Project Plan Autonomous Unmanned Aerial Vehicle

Transcription

1 Project Plan Autonomous Unmanned Aerial Vehicle Version 1.0 Author: Carl Svärd Date: 13th February 2006 Status Reviewed Carl Svärd Approved David Törnqvist

2 Project Identity Group Homepage: Orderer: Customer: Course Responsible: Project Manager: Advisors: uav not up yet David Törnqvist, Linköping University Phone: , Rickard Karlsson, Linköping University Phone: , Anders Hansson, Linköping University Phone: , The three managers of the sub-groups together Jeroen Hol, Linköping University Phone: , Johan Sjöberg, Linköping University Phone: , Group Members Name Responsibility Phone Control Group Sara Lundin Project Manager sarlu871 Henrik Ohlsson Design Responsible henoh509 Jonas Köhlström Document Responsible jonko288 Magnus Johansson Test Responsible magjo518 Mårten Hedborg Quality Responsible marhe866 Rikard Falkeborn Customer Responsible rikfa098 Hardware Group Per Jonsson Project Manager perjo542 Dejen Meless Design Responsible dejme948 Robert Isaksson Document Responsible robis579 Giuseppe Franco Test Responsible giufr446 Positioning Group Carl Svärd Project Manager carsv595 Anders Jörmgård Design Responsible andjo454 Jan Betshammar Document Responsible janbe729 Tina Erlandsson Document Responsible tiner501 Karl Andersson Test Responsible karan583 Kristina Jersenius Quality Responsible ingje224 Nina Wollinger Customer Responsible ninwo463

3 Document History Version Date Changes made Sign Reviewer First draft. Carl Svärd Per Jonsson Second draft. Per Jonsson Carl Svärd Third draft. Carl Svärd Sara Lundin Fourth draft. Carl Svärd Per Jonsson First approved version Per Jonsson Carl Svärd

4 Contents 1 Who is the orderer 1 2 An overview of the system Purpose Goal Deliverables Limitations Plan for the project phases Before start During the project After the project Organization Functional groups Plan for included documents 4 6 Education plan Education of the project members Education of the customer Report plan 5 8 Meeting plan 5 9 Resource plan Persons Material Workrooms Economy Milestones and tollgates Milestones Tollgates Activities 7 12 Time Plan 8 13 Quality Plan Changes Reviews Test Plan Risk Analysis 9 15 Priorities 9 16 Project close-out 9

5 AUAV V 17 References 9

6 AUAV 1 1 Who is the orderer David Törnqvist, ISY, Control & Communication 2 An overview of the system 2.1 Purpose The purpose of the project is develop a positioning- and control-system for an AUAV (Autonomus Unmanned Aerial Vehicle). The positioning system shall be based on information from a GPS, a 3-axis gyroscope, a 3-axis accelerometer, an electronic compass and other necessary sensors. The processing of positioning data and the computation of control data should be done in a Linux-based one-chip computer. 2.2 Goal The project shall lead to an autonomous aeroplane able to follow a pre-defined trajectory. It shall always be possible to override the auto-pilot of the aeroplane and handle it manually. Sub-goals for the project are Development and implementation of a positioning-system including GPS and inertial navigation. Development and implementation of a control-system for an AUAV. Development and implementation of a run-time environment for a positioning and a control system running on Linux-based one-chip computer 2.3 Deliverables Deliverables are done to customer and orderer at occasions specified in 10.2 and in the Time Plan. 2.4 Limitations Take off and landing will be done in manual mode thus autonomous mode will only be switched on while the plane is in mid-air. The system only have to work under good weather conditions and on suitable trajectories. 3 Plan for the project phases 3.1 Before start Before the actual start of the project the customer and the project-group agrees of a set of requirements for the final product and a Requirement Specification is written. An Outline Plan For The System including all sub-systems is done and a list of project activities and a Time Plan are created. Finally the work is planned and organized in a Project Plan.

7 AUAV During the project A Design Specification based on the Requirement Specification and the Outline Plan Of The System is created. A Test Plan for testing all sub-systems as well as the whole system is made. All sub-systems are developed, implemented and tested separately as described in the Design Specification and Test Plan. Finally the whole system is put together and final tests are made to verify that all requirements are met. A User-manual and a Test Report are written. 3.3 After the project The resulting product is delivered to the customer and Technical Documentation is written. The result of the project is presented as a poster,a homepage and orally at a project conference. Project Reflections are made and finally the project is concluded. 4 Organization The project is organized in three sub-groups. Each group is responsible for a different sub-system of the AUAV. The sub-systems are Control, Hardware and Positioning. Each sub-group member has a specified role and form a function group with members from the other sub-groups with the same responsabilities. An illustration of the organization is found in figure 1. AUAV Control Hardware Positioning Management Documents Design Test Quality Customer Figure 1: Project organization

8 AUAV 3 Project Management / Customer Function Project Manager, Control Group Project Manager, Hardware Group Project Manager, Positioning Group Customer Name Sara Lundin Per Jonsson Carl Svärd Rickard Karlsson, ISY Control Group (CTRL) Function Project Manager Design Responsible Document Responsible Test Responsible Quality Responsible Customer Responsible Name Sara Lundin Henrik Ohlsson Jonas Köhlström Magnus Johansson Mårten Hedborg Rikard Falkeborn Hardware Group (HW) Function Project Manager Design Responsible Document Responsible Test Responsible Name Per Jonsson Dejen Meless Robert Isaksson Giuseppe Franco Positioning Group (POS) Function Project Manager Design Responsible Document Responsible Document Responsible Test Responsible Quality Responsible Customer Responsible Name Carl Svärd Anders Jörmgård Jan Betshammar Tina Erlandsson Karl Andersson Kristina Jersenius Nina Wollinger Technical resources Johan Sjöberg, ISY Jeroen Hol, ISY 4.1 Functional groups The responsibility of the functional groups is to handle for the whole project the tasks assigned to them in this document, by the project managers and by the LiPS project model. The members of the functional groups handles these functions for their respective subprojects. The functional groups are

9 AUAV 4 Management group (MGM) Sara Lundin Per Jonsson Carl Svärd Document group (DOC) Jonas Köhlström Robert Isaksson Jan Betshammar Tina Erlandsson Design group (DSG) Henric Ohlsson Dejen Meless Anders Jörmgård Test group (TST) Magnus Johansson Giuseppe Franco Karl Andersson Quality group (QLT) Mårten Hedborg Kristina Jersenius Customer group (CST) Rikard Falkeborn Nina Wollinger Web group (WEB) Henric Ohlsson Jonas Köhlström 5 Plan for included documents The following documents are included in the project Document Requirement Specification Outline Plan For The System Project Plan with activity list Time Plan Test Plan Test Report Meeting Notes with status report Notes with Toll Gates User-manual Technical Documentation Project Reflections Project poster Web-page Responsible Jonas Köhlström Robert Isaksson Carl Svärd Sara Lundin Karl Andersson Magnus Johansson MGM Per Jonsson Rickard Falkeborn DOC MGM Nina Wollinger WEB

10 AUAV 5 6 Education plan 6.1 Education of the project members As the project members are going to handle a number of very diverse tasks, its very hard to identify any common education needs. It s is however clear that education on L A TEX is going to be requiered among all project members that are going to write project documents. Such education is going to be conducted in the form of self-study as and when needed. 6.2 Education of the customer No demands on education has been put forth by the customer. 7 Report plan Every person assigned a task shall report to the project managers when a task is finished, or if there is any problems. The functional groups shall report regularly to the project managers the status of their respective responsibilities. This is necessary to make sure that all requirements become fulfilled. The project managers make a weekly summary of the status of the project and make a verbal report to the orderer. If so requested a written report will be provided. 8 Meeting plan At all meetings notes is to be taken. Each sub-group holds weekly meetings during the project. The entire projects meets when required, most likely in the vicinity of Tollgates. The functional groups should hold meetings when needed, with exception of the project managers group, which holds weekly meetings. 9 Resource plan The projects resources is divided into persons, material, workrooms and economy. 9.1 Persons Persons available for use in the project are the project group and the two supervisors. 9.2 Material Material available is, with the exception of the necessary parts for the project, 6 laptop computers.

11 AUAV Workrooms The project has one big workroom for it s own use, and shares a smaller room with another project. 9.4 Economy Maximum development time is 3400 hours. Maximum supervision time is 40 hours, divided into two equal parts for each of the supervisors. 10 Milestones and tollgates These milestones and tollgates are part of the project Milestones These milestones are defined. The dates are given in the time plan. MS2 Internal delivery of acceptable versions of documents for the start of project work. MS3a Internal delivery of design specification for the hardware group. MS3b Internal delivery of design specification for the other groups and test plan. MS4 Internal delivery of the finished subsystems. MS5 Internal delivery of the finished product. MS6 Internal delivery of the documents requiered to end the project Tollgates Tollgates are designed by their Swedish acronym, BP. The following tollgates are defined: BP2 The orderer decides that the project shall proceed. Required documents: Requirements Specification Outline Plan Of The System Project Plan with list of activities Time Plan BP3 The orderer decides that the project shall begin with implementation. Required documents: Design Specification Test Plan BP4 The orderer accepts delivery of the subsystems, and the project enters the integration phase. Required documents:

12 AUAV 7 Test protocols for the respective subsystems. BP5 The orderer accepts delivery of the final product, and the project enters the after phase. Required documents: Complete Test Report A User-manual for the system BP6 End of project. The project group is disolved, and pass/fail is given by the examiner. Required documents: Technical Report Project Reflections Poster Homepage 11 Activities In the table below all activities that have been identified is stated. The numbering is non-sequential to allow for later addition of more activities to the plan. Number Activity Description 1 Introduction to project 2 Project meeting (big group) 3 Subgroup meeting 4 Project leader meeting 5 Function group meeting 6 Meeting with instructor 7 BP - meeting 8 Meeting with customer 10 Administration - planning 11 Administration - following up 12 Administration - mixed 13 Computer administration 20 Requirement Specification (Kravspecifikation) 21 Project Plan 22 Outline Plan For The System (Systemskiss) 23 Time Plan 24 Design Specification (designspecifikation) 25 Test Plan 26 Test Report 27 User-manual 28 Technical Report 29 Project Reflections (Efterstudie) 30 Poster 31 Homepage 32 Presentation preparation continued on next page

13 AUAV 8 continued from previous page Number Activity Description 33 Delivery (BP5) 34 Conference day (BP6) 40 Education - Latex 41 Education - flight simulator 42 Education - control 43 Education - hardware 44 Education - positioning 45 Education - mixed 50 Detailed design - control group 51 Detailed design - hardware group 52 Detailed design - positioning group 60 Development & Implementation - Ctrl. 70 Development & Implementation - HW 80 Development & Implementation - Pos. 90 Development - integration 100 Testing - control group 101 Testing - hardware group 102 Testing - positioning group 103 Testing - integration 104 Test flying 12 Time Plan The time plan is available as a separate document. 13 Quality Plan 13.1 Changes Requirements may only be changed by the orderer Reviews Reviews of documents and produced code shall be done by someone who is not the author of said document or code Test Plan A detailed plan of the tests is given in the separate Test Plan. However, these kinds of tests is going to be performed: Unit tests Every implemented unit shall be tested. Function tests A Function is several units thats tested together. Integration tests The product is divided into several functions, and the integration tests verify that they are working together in a correct way.

14 AUAV 9 Systems test and validation Here the product is the tested to verify that the product fullfills the customers demands as stated in the Requirements Specification. For each test a specification must be written, the specification shall be a part of the Test Plan. The test specification shall describe the test environment in such a way that an individual from outside the project can do the test again. 14 Risk Analysis The following risks has been identified That the time constraints will not allow enough testing and documentation That crashes during testing makes it impossible to finish the development due to loss of hardware that can not be replaced inside the projects financial borders. 15 Priorities Under no circumstances shall more than the alloted development time be used. The next priority is the time when the project shall be finished, namely that the product must be finished on Project close-out The project is concluded when all documents are approved and all software and hardware is finalized. 17 References Lips-nivå 1, Thomas Svensson and Christian Krysander. Bokakademin, ver. 1.0, (2002) Requirement Specification, Jonas Köhlström, (2006) Outline Plan For The System, Robert Isaksson, (2006) Lips eng.sty, Henrik Ohlsson, (2006)