Transcript Lockheed Martin Challenge

Lockheed Martin Challenge
Avionics Systems Presentation, Fall 2008
Problem Statement
• Problem Statement
Current UAV technology is not capable of
launching vertically using a rail launch system into
the atmosphere. This presents the problem of
not being practical for use in an urban
environment because of the difficulty for soldiers
to see preexisting dangers in an urban combat
zone with current UAV technology.
Need Statement
• Need Statement
The Iowa State LM Challenge Team has been
asked to design an unmanned autonomous
vehicle to take off from a vertical or near
vertical pneumatic launch system within the
confines of an urban environment. This
vehicle will be used to fly low altitude
reconnaissance missions prior to U.S. ground
troops occupying the designated area.
System Block Diagram
Operating Environment
• The UAV is to be designed to operate in an
urban environment, likely in regions of current
military operation such as the Middle East
• Considerations of ground obstructions, heat,
altitude, sand, hostile action
Deliverables
• Avionics package capable of autonomous
navigation of aircraft using user-defined
flightplan
• Camera system capable of 6” target resolution
at 100’
• Operational range of 1 to 3 miles for video
transmission
• Components integrated for a pneumaticallyassisted vertically-launched aircraft
Layout
Layout
Layout
Schedule
Work Breakdown
Estimated Time Commitment per Task per Person
Hours
Mike Plummer Daniel stone Ronald Teo
Adam Jacobs Robert Gaul
Camera/Video System
Choose Camera System
Choose Xmitter/Receiver System
Test Camer/Xmitter/Receiver Systems
Mount Camera/Xmitter Systems
Retest in-flight
5
5
25
20
30
5
5
25
20
30
10
10
35
25
30
10
10
35
25
30
5
5
25
20
30
15
10
10
20
20
5
5
5
5
10
15
20
5
5
5
5
10
15
20
5
5
5
5
10
15
20
5
5
5
5
10
15
20
5
5
Determine power source required
Compile components and test
Refine Layout
10
20
5
20
5
10
15
5
20
5
10
15
5
20
5
10
15
5
20
5
10
15
5
20
5
Choose Autopilot system
Choose transceiver system
independent testing/calibration
integrate with aircraft systems
Re-test/Re-calibrate for in-flight
15
5
40
30
30
20
15
45
35
30
15
5
40
30
30
15
5
40
30
30
20
15
45
35
30
350
350
350
350
350
Onboard Power System
Establish Requirements
Choose Power Supply
Choose Battery System
Finalize interface with flight systems
test onboard power system
Mount on aircraft
Test in-flight arrangement
Ground Station
Determine components required from video and autopilot systems
Determine manual flight override in conjunction with ap development
AutoPilot
Total Time
Autopilot
Functional Requirements
• Be capable of autonomously navigating an
aircraft using pre-programmed waypoint
navigation
• Support communication with a ground station
to display telemetry and position data
Non-Functional Requirements
• Operate off of 5 or 12V to simplify power
system
• User-programmable to aid in support of
vertical pneumatic launch
• Small size, weight, power requirements
Technical Challenges
• Complexity and time constraints promote purchase of a
commercial autopilot system
• No commercially available autopilot that supports our method
of launch by default
• Immense G-loads during launch saturate sensors(~15G)
• Maintaining vertical orientation throughout launch phase
• Detecting when UAV has left the launcher
Key Considerations
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Available technical support
Support for user programmable control loop
Support for custom code/command
Ability to handle additional sensors
RC override
Key Considerations
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Ground Station software capabilities
Sensors to aid in launch (eg, GPS)
Error handling
Size
Weight
Power consumption
Market Survey
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Micropilot 2128
Procerus Kestral
Cloudcap Piccolo
O Navi Phoenix/AX
These four products satisfy the functional
requirements of our system and were deemed
as finalists for selection based on their relative
merits
Trade Analysis
Micropilot 2128
Pros
Cons
•Excellent technical support
•High frequency GPS
•High customizability (Xtender)
•Excellent ground station software
•User defined control loops
•Allows additional I/O
•RC override
•Error Handling
•Light weight
•Small size
•Low saturation point IMU(2 G)
•Costly
Trade Analysis
Procerus Kestral
Pros
Cons
•High IMU saturation point (10 G)
•Extensive error handling
•Lightweight
•Small size
•High power consumption
•Low GPS frequency
•Poor technical support
Trade Analysis
Cloudcap Piccolo
Pros
Cons
•High frequency GPS
•Built-in radio modem
•Simple form factor
•Low saturation point IMU(2 G)
•Costly
•Large size
•Heavy
•High power consumption
Trade Analysis
O Navi Phoenix/AX
Pros
Cons
•Low power consumption
•Small size
•High IMU saturation point
•No embedded or ground station
software
•Low GPS frequency
Autopilot Selected Model
MicroPilot 2128
– Support for additional sensors increases our chances of safe and
reliable launch and recovery
– MicroPilot has demonstrated excellent service and support
– I/O ports and user-defined telemetry fields provide a superior ability
to create a custom platform
– HORIZON software provides excellent ground station as well as easy
configuration of autopilot
– Low saturation point of the IMU accelerometers, we feel can be
overcome through the utilization of other onboard sensors and user
defined launch sequence
– RC override provides us with the option for manual launch.
Video Subsystem
Camera, Video Transmitter,
Video Receiver, Antennae
Functional Requirements
• Shall provide real-time video to ground station
• Shall operate in an urban environment
• Shall be capable of resolving a 6 inch target
from an altitude of 100 feet
• Shall be a fixed-position camera
• Shall be designed to enable a modular payload
system
Non-Functional Requirements
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Low-power consumption components
Light-weight components
Small physical size components
Video transmission shall not occur in the 900 MHz
band to prevent interference with autopilot
communication
• Components should utilize 5V or 12V when possible to
simplify power requirements and increase modularity
of design
Camera: Necessary Resolution
• Below are some sample images taken from a digital camera as
a test of the resolving power required in the video system
18 pixels per inch
9 pixels per inch
4.5 pixels per inch
Camera: Necessary Resolution
Scenario One – Wide Angle
x = 101.027 feet
Scenario Two – Telephoto
x = 9.87 feet
• Given camera has an effective resolution of 768 horizontal lines
• Ratio of available pixels to linear distance:
– 0.63 pixels/inch in scenario one
– 6.54 pixels/inch in scenario two
• From the last slide, a 4.5 ppi image allows viewer to resolve a 6 inch target. The
lens can provide a 6.5 ppi image, which exceeds this requirement
Camera Alternatives
• Few cameras designed for UAV use satisfy our
resolution requirements
• Many cameras small and light enough are too
sensitive for use in our project
Camera Alternatives
• Genwac/Watec
• Maker of Industrial Box cameras
• Adjustable frame rate, easily configurable
• Heavier than other alternatives
• Not designed for vibration and varying
temperature and humidity of our application
Camera Selection: KT&C model KPC-650
• Exceeds resolution requirements
• Demonstrated ability to perform in UAV’s
• C and CS mount lens compatible - large variety of
varifocal lenses from which to choose
• Auto-iris compatible - the ability to dynamically
adjust to changing light conditions during flight
• NTSC video output using a coaxial connection
(both standard – allows for simplicity of design
and video transmission)
Camera Selection: KT&C model KPC-650
• Specifications
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Power: 180mA @ 12VDC
Effective pixels (NTSC): 768(H) x 494 (V)
Weight: 137 grams
Size: 31mm(W) x 31mm(H) x 55mm(L)
Video Transmitter
• Must be robust in environments with RF interference
• Must not interfere with other aircraft systems
• Direct line-of-sight (LOS) often not possible in an urban
environment, reducing transmission range
• These limitations necessitate a powerful transmitter
using a unique frequency
• FCC regulations limit RF transmissions for civilians
(maximum of 1 Watt)
• A transmitter of 1 Watt will require a Technician Class
radio license to operate
Video Transmitter: Estimated Bandwidth
• Using the Shannon-Hartley Theorem:
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S

C  B log 2 1  
 N
C is channel capacity
B is bandwidth in Hz
S/N is the signal-to-noise ratio (SNR)
For a 2.4GHz, 1W transmitter, assuming 10dB of noise:
1W 

C  2.4 E 9 Hz  log 2 1 

 10dB 
C  314.722Mbps
– Standard NTSC signal (704 x 480 pixels at 30
frames/sec.) requires 243Mbps
Video Transmitter: Compensating for Interference
• Due to obstructions (buildings, etc.) in an urban
environment, weather conditions, and altitude, it can
be difficult to maintain signal contact
• Other EM sources present in the area further degrade
and interfere with the signal
• Interference is offset by increased transmission power
• As will be discussed, antenna choices also have a direct
impact on the signal’s transmission range
Video Transmitter Selection:
LawMate TM-241800
• Chosen for maximum allowable power and
small size
• Demonstrated ability to work in UAV’s
• Standard SMA connector allows antennas to
be easily changed
• Accepts video data in composite NTSC format
– Readily compatible with our camera
• Utilizes a 12V power source, simplifying
onboard power requirements
Video Transmitter Selection:
LawMate TM-241800
• Specifications
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Power: 500mA at 12VDC
Output: 1W RF power
Weight: 30 grams
Size: 26 x 50 x 13mm
Video Receiver
• Receiver is subject to less restrictive size,
weight, and power limitations
• Must operate in the 2.4GHz band to receive
video signal from selected video transmitter
• Easy output to the display was also a
consideration
Video Receiver Selection: LawMate RX-2480B
• Chosen for portability and compatibility with
our transmitter
• Includes rechargeable battery – simplifying
testing
• Supports reception on 8 channels with signal
indicator to optimize reception
• Provides output in standard RCA composite
video
Video Receiver Selection: LawMate RX-2480B
• Specifications
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Power: 800mA at 5V
Battery life: ~3.5 hrs.
Weight: 135 grams
110 x 70 x 20mm
Video System Antennae
• Weight, simplicity, range, and frequency (2.4GHz) were
the driving factors when selecting an antenna for both
the transmitter and the receiver
• Directional antenna on-board is preferred to omnidirectional, but is not practical
– Larger size/weight than omni-directional
– Increased complexity – must be oriented to ground station
at all times during flight
• Ground station does not share these constraints, and
thus a directional patch antenna will be utilized
• Increases range while maintaining size and complexity
only at the ground station
DC-DC Converter
• Requirements
– Facilitate power requirements for onboard systems
– Physical size must be small enough to fit easily into
fuselage
DC-DC Converter
• Major Onboard System Power Requirements
Component
Current Rating
Voltage Rating
Video Camera
180 mA
12 Vdc
Video Transmitter
500 mA
12 Vdc
Autopilot Core
160 mA @ 6.5 Vdc
4.2 – 27 Vdc
Radio Modem
730 mA
4.75 – 5 Vdc
Voltage Level
Total Estimated
Current
Total Estimated
Power
12 Vdc
680 mA
8.16 W
5 Vdc
817 mA
4.085 W
DC-DC Converter
• Initial Research
– Tri-M Systems HESC104
• +5Vdc @ 12A
• +12Vdc @ 2.5A
• 3.55 x 3.75 x 0.5 in., 200 grams
– Fits power need but too large for fuselage
DC-DC Converter
• Initial Research
– Tri-M Systems IDD-936360A
• +5Vdc @ 10A
• +12Vdc @ 3A
• 1.57 x 3.94 in., 58 grams
– Meets size and power needs but no enclosure
DC-DC Converter
• Selection
– Murata Power Solutions
– TMP-5/5-12/1-Q12-C
• +5Vdc @ 5A
• +12Vdc @ 1A
• 3.04 x 2.04 x 0.55 in, 170 grams
Onboard Radio Modem
• Requirements
– Driven by autopilot communication requirements
– Minimum range of 3 miles
– Physical size must be small enough to fit easily
into fuselage
Onboard Radio Modem
• Initial Research
– Xtend-PKG
• 900MHz
• Power Supply 7-28V
• Max Current 900mA
• Outdoor LOS Range 14 mi.
• 2.75 x 5.5 x 1.13 in, 200 grams
– Physical size too large for our fuselage
– Can be used for ground station
Onboard Radio Modem
• Selection
– 9Xtend-PKG OEM
• 900 MHz
• Power Supply 4.75-5.5Vdc
• Max Current 730 mA
• Outdoor LOS Range 14 mi.
• 1.44 x 2.38 x 0.02 in, 18 grams
Ground Station and User Interface
• Requirements
– Ability to communicate with and control autopilot
– Ability to display real-time video feed
– Mobile
• Must fit in the back of a military humvee
Ground Station and User Interface
• Components
– Driven by onboard component selection
– Laptop Computer
• Able to run HORIZON software package
• Able to interface with Xtend-PKG radio modem
– Portable Television
• Able to interface with LawMate RX-2480B video
receiver
• Able to accept input from video storage device
Ground Station and User Interface
• HORIZON Software Package
– Satisfies communication, control and telemetry
display requirements
– Designed by autopilot manufacturer for use with
our chosen autopilot system, ensuring
compatibility and reliability
HORIZON Software Package
Performance
Project Requirements:
Endurance – 2 hours is a desired max,
1 hour minimum
Range – Must be able to cover a small
urban area, approximated to 1-3
miles of linear distance
Projected Avionics Endurance:
- 2000 mAh battery
- Avionics components draw maximum 1650 mA
- 2000 / 1650 ≈ 1.3 hours
Projected Transmission Range:
-Based on reports of other users of our
transmitter, receiver, and antenna setup report
reliable reception out to 2 miles
-Variables in our case include RF interference,
altitude, antenna orientation
System Testing
• Video System
– Independent from other systems
– Test Camera Resolution
– Test Camera Communication
• Quality
• Range
– Antenna Positioning
System Testing
• Autopilot
– Model flight characteristics of UAV during launch,
flight and landing phases
• Provided by Aero and Launch Teams
– From models, determine necessary control loops
to program using HORIZON
• Simulate autopilot controls using HORIZON
System Testing
• Autopilot
– Use Aero prototype to bench test autopilot system
– Test communication systems
• Similar procedure to Video System testing
– Flight Test
Integration and Test Issues
- Integration
- Communication:
Radio modem and video transmission configuration and use, placement and adjustment
of antennas
- Configuration:
Autopilot configuration to aircraft, configuration of sensors, integrating RC control with
autopilot
-Test
-Restrictions:
FCC & FAA regulations
-Limitations:
Time frame, lack of trained pilot amongst avionics team
-Environment:
Safety and legal issues prevent testing in target environment
Questions?
Specifications Appendix
Physical Characteristics
MicroPilot
Weight
28 g
Dimensions (L x W x H)
100 mm x 40 mm x 15 mm
Power Requirements
140 mA @ 6.5 Volts
Supply Voltage
4.2 – 26 V
Separate supplies for main and servo power
Yes
Functional Capabilities
Includes Ground Station software
Yes
Max # of Waypoints
1000
In-flight waypoint modification possible
Yes
GPS Update Rate
1 Hz
Number of servos
24
Sensors
Airspeed
Yes, up to 500 kph
Altimeter
Yes, up to 12000 MSL
3-axis Rate Gyro/Accelerometers (IMU)
Yes
Accelerometer Saturation Point
2G
GPS
Yes
Data Collection
Allows user-defined telemetry
Yes – max 100
Customization
User-definable error handlers
Yes – loss of GPS Signal, loss of RC Signal, loss of Datalink, low
battery
User-definable PID loops
Yes – max 16
Autopilot can be loaded with custom program
Yes – with XTENDER SDK (separate)
Physical Characteristics
Procerus Kestral
Weight
16.65 g
Dimensions (L x W x H)
52.65 mm x 34.92 mm x ? mm
Power Requirements
500 mA
Supply Voltage
3.3V and 5V
Separate supplies for main and servo power
Yes
Functional Capabilities
Includes Ground Station software
Yes
Max # of Waypoints
100
In-flight waypoint modification possible
Yes
GPS Update Rate
1 Hz
Number of servos
12
Sensors
Airspeed
Yes, up to 130 m/s
Altimeter
Yes, up to 11200 MSL
3-axis Rate Gyro/Accelerometers (IMU)
Yes
Accelerometer Saturation Point
10 G
GPS
Yes
Data Collection
Allows user-defined telemetry
Unspecified
Customization
User-definable error handlers
Yes, Loss of Datalink, Loss of GPS, Low Battery, Imminent
Collision, Loss of RC Signal
User-definable PID loops
Unspecified
Autopilot can be loaded with custom program
Yes, Developer’s Kit available for $5000 for one year license
Physical Characteristics
Cloudcap Piccolo
Weight
109 grams
Dimensions (L x W x H)
130.1 mm x 59.4 mm x 19.1 mm
Power Requirements
5 Watts ( ~ 400 mA @ 12V )
Supply Voltage
4.8 – 24 Volts
Separate supplies for main and servo power
No
Functional Capabilities
Includes Ground Station software
Yes, basic
Max # of Waypoints
100
In-flight waypoint modification possible
Yes
GPS Update Rate
4 Hz
Number of servos
6
Sensors
Airspeed
Yes
Altimeter
Yes
3-axis Rate Gyro/Accelerometers (IMU)
Yes
Accelerometer Saturation Point
2 G, 10G with external sensor package
GPS
Yes
Data Collection
Allows user-defined telemetry
Unspecified
Customization
User-definable error handlers
Yes
User-definable PID loops
Unspecified
Autopilot can be loaded with custom program
Yes
Physical Characteristics
O Navi Phoenix AX
Weight
45 grams
Dimensions (L x W x H)
88.14 mm x 40.13 mm x 19 mm
Power Requirements
84 mA @ 12V
Supply Voltage
7.2-24 Volts
Separate supplies for main and servo power
No
Functional Capabilities
Includes Ground Station software
No
Max # of Waypoints
Unspecified
In-flight waypoint modification possible
Unspecified
GPS Update Rate
1 Hz
Number of servos
6
Sensors
Airspeed
No
Altimeter
Yes
3-axis Rate Gyro/Accelerometers (IMU)
Yes
Accelerometer Saturation Point
10 G
GPS
Yes
Data Collection
Allows user-defined telemetry
Unspecified
Customization
User-definable error handlers
Unspecified
User-definable PID loops
Unspecified
Autopilot can be loaded with custom program
Yes, REQUIRED
REPORT DISCLAIMER NOTICE
DISCLAIMER: This document was developed as a part of the requirements of a multidisciplinary engineering course at Iowa State University, Ames, Iowa. This document
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students, faculty, and Iowa State University make no claims, promises, or guarantees about the accuracy, completeness, quality, or adequacy of the information. The
user of this document shall ensure that any such use does not violate any laws with regard to professional licensing and certification requirements. This use includes
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copyrighted by the students who produced this document and the associated faculty advisors. No part may be reproduced without the written permission of the course
coordinator.
Images within this presentation were obtained via the courtesy of their respective owners, listed below:
Lockheed Martin Corporation
MicroPilot
Procerus
Cloudcap Technology
O Navi
Genwac/Watec
RangeVideo
Tri M Engineering
Murata Power Systems
Digi Intl.