Transcript Lockheed Martin Challenge

Lockheed Martin Challenge
Avionics Systems IRP Presentation, Spring 2009
Problem Statement
– Problem Statement
Current UAV technology is not capable of launching vertically
using a rail launch system into the atmosphere. As such,
current UAV’s are not suitable for use for urban operations as
they must be launched away from the urban setting due to
obstacles. This presents problems for certain missions that
could be assisted by UAV technology.
Need Statement
– Need Statement
The Iowa State LM Challenge Team has been asked to design
an unmanned autonomous aerial 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 and will be
retrieved using a standard belly landing outside the target
environment.
System Block Diagram
Operating Environment
– Expected to perform in an urban setting, necessitating special
considerations for Line of Sight and obstacles.
– Aircraft is designed to use a vertical pneumatic launch system
to avoid obstacles presented by urban areas. C
– Choice of optics was driven by a need to protect the sensitive
electronics from damage upon launch, during flight, and upon
landing.
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 mile for video transmission
– Components integrated for a pneumatically-assisted
vertically-launched aircraft
Schedule
Work Breakdown
Adam Jacobs
Mike Plummer
Ronald Teo
Dan Stone
Rob Gaul
Totals
First Semester Second Semester
124
234
126
103
128
95
576
225
218
163
145
985
Total
358
351
321
291
240
1561
Autopilot
Autopilot Requirements
– Be capable of autonomously navigating an aircraft using preprogrammed waypoint navigation
– Support communication with a ground station to display
telemetry and position data
Technical Challenges
– Complexity and time constraints promoted purchase of a
commercial autopilot system
– Immense G-loads during launch saturate sensors ( > 20 G )
– Maintaining vertical orientation throughout launch phase
– Integrating into custom aircraft
Key Considerations
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Ground Station software
Sensors to aid in launch
Error handling
Size and weight
Power consumption
Available technical support
Customization capabilities
Ability to handle additional sensors
RC override
Market Survey
These three products satisfy the functional requirements of
our system and were deemed as finalists for selection based
on their relative merits along with our final selection
– Procerus Kestral
– High power consumption
– Cloudcap Piccolo
– Large, heavy, and power hungry
– O Navi Phoenix/AX
– No ground station or onboard software included
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
– HORIZON software provides excellent ground station as
well as easy configuration of autopilot
– RC override provides us with the option for manual launch.
Onboard Radio Modem
– 9Xtend-PKG OEM
– Plug-and-play for basic operation with other 9Xtend
modems
– Very lightweight
– Demonstrated compatibility with our autopilot
Video Subsystem
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
Camera Alternatives
– CMOS Cameras
– Small, lightweight
– Low quality
– Industrial “Box” Cameras
– High quality image, cheap
– Heavy, large
– Pan-Tilt-Zoom Cameras
– Flexible, high quality image
– Heavy, large, expensive
Camera Selection: KT&C model KPC-650
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Exceeds resolution requirements
Demonstrated ability to perform in UAV’s
Varifocal auto-iris lens used
NTSC video output
Relatively low-cost, easy to replace
Camera Resolution
Image of a round 6 inch target (highlighted in red) from a distance of 100 feet
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
– FCC regulations limit RF transmissions for civilians (maximum
of 1 Watt)
– A transmitter of 1 Watt requires a Technician Class radio
license to operate
Video Transmitter: Compensating for Interference
– Due to obstructions 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
– To complement transmitter power we utilize a directional
antenna to increase reception range
Video Transmitter Selection:
LawMate TM-241800
– Chosen for maximum allowable power and small size
– Demonstrated ability to work in UAV’s
– Accepts video data in composite NTSC format
– Readily compatible with our camera
– Utilizes a 12V power source, simplifying onboard power
requirements
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
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Chosen for portability and compatibility with our transmitter
Includes rechargeable battery – simplifies testing
Supports reception on 8 channels to avoid signal conflicts
Provides output in standard composite video format
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
– Murata Power Solutions TMP-5/5-12/1-Q12-C
– Provides +5 and ±12 V outputs
– Can supply up to 25 Watts
– Small and lightweight compared to alternatives
Layout Technical Challenges
– Size and weight
– Relative positions of components
– Proximity of antennas, RC control, and transmitters
– Extreme stresses of launch phase
– Modularity
Layout
Layout
Layout
Ground Station Radio Modem
– Xtend-PKG
– Plug-and-play operation with our ground station
– Demonstrated compatibility with our ground station
software
– Same vendor and model as onboard radio modem
– Size and weight less of an issue at ground station
Ground Station and User Interface
– Requirements
– Ability to communicate with and control autopilot
– Ability to display real-time video feed
– Mobile
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
Measured Performance
Project Requirements:
Endurance – 2 hours is a desired max,
1 hour minimum
Range –
Desired to be >= 1 mile
Avionics Endurance:
-1400 mAh battery
-Using NiMH for testing for safety concerns; LiPo
would yield higher power capacity
- Tested endurance = 45 minutes
Radio Modem Transmission Range:
-Range tests have demonstrated reliable
communication to a minimum of 0.44 miles within an
urban environment.
-Further range necessitates more powerful
transmitter
Video Transmission Range:
-Range tests confirm reliable reception to a minimum
of 0.33 miles
Testing
Integration and Test Issues
– Integration
– Autopilot configuration to aircraft, configuration of sensors,
integrating RC control with autopilot
– Test
– FCC & FAA regulations
– Time frame, lack of trained pilot on avionics team
– Safety and legal issues prevent testing in target environment
Autopilot Testing
– Autopilot
– Successful test of endurance
– Successful test of communication system
– Successful test of operation and sensor functionality
– Configured Yaw and Pitch PID loops
Autopilot Testing
Autopilot Sensor Data
150
100
50
Pitch (deg)
0
Speed (kts)
Altitude (ft)
-50
-100
-150
Autopilot Testing
Continual, increasing downward pitch. Maximum travel of pitch: 83 degrees
Increasing downward pitch with correction. Maximum travel of pitch: 20 degrees
Overcompensation leading to upward pitch. Maximum travel of pitch: 24 degrees
Video Subsystem Testing
– Video System
– Successful test of endurance
– Successful test of range
– Successful test of quality
– Successful flight test of video system
Acceleration Data Logger
– Problem Statement
The launch team requires an accelerometer capable of
recording acceleration data to test and analyze operation of
the launch system. A customized system capable of
withstanding and measuring high acceleration is needed. The
system also needs to be able to fit into a confined cylindrical
tube.
System Testing
– Test Done
– Successfully tested hardware
– Successfully validated accelerometer readings
– Test Issues
– SPI communication between BS2 and accelerometer is
not exact
Future Accelerometer Development
– Remanufacture PCB to support additional hardware
What comes next?
– Further testing and configuration of autopilot
– Finish calibrating PID loops
– Rework wiring and layout to save weight and space
– Develop flight plans for specific missions and test for reliability
Demonstrations
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
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 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 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
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
• 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
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Images within this presentation were obtained via the courtesy of their respective owners, listed below:
Lockheed Martin Corporation
MicroPilot
Genwac/Watec
RangeVideo
Murata Power Systems
Digi Intl.