframe A Battery:

14.4 V 2.5 Ampere-hour 36 W-hour

Can supply power for 52 – 82 continuous hours ~100x our expected flight time (40 minutes)

GPS

Variable update rate 1-5 Hz

32 Parallel Channels High Accuracy

~3.3m Small Size

30x30x8.5mm Software:

GPS Locator Utility

GPS – GPS Locator Utility

GPS – Accuracy Test

GPS – Accuracy Test Observations

Number of Satellites: Max: 13 Min: 9 Avg: 10

Percentage of available satellites used: ~83%

Altitude (example from starting point) Google Earth: 524ft GPS: 517ft

~1% error


1 10 19 28 37 46 55 65 74 83 92 101 110 119 12802468

101214161820

Spe

ed (M

PH

)

Sample NumberStop Signs


1 9 17 25 33 41 49 57 66 74 82 90 98 106114122130145

150

155

160

165

170

175Red Barn

Sample Number

Alti

tude

(m)

GPS –Test Plan

Test #1: Accuracy Test Test #2: Time Satellite Fix Test #3: Material Interference Test #4: Orientation effects

Microcontroller

Atmel: AT91SAM7S

Various I/O 2x UART 10 bit ADC SPI

SD Card

IMU

Analog Devices: ADIS16350 6 degrees of freedom

Tri-axis accelerometer X, Y and Z linear

acceleration Tri-axis gyroscope

X, Y and Z angular acceleration

Serial Peripheral Interface (SPI) master (MCU) –slave (IMU)

IMU – Output Registers

Adapted from ADIS16350 Datasheet

IMU – Timing Diagram

Adapted from ADIS16350 Datasheet

SPI Communication: IMU

Example code: x-axis gyro Chip Select is driven

low Address written to

DIN to determine what register is read

Data is read off by MCU

UART Communication: GPS

UART (parallel to serial) controlled

Interrupt to inform MCU new data is available Prevents the

processor from being bogged down

ADC Communication: Initialization

Measure analog voltages and assign digital values to store. 10 bit ADC

1024 digital measurements possible

Measurements Box Design The design space inside Airframe A

required that the MCU be cut down, the change in size is shown below

full size board cut down board

Measurements Box Design

Microcontroller

Altimeter

GPS

Ultrasonic

IMU

Measurements Box In Airframe A

Component Constraints & Dimensions

IMU Requires Specific Mounting Direction Ultrasonic Sensor Mounting on the Exterior Altimeter Requires Static Pressure Inside = Static

Pressure Outside GPS Requires Specific Mounting Direction GPS Requires No Dense Obstructions Pitot Static Tube Mounting Outside of Boundary

Layer Pitot Static Tube Sensor Must be Easy to

Remove

Pitot Static Tube Analysis The Pitot Static tube works off of two

very simple principles, Bernoulli and the Ideal Gas Equation

Bernoulli Equation

Ideal Gas Equation

From this, the speed of the aircraft through the air can be found directly.

Pitot Static Tube Testing

Test #1 – Wind Tunnel Testing in RIT Wind Tunnel

Test #2 – Car Test with Anemometer Test #3 – Time Delay Test on tubing Test #4 – Flight in Airframe A Test #5 – Compare Velocity with GPS

Velocity

Pitot Tube Test Results Test #1 – Small Wind Tunnel at RIT

Anemometer ETS Pitot-Tubem/s mph mph1.0 2.20 0 ~ 21.3 2.86 1 ~ 31.5 3.30 3 ~ 42.0 4.40 4

Spec from ETS states lower limit of 2 mph

Test #1 – Large Wind Tunnel

0 2 4 6 8 10 12 14 16 180

20

40

60

80

100

120

140Pitot TubeHot Wire Probe

Test #2 – Car Test

0 10 20 30 40 50 60 70 800

10

20

30

40

50

60

70

Airspeed SensorAnamometer

Event

Spee

d (m

ph)

Pitot Tube Test Results (cont.) Test #3 – Time Delay Theory

This is based off Pneumatics with a Capacitance and a Resistance

Then a system model can be setup with a step input to find the time delay to the sensor.

Pitot Tube Test Results (cont.) Test #3 – Time Delay Theory

0 20 40 60 80 100 120 140 160 180 2000

1

2

x 10-4

Pressure Drop (Pa)

Mas

s Fl

ow R

ate

(kg/

s)

0 1 2 3 4

x 10-11

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

Time (sec)

Mag

nitu

de

P1P2Psensor

R = 1.322e-6 m*sC = 9.332e-7 m*s^2

Pitot Static Sensor Mounting

Pitot Static Tube Mounting

Pitot Static Tube Mounting (cont.)

Altitude Stair Test 1

0 5 10 15 20 25 30 35 40 45 50 55 60 65 70-5

0

5

10

15

20

25

30

35

Eagle Tree

Time (s)

Alti

tude

(ft)

Altitude Stair Test 2

0 25 50 75 100 125 150 175 200-5

0

5

10

15

20

25

30

35

Stair T...

Time (s)

Alti

tude

(ft)

Altimeter cont… Future tests

Vacuum Chamber Use a vacuum chamber to simulate the

pressure drop of high altitude ~10,000 ft

Altimeter vs GPS Compare the GPS and Altimeters readings

Vibration Dampening

Vibration Damping helps to reduce vibrations and shocks to sensors and components

Softness Ratings for our Application 5 - 9 for Foams 35 - 75 for Rubbers

Good or Excellent compression recovery was also selected as it will allow the dampener to have quick energy dissipation.

Sensors and the MCU will use Vibration Foam Sheets The Boxes Mounting Bolts will use Vibration Grommets

Vibration Dampening

Images from McMaster.com

Expenses To Date# Item Model Manufacture Part Number QTY Price Shipped

1 Altimeter ZLOG 3 Digital Products #ZLOG3 1 $ 89.95 $ 93.74

2 Data Recorder eLogger V3 Eagle Tree Systems MPRV3-LEADS-100 1 $ 69.99 $ 77.99

3 Altimeter MicroSensor V3 Eagle Tree Systems ALTIMETER-V3 1 $ 37.99 $ 37.99

4 Airspeed MicroSensor V3 Eagle Tree Systems AIRSPEED-V3 1 $ 42.99 $ 42.99

5 Pitot-Static Tube Pitot-Static Tube Kit Eagle Tree Systems PITOT-KIT-V3 5 $ 9.99 $ 49.95

6 Microprocessor SAM7-256 Board Spark Fun Electronics DEV-00774 2 $ 71.95 $ 153.69

7 GPS 32 Chan San Jose Nav. Spark Fun Electronics GPS-08266 1 $ 99.95 $ 99.95

8 Altimeter Ultrasonic Range Finder Spark Fun Electronics SEN-08504 1 $ 27.95 $ 27.95

9 GPS Break Out Board

Lassen iQ Eval Board - USB Spark Fun Electronics GPS-00168 1 $ 34.95 $ 48.88

10 3/16" X 12" X 12" Foam w/ Adhesive Back, SOFT McMaster 86375K151 3 $ 8.17 $ 24.51

11 1/8" X 1/2" 39' Foam w/ Adhesive Back, SOFT McMaster 93275K12 1 $ 15.84 $ 15.84

12 .25" Dia, .057" Thick Vibration Grommet McMaster 9311K138 2 $ 10.27 $ 20.54

13 1/8" X 12" X 12" Foam w/ Adhesive Back, FIRM McMaster 86375K163 3 $ 6.94 $ 20.82

14 1/16" ID, 1/8" OD Silicone Tubing McMaster 51135K11 50 $ 0.41 $ 20.50

15 4-40, 1/8" H Barrel Thread Plate McMaster 90975A002 1 $ 9.01 $ 9.01

16 1/16" Single Barb Tee Fitting McMaster 5116K11 1 $ 2.38 $ 2.38

17 7mm OD, 3.2mm ID Fiber Washer McMaster 95225A315 1 $ 8.35 $ 8.35

18 4-40, 1/2" Length Socket Cap Screw McMaster 92196A110 1 $ 4.26 $ 4.26

# Item Model Manufacture Part Number QTY Price Shipped

19 4-40, 3/4" Length Socket Cap Screw McMaster 92196A113 1 $ 4.52 $ 4.52

20 4-40, 1" Length Socket Cap Screw McMaster 92196A115 1 $ 5.78 $ 5.78

21 1/32" X 12" X 12" PTFE Sheet Gasket McMaster 1063T21 2 $ 7.05 $ 14.10

22 1/16" X 12" X 12" PTFE Sheet Gasket McMaster 1063T22 2 $ 13.94 $ 27.88

23 IMU Analog Devices 1 $ - $ -

24 BOX - MOD01 Initial Release of BOX P09233 - 1 $ 29.50 $ 29.50

25 4 Pack of Bateries AA Radio Shack - 2 $ 2.50 $ 5.00

26 4 Pack of Bateries AAA Radio Shack - 2 $ 2.50 $ 5.00

27 Battery Holder 4X AA Radio Shack - 1 $ 1.79 $ 1.79

28 Battery Clips 9V Radio Shack - 1 $ 2.69 $ 2.69

29 Battery Holder 2X AA Radio Shack - 1 $ 1.69 $ 1.69

30 Battery Holder 3X AAA Radio Shack - 1 $ 1.79 $ 1.79

31 Adapter Plug M Radio Shack - 1 $ - $ -

32 AC Adapter 6V 800Ma AC Radio Shack - 1 $ 22.99 $ 22.99

33 SD Memory Card 1Gb Sandisk - 1 $ 12.99 $ 12.99

34 Binder 1.5" OFFICE DEPOT - 1 $ 7.79 $ 7.79

35 Ready Index 5 Tabs OFFICE DEPOT - 1 $ 2.59 $ 2.59

36 Binder 1.5" (2-Pack) OFFICE DEPOT - 1 $ 5.29 $ 5.29

$ 910.73

Bill of Materials# Item Model Manufacture Part Number QTY Price Shipping Shipped

1 Altimeter ZLOG 3 Digital Products #ZLOG3 1 $ 89.95 $ 3.79 $ 93.74

2 Airspeed MicroSensor V3 Eagle Tree Systems AIRSPEED-V3 2 $ 42.99 $ - $ 85.98

3 Pitot-Static Tube Pitot-Static Tube Kit Eagle Tree Systems PITOT-KIT-V3 2 $ 9.99 $ - $ 19.98

4 Microprocessor SAM7-256 Board Spark Fun Electronics DEV-00774 1 $ 71.95 $ 9.79 $ 81.74

5 GPS 32 Chan San Jose Nav. Spark Fun Electronics GPS-08266 1 $ 99.95 $ - $ 99.95

6 Altimeter Ultrasonic Range Finder Spark Fun Electronics SEN-08504 1 $ 27.95 $ - $ 27.95

7 GPS Break Out Board Lassen iQ Eval Board - USB Spark Fun Electronics GPS-00168 1 $ 34.95 $ 13.93 $ 48.88

8 3/16" X 12" X 12" Foam w/ Adhesive Back, SOFT McMaster 86375K151 1 $ 8.17 $ - $ 8.17

9 1/8" X 1/2" 39' Foam w/ Adhesive Back, SOFT McMaster 93275K12 1 $ 15.84 $ - $ 15.84

10 .25" Dia, .057" Thick Vibration Grommet McMaster 9311K138 12/25 $ 10.27 $ - $ 4.93

11 1/8" X 12" X 12" Foam w/ Adhesive Back, FIRM McMaster 86375K163 1 $ 6.94 $ - $ 6.94

12 1/16" ID, 1/8" OD Silicone Tubing McMaster 51135K11 20 $ 0.41 $ - $ 8.20

13 4-40, 1/8" H Barrel Thread Plate McMaster 90975A002 17/100 $ 9.01 $ - $ 1.53

15 7mm OD, 3.2mm ID Fiber Washer McMaster 95225A315 31/100 $ 8.35 $ - $ 2.59

16 4-40, 1/2" Length Socket Cap Screw McMaster 92196A110 7/100 $ 4.26 $ - $ 0.30

17 4-40, 3/4" Length Socket Cap Screw McMaster 92196A113 7/100 $ 4.52 $ - $ 0.32

18 4-40, 1" Length Socket Cap Screw McMaster 92196A115 7/100 $ 5.78 $ - $ 0.40

19 IMU ADIS 16350 Analog Devices ADIS 16350 1 $ 550.00 $ - $ 550.00

20 BOX - MOD01 Initial Release of BOX P09233 - 1/4 $ 29.50 $ - $ 7.38

21 AC Adapter 6V 800Ma AC Radio Shack - 1 $ 22.99 $ - $ 22.99

22 SD Memory Card 1Gb Sandisk - 1 $ 12.99 $ - $ 12.99

TOTAL $ 1,100.79

Projected Project Costs

Building a second Measurements Box: Total Project Cost: $1900 (includes IMU cost ~$500)

Total Project Cost: $1400 (assumes donated IMU)

Measurements Box BOM: $1100 (includes IMU cost ~$500)

$600 (assumes donated IMU)

The Current Project Cost: $910

Current Risks

Ability to Program the MCU Ability to Interface with the IMU Ability to Test the IMU – MAV Test Stand GPS Calibration Airframe A Flight Testing

Action Items Program MCU IMU Testing Further Sensor Testing Pitot Static Tube Mounting Design Part Drawings Assembly Instructions Component Documentation

Schedule - SDIITeam Member WEEK 11 FINALS BREAK WEEK 12 WEEK 13 WEEK 14

Michael Skube (TEAM LEAD)

Review Project Status, Meet with team leads, Update EDGE,

Individual Sensor Review, Order new Parts, Finalize SD I

Documents

Complete Documentation, Write Instillation Instructions


Meet with Team Leads, Update EDGE, System Integration Review Test complete system on Ground Station

James Hunt (TEAM / MECHANICAL

LEAD)

Prepare for Individual Sensor Review, Revisit Sensor Selection

if needed, Continue Testing, Meet with team leads



Begin Testing Complete Measurements System, Meet with Team Leads Test complete system on Ground Station

Joseph Peters (ELECTICAL LEAD)

Prepare for Individual Sensor Review, Revisit Sensor Selection

if needed, Continue Testing, Meet with team leads

Complete Documentation, Program Microcontroller Program Microcontroller Begin Complete System Integration,

Meet with Team Leads Test complete system on Ground Station

Kevin LiPrepare for Individual Sensor

Review, Revisit Sensor Selection if needed, Continue Testing,

present testing results

Complete Documentation, Program Microcontroller Program Microcontroller Begin Complete System Integration Test complete system on Ground Station

Heidi MorganPrepare for Individual Sensor


present testing results

Complete Documentation, Program Microcontroller Program Microcontroller Begin Complete System Integration Test complete system on Ground Station

John IselyPrepare for Individual Sensor


present testing resultsComplete Documentation, Test Sensors Complete Documentation, Test Sensors Begin Complete System Integration Test complete system on Ground Station

William AtkinsonPrepare for Individual Sensor


present testing resultsComplete Documentation, Test Sensors Complete Documentation, Test Sensors Begin Complete System Integration Test complete system on Ground Station

Program MCU

Test AltimeterDocument BOX Build

Test Pitot Static Tube

Part Design

Phas

e I S

yste

m

Test

ing

Team Member WEEK 15/17 WEEK 16 WEEK 18 WEEK 19 WEEK 20/21/22

Michael Skube

(TEAM LEAD)

Review/Fix/Re-test Complete Measurements System on Ground System,

Meet with other Team LeadsTest complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster

Update Documentation, Meet with Team Leads, Update EDGE, Fly Measurements System and

Document Flight, Prepare for IMAGINE RIT

IMAGINE RIT FESTIVAL

Finalize All Documentation, Update EDGE, Team Lead Meeting

James Hunt

(TEAM / MECHANICAL LEAD)




Document Flight, Prepare for IMAGINE RITFinalize All Documentation, Update EDGE,

Team Lead Meeting

Joseph Peters

(ELECTICAL LEAD)




Document Flight, Prepare for IMAGINE RITFinalize All Documentation, Update EDGE,

Team Lead Meeting

Kevin Li Review/Fix/Re-test Complete Measurements System on Ground System,

Test complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster

Update Documentation, Update EDGE, Fly Measurements System and Document Flight,

Prepare for IMAGINE RITFinalize All Documentation, Update EDGE

Heidi Morgan Review/Fix/Re-test Complete Measurements System on Ground System,




John Isely Review/Fix/Re-test Complete Measurements System on Ground System,




William Atkinson Review/Fix/Re-test Complete Measurements System on Ground System,




Schedule - SDII

Refine Programmi

ngDocumenta

tion

Documentation

Drawings

Phas

e II

Syst

em

Test

ing

Final

Do

cum

enta

tion

Airframe Measurements

Documents

Transcript of Airframe Measurements