GPS CAR Group 4

1
GPS CARGroup 4

• Justin Griffin
• Yasser Khan
• Travis Vollmer

2
Specifications

• Determine the accuracy of the GPS sensor and
  implement methods by which this might be improved
• Determine the appropriateness of the sensor for
  the R4 parking lot navigation task and any
  challenges that the specific mission profile
  might entail
• Establish the stability of the navigation system
  over 10 minute and 24 hour time frames
• Smooth and straight operation of the vehicle on
  an EAST-WEST and NORTH-SOUTH heading.
• Start and return to a point in an error circle
  appropriate for state-of-the-art GPS accuracy for
  civilian mode, non-differential mode GPS sensors.

3
Tasks

• GPS Familiarization
• Navigation
• Car Design
• Coding
• Debugging/troubleshooting

4
Car Design Breakdown

• MSP430
• Servo
• Voltage regulators
• Transceiver
• Motor controller
• GPS power and mount

5
Hardware Diagram
6
Block Diagram GPS-MSP430 Communication
7
MSP430 Pins Used

• 14 and 15 - PWM for servo and chopper circuit
• 32 and 33 - transmit and receive
• 62 and 63 - ground

8
SERVO

9
3.3 Volt Regulator on Transceiver board
10
Motor Control Circuit and Schematic
11
Car Construction
12
Final Hardware Mount
13
Hardware Complete
14
Parking lot mapping
15
Parking lot GPS Data
GPRMC,235952,A,3335.2078,N,10152.5883,W,000.0,099
.4,081104,008.2,E66
GPRMC,235806,A,3335.2047,N,10152.6126,W,000.0,000
.0,081104,008.2,E6B
GPRMC,000159,A,3335.2087,N,10152.5563,W,000.0,000
.0,091104,008.2,E67
GPRMC,232214,A,3335.1984,N,10152.5558,W,000.0,000
.0,081104,008.2,E6E
GPRMC,235625,A,3335.1999,N,10152.6126,W,000.0,000
.0,081104,008.2,E6D
GPRMC,232714,A,3335.1969,N,10152.5847,W,000.0,271
.4,081104,008.2,E6B
16
Code Algorithm
Initialize path number (1,2,3,4)
Get Current position info
Set Centre line and tunnel walls
Increment path number
Start motors
Get Current position info
YES
Turn 90 degrees
Did we cross front wall yet ?
NO
YES
Are we outside the tunnel walls ?
Fix left / right
NO
YES
Is Path number greater than 4 ?
NO
STOP
17
GPS data Analysis (latitude)
18
GPS data Analysis (latitude)
19
GPS data Analysis (latitude)
20
GPS Data Analysis (longitude)
21
GPS data Analysis (longitude)
22
GPS Data Analysis (longitude)
23
GPS Data Analysis
24
Communication Problem

• Tested Pin Connections
• Tested Chip Connection
• Tested Transceiver / Voltage Regulators
• Ran sample programs
• Ran programs for pwm
• Established Communication between GPS and MSP by
  using different Evaluation Board.

25
Final Budget
26
Gantt Chart