Team Chopper Subterranean Mapping performed by co-operative helicopters

1
Team ChopperSubterranean Mapping performed by
co-operative helicopters

• Shirley Choi
• Bejan Hafezzadeh
• Joseph Kaiser
• Sean Norwood
• Itay Tenne

2
Introduction

• Subterranean Mapping
• Autonomous Co-operative Helicopters
• Avionics System
• Can Avionics Interface Board (CAIN)

3
System Overview
Satellites
INS
Pressure Sensors
IMU
GPS
Magnetometer
RS644
RS232
RS232
RS232
RS232
Power Generator
CAN Multi-Drop Bus
Power Board
All Boards
Interface Board
Interface Board
Servo Isolation
Servo battery
RS232
PWM signals
On board Radio
Servos
RC receiver
For test and debug
RS232
Host PC for COM and configuration
RC Transmitter
Ground Radio
USB
Error Correcting GPS
Multi-Drop Bus
To GPS
4
Helicopters On-board Devices

• CAIN Boards
• 586-Engine-P (Flight computer)
• Servos
• IMU
• RC receiver
• GPS

5
CAIN BOARD

• Chopper Avionic Interface Node
• Interfaces between the CAN bus and the individual
  devices.
• Built around an Atmel Processor
• Contains UARTs(RS-232), PWM generators, Digital
  Output and Inputs
• Individually programmable

6
CAIN Board Block Layout
TWI/SPI
ADC
addr
ISP
JTAG
Addr/data
RS232
CAN transceiver / CAN bus
NV RAM
Atmel AT90CAN128
RS232
RS644
LEDs
EEPPOM
PWM (6 channels)
Jumpers/Selectors
7
586-Engine-P

• Main processing unit for the helicopter
• Based around an AMD 586 processor
• On board CF memory card reader
• Will read the sensor inputs from on-board devices
  and RC controller and send corrected signals to
  the servos
• Will include the control law to perform the
  augmented control on the helicopter

8
Servo

• A servo is used to mechanically control the
  helicopter
• It is controlled by PWM signals produced by
  error-corrected signals from the
  remote-controller unit

9
IMU

• An Inertial Measurement Unit gives 6 key
  measurements of the helicopter
• These measurements are sent to the flight
  computer via the CAN bus
• The flight computer processes this information
  for error correction

10
RC receiver

• A remote controller (RC) is used to control the
  orientation of the helicopter
• The RC receiver receives human input signal
• Signal decoded through CAIN board
• Sent to servos for full manual control
• Or, dispatched on CAN bus to be processed by
  augmented control system

11
GPS

• GPS unit on helicopter provides flight computer
  with latitude, longitude, and altitude
  measurements
• The GPS used for fully autonomous flight

12
Risk Analysis

• Power consumption on board
• Control loop (simulation)
• Noise
• EMI, Cross-Talk, ESD
• Physical vibration
• Time delay (transmission)

13
Contingency Plan

• Shopping cart
• Powered by batteries
• No control loop (manually driven)
• PCBs spaced out less noise
• Minimized physical vibration

14
Part List
Provided by Prof. Meyer
Parts quantity
Chopper 1
Digital Servos 1
586-Engine-P 1
GPS 1
STK500 development board 2
RC receiver 1
Shopping Cart 1
12V battery 2
Parts quantity Total Cost
RC helicopter 1 500.00
AT90CAN128 6 100.00
CAN Transceiver 6 11.00
EEPROM 4 40.00
SRAM 4 16.00
12 MHz oscillator 4 16.00
R/C components / 100.00
6 layer PCB Fabrication (4 boards) / 730.00
PCB population (4 boards) / 560.00
Flight box 1 300.00
Total 2373
15
Schedule
16
Future Development

• CAIN is versatile, it is capable of interfacing
  with unknown devices.
• More modules
• Pressure sensor
• Magnetometer etc
• pre-filtering data on CAIN
• Development of the multi-master model
• Implement advance control system
• Path finding ability