SIVAQ. Manufacturing Status Review

SIVAQ Manufacturing Status Review

Project Overview 2 Mission Statement: Augment the capabilities of the Parrot AR Drone 2.0 such that it flies autonomously with a predetermined flight path, records data, relays data, and detects and responds to GPS Radio Frequency Interference (RFI). Highest Level of Success: Autonomous quadrotor with: a) GPS navigation system and signal integrity monitoring; b) Return home" capability; c) Mission range of 3km; d) Communications device for transmission of video, data, and last known position. e) SIVAQ will provide live video data, such that the pilot can identify a red target 1 m 2 in a 3600 m 2 field. f) SIVAQ will be capable of locating the source of RFI within 7m of the actual source g) Custom fuselage that improves efficiency while preserving center of gravity and structural integrity and while maintaining stock controllability.

CONOPS Scenario 1 3 Continuous signal monitoring and data transmission detection Immediate, large radius RFI is enabled Command Destination and Waypoints for autonomous travel Immediate, powerful RFI detected! Lose Communication link with ground station. Downlink and store flight data in real time Abort mission, disable GPS and attempt to return home inertially

CONOPS Scenario 2 4 Command Destination and Waypoints for autonomous travel Continuous signal monitoring and data transmission detection False Signal Detected! Map sphere of influence False GPS sphere of influence Downlink and store flight data in real time

Issues From CDR 5 Why not use GPS the Parrot system can talk to? Clarify how antenna patterns affect project Details of interfacing with Papparazi autopilot What software are we developing? How will hull affect control algorithms?

Project Schedule 6 Behind On Time Before TRR Cell Modem Comm Link Manufacturing Custom Fuselage Command Drone with GPS Waypoints GPS Waypoint Navigation Initial Paparrazi Flight Tests Configure and Test Wi-Fi Antenna for RFI Zone Wi-Fi Expected Power Tests GPS AGC Tests Inertial Navigation Code Custom PCB Design Onboard Navigation Sensor Testing Log Flight Data from IMU Sensors and GPS Waypoints Develop Linux Ground Station * Please reference hard copy of master schedule included in handout

7 Manufacturing Status Reports

Manufacturing Status 8 Critical Elements Software Inertial Navigation Wi-Fi Simulation Test Custom Electronics Package Custom Hull

Software Requirements 9 Requirements: Prove waypoint functionality Show that Paparrazi can transmit required telemetry data. Prove GUI meets all requirements. Solution: Flight with Paparrazi using SiRf IV messages Modified Paparrazi for user defined behavior

Software Testing 10 Software Subsystem Arduino Ground Station Drone GUI Testing Method Arduino Test Suite Arduinounit Spoof tests Wireshark packet verification Flight testing Check for unit testing Paparazzi's simulated flight testing Customer Feedback Pylint for the python Check for C

Software 11 Arduino GPS Configuration NMEA Parsing Conversion of NMEA to SiRF GPS Configuration for AGC AGC Data Parsing Drone Telemetry Ground Station Implementation of RFI-related Additions Drone Waypoint Navigation Receive AGC and Simulate RFI Inertial Navigation RFI mapping zone GUI Basic Navigation Commands Mission Planning with Waypoints Map to Monitor Drone s Location AGC Monitoring Real Time Video Location Available Software Software to Implement

Paparazzi Flight Controls 12 * Successful Test Flight

Mapping Software 13 Pre-Zone -Check for AGC RESULT: First GPS position ACTION: Turn off GPS and fly into zone First Leg -Maintain heading and speed -Check for AGC -Record time RESULT: Second GPS position ACTION: Fly back into zone Second Leg Part 2 -Maintain heading and speed -Check for AGC RESULT: Third GPS position ACTION: Calculate center transition to next case Second Leg Part 1 -Maintain heading and speed -Check for time ACTION: Stop and turn 90

Inertial Nav Requirements 15 Requirement: Quadrotor must be able to return home without the aid of GPS when GPS signal integrity is lost. AR.Drone 2.0 Capabilities: Vehicle includes a suite of inertial navigation sensors including accelerometers, magnetometers and gyros. Solution: Incorporate dead reckoning software algorithms which make use of the vehicles onboard sensors.

Inertial Navigation 16

Navigation Formulas 17 Distance between GPS coordinates: Course: New Position: a = sin 2 φ 2 + cos φ 1 cos φ 2 sin 2 λ 2 c = 2 atan2 a, 1 a D = R c where R = Earth s radius θ = atan2 sin λ cos φ 2, cos φ 1 sin φ 2 sin φ 1 cos φ 2 cos 2 Δλ V, H = Avg. velocity, heading from data for timestep d = Vt a = d R Δφ = a cos H φ 2 = φ 1 + Δφ φ = ln tan π 4 + φ 2 2 tan π 4 + φ 1 2 if Δφ = 0, q = cos φ 1 else q = Δφ Δφ a sin H Δλ = q λ 2 = λ 1 + Δλ + π %2π π

Code Verification 18 ~2000 meter path in Boulder Colorado +/- 2 m/s, +/- 10⁰ noise

Navigation Actualization 19 Use Parrot s Software Development Kit command library Use proportional gain controllers to guide drone to correct course and altitude with feedback control loop ψ = K ψ d ψ

Continued 20 Solve for K K = Max Rate Max Desired Value Max yaw rate setting: 500 deg/s: Max vert. rate setting: 1000 mm/s K yaw = 5.5556, K alt = 1

Continued 21 Control kicks in at ψ 90, Y 1m t s = ln tol.frac. K t syaw 0.83 s t salt 4.6 s

Wi-Fi Test Requirements 23 Requirement: AR.Drone 2.0 shall monitor GPS information integrity and detect radio frequency interference. Signal shall be considered compromised if AGC values ventures outside 3 sigma from its nominal value. AR.Drone 2.0 Capabilities: Atheros Wi-Fi chip Solution: Use a 232 mw Wi-Fi access point to simulate the expected power that would be seen from a general 100 mw jammer. Use the onboard Atheros Wi-Fi antenna to scan for the access point and determine if signal is compromised.

Wi-Fi Test 24 Completed Tasks Able to give command to drone that outputs signal strength in dbm and save to variable Use equation to convert dbm to mw Upcoming Tasks Antenna Testing Create code that calls and saves signal strength in mw

Wi-Fi Test 25 Communicating with Atheros Wi-Fi n chipset 1. telnet 192.168.1.1 2. iwconfig ath0 mode managed 3. ifconfig anth0 up 4. iwconfig ath0 scan Obtains Wi-Fi signal quality and strength in dbm

Wi-Fi Test 26 1. 4. Tests 1. Place repeater on field and carry drone around it in a circle while facing center to measure the pattern of the repeater Wi-Fi Repeater 232 mw 2.4 GHz 2. 3. 2. Walk the drone towards the repeater to understand the free space losses and compare to equation 3. At specified distance tilt drone in increments between -30 to 30 pitch angle to measure drone antenna pattern 4. At specified distance rotate drone in increments to 0 to 360 yaw angle to measure drone antenna pattern Requirements 1.QUADFR.2 2.QUADDR.18 Verification Using test data we will be able to generate a MATLAB function that can output an expected power received at any point relative to the repeater for a user defined attitude

Custom Electronics Package Requirement: Create a custom electronics package which incorporates all the additional components necessary to complete the mission Solution: Incorporate MediaTek MT3339 GPS chip, capable of outputting AGC values, as well as an Arduino Pro Mini and a CP2102 UART-to-USB adapter to allow the vehicle to receive properly formatted GPS messages.

Custom Electronics Package 29

Custom Electronics Package 30 Pins 1 and 2 are unlabeled and unused Output from CP2102 UART to USB will interface directly to this serial port on the vehicle

Vehicle Performance 32 Requirement: AR.Drone 2.0 shall fly 3 km from launch point, loiter for 60 seconds, then return 3 km to takeoff point. AR.Drone 2.0 Capabilities: Manufacturer Claim: 3.6 km max range (Cruise Speed 5 m/s, Flight Time 12 minutes) Solution: Dynamite Speedpack Silver 4000 mah battery Hover Time: 45 minutes Necessitates reconfigured hull

Custom Hull 33 Requirement: SIVAQ shall include custom fuselage to house autonomous navigation system, RFI detection system, upgraded battery, and any additional sensors required to fulfill functional requirements. Manufacturing: Objet 30 3D rapid prototype Material: VeroWhitePlus RGD835 Density: 1.17 g cm 3

Vehicle Performance (Mass) Component Custom Battery Case Speedpack Battery Mass [g] Percent of Custom Mass (533.92) [%] 48.1 9.01 265 *Cross Strut 124.25 49.63 23.27 34 *Navigation Boards 61.07 11.44 MediaTek GPS 2.5 0.47 Arduino Pro Mini USB to UART 2 10 0.37 1.87 Cell Modem 21 3.93 TOTAL 533.92 100

Rotary Package 35 Installed new upgraded gears, pinion bearings, ball bearings, and oiled moving junctions Testing Two hover tests with stock parts (12:38, 13:04) Two hover tests with upgraded parts (14:18, 15:09) 12.7% increased average flight time

Coming Up This Week 36 Ordering MT 3339 GPS chips GPS RFI Tests Delivery of Cell Modem

SIVAQ Budget 37 Navigation Electronics 10% Hardware Upgrades $59.79 1% Communication $165.00 3% Margin $1,672.36 34% Power $267.62 5% Fuselage+PCB $290.00 6% Vehicle $1,932.44 39% Navigation Electronics Hardware Upgrades Laptop Vehicle Fuselage+PCB Power Communication Margin

38 QUESTIONS?

BACKUP SLIDES

CONOPS 40 Begin flight with continuous signal integrity monitoring and flight data transmission Travel towards estimated target location Define Survey Sector Command Destination and Waypoints for autonomous travel Return home Loiter 1 minute and locate target using downward facing camera Downlink and store flight data in real time

Wi-Fi Test Purpose Obtain power readings of Wi-Fi signal source to mimic L1 Relate power readings to AGC values Completed Tasks Able to give command to drone that outputs signal strength in dbm Use equation to convert dbm to mw Testing Place repeater on field and carry drone around it in a circle while facing center to measure the pattern of the repeater Walk the drone towards the repeater to understand the free space losses and compare to equation. At specified distance tilt drone in increments between -30 deg to 30 deg pitch angle to measure drone antenna pattern At specified distance rotate drone in increments to 0 deg to 360 deg yaw angle to measure drone antenna pattern Requirements 1.QUADFR.2, 2.QUADDR.18 V&V Using test data we will be able to generate a MATLAB function that can generate an expected power received at any point and attitude relative to the repeater.

Vehicle Performance (Mass) 45 Compone nt Outdoor Hull 1000 mah Battery Mass [g] 32 7.55 101 23.82 Stickers 10 2.36 USB Port 1.18 0.28 *Navigatio n Boards Battery Housing Structure/ Frame *Cross Strut 61.07 14.40 33.25 7.84 61.25 14.45 124.25 29.30 Percent of Stock Mass (424 g) [%] TOTAL 424 100

Vehicle Performance (Power) 44 Estimating Current Draw STEP 1: Find current during hover STEP 2: Find flight angle at designated spee Amps hover A Velocity Battery Pack Thrust Weight Thrust Weight Angle Amps hover Amps flight = cos Angle

Vehicle Performance (Mass) Unrequired Stock Components Component Mass [g] Outdoor Hull 32 1000 mah Battery 101 Stickers 10 USB Port 5 Battery Housing 33.25 Structure/ Frame 61.25 TOTAL 242.5 AR. Drone Mass Budget Additional Components Component Mass [g] Custom Battery Housing 58.1 MediaTek 3339 GPS Antenna/Reciever Speedpack 4000 mah Battery 2.5 295 Arduino Pro Mini 2 CP2102 USB to UART 10 Cell Modem 21 TOTAL 388.6 Required Stock Components: Cross Struts and Navigation Board Final Mass 573.92 [g] 135.34 [% of stock]

Vehicle Performance 49 High Performance Rotary Package Design (All Purchased) Replacing existing pieces with lighter gears, pinions and shaft Replacing bushings with ball bearings Adding high performance oil to bearings Result Motor draws 12% less current during flight 6.135 A -> 5.478 A in flight 5.313 A -> 4.7439 A during hover Increases range by 698.5 m

Ground Control Station GUI 46 AGC Level AGC Threshold

Navigation Actualization 47 Use Parrot s Software Development Kit command library Use proportional gain controllers to guide drone to correct course and altitude with feedback control loop ψ = K ψ d ψ

Continued 48 Solve for K K = Max Rate Max Desired Value Max yaw rate setting: 500 deg/s: Max vert. rate setting: 1000 mm/s K yaw = 5.5556, K alt = 1

49 * Hard Copy included in Presentation Handout