SIVAQ Signal Integrity Verifying Autonomous Quadrotor

SIVAQ
Signal Integrity Verifying Autonomous Quadrotor
Organization
2
Team
SIVAQ
Brett Wiesman
Matt Zhu
Project Manager
Steve Gentile
Ground Software Lead
Shane Meikle
Systems Engineer
Geoff Sissom
Mechanical Lead
Erin Overcash
Financial Lead
Structural Lead
Ross Hillery
Electronics Lead
Sean Rivera
Flight Software Lead
Nick Brennan
Safety/Navigation Lead
Agenda
Project
Description
Design Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project Planning
3
Mission Statement
4
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).
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Project Description
5
Highest Level of Success:
Autonomous quadrotor autopilot 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 m2 in a 3600 m2 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.
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
CONOPS
6
Travel towards
estimated
target location
Begin flight with
continuous signal
integrity monitoring and
flight data transmission
Command
Destination and
Waypoints for
autonomous
travel
Define Survey
Sector
Loiter 1 minute and
locate target using
downward facing
camera
Return home
Downlink and
store flight data
in real time
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
CONOPS – Scenario 2
Immediate, large
radius RFI is
enabled
Continuous signal
monitoring and
data transmission
detection
Command
Destination and
Waypoints for
autonomous
travel
Immediate, powerful RFI
detected! Lose
Communication link with
ground station.
Abort mission,
disable GPS and
attempt to return
home inertially
Downlink and
store flight data
in real time
Introduction
Project
Description
7
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
CONOPS – Scenario 2
Continuous signal
monitoring and
data transmission
detection
False GPS
sphere of
influence
False Signal
Detected!
Command
Destination and
Waypoints for
autonomous
travel
8
Map sphere
of influence
Downlink and
store flight data
in real time
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Agenda
Project
Description
Design Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project Planning
9
Vehicle Design
10
Material
• VeroWhitePlus
Characteristics
• New Mass = 482.42g
• Removable Battery
• Retains stock mount
configuration
• Retains stock battery
connectors
• Manufactured in house by
Rapid 3D Prototyper
Cost
$97.53
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Functional Block Diagram
11
Software Modifications
RFI
Simulation
Hard Data/Power Connection
Wireless Data Connection
Autonomous
Navigation
Software
Developed for Project
Pre-Existing Hardware
Storage Device
RFI Detection
Software
Thermistor
Vehicle Kill
Command
GPS Receiver/Antenna
Motherboard
USB to UART
Dynamic
Waypoints
Arduino
Serial Port
Navigation
Software
Cell Modem
Battery
Electronics Package
AR Drone 2.0
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
GUI
Risks
Validation and
Verification
Project
Planning
Conclusion
GPS Module
12
• MediaTek MT3339 GPS Module
with integrated patch antenna
• Custom, prototype firmware
created by MediaTek to output
AGC message
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
How AGC works
13
Summary of the GPS/Antenna signal conditioning process from
antenna reception to the receiver processor
Goal: Extract GPS positioning information from the L1 carrier
frequency (1575.42 MHz)
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Unmodified Software Block Diagram
14
• In the stock configuration, the vehicle
is flown manually using a mobile app
GUI
• This mobile app communicates via
WiFi to a local program running on the
vehicle
• Parrot provides a Software
Development Kit that allows users to
create their own apps to control the
vehicle
Mobile Device
User input
(Tilt angles, max
height, max speed)
AR. Drone 2.0
FreeFlight app
WiFi transmission
Local Processing
Native stability
Native Program
control
firmware
AR. Drone 2.0
1GHz ARM Cortex A8 microprocessor
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Motor
Controllers
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Modified Flight Software
15
Paparazzi Open Source Autopilot framework
• Compiled for ARM processor to run locally
• SDK recognizable commands include roll, pitch, yaw, throttle,
take-off, land, kill, etc
• Navdata contains all vehicle sensor data
Navdata
Paparazzi
Center
SDK
recognizable
commands
Motor
Controllers
Native stability
control
Native program
firmware
AR. Drone 2.0
1GHz ARM Cortex A8 microprocessor
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Ground Station GUI
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
16
Project
Planning
Conclusion
Critical Project Elements
1.
2.
3.
4.
5.
Introduction
Project
Description
17
RFI Detection and Zone Mapping
Long Range Communications
Autonomous Navigation
Command Center
Vehicle Performance
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Agenda
Project
Description
Design Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
GPS Addition
20
GPS
Arduino
AR Drone 2.0
UART to USB
• External GPS must mimic Parrot’s available GPS to preserve functionality
• NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Flight Software Composition
21
Paparazzi
Paparazzi
Center
Airframe
Flight
Plan
Flight
Settings
Ground Control
Station
Telemetry
Comm
Map
Waypoint
Editing
Xml configuration files
Notebook
Flight
Plan
Strips
Flight
Settings
GUI Elements
Software Programs
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Flight Plan Flowchart
22
Initialization
RFI Detected?
RFI Zone Mapping
Procedure
Yes
Exception
Triggered
Path
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Simulation
23
Requirement: Simulate a 100 mW GPS RFI device without transmitting any signals
in the L1 band.
Solution: Use a modified Wi-Fi router to create a Wi-Fi band transmission with
characteristics (power gradients and power received) identical to the proposed L1
RFI device.
Definition
Value
fWIFI
Wi-Fi transmission frequency
2.4 GHz
fGPS
GPS transmission frequency
1575 MHz
ptGPS
Transmit power of specified RFI device
100 mW
PtWIFI
Power required at fWIFI to simulate a 100mW GPS RFI device
232 mW
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Simulation
24
• L1 RFI is will be simulated
using a transmission in the
Wi-Fi band (2.4GHz)
• The Wi-Fi transmit power
will be increased until the
power curve matches that
of a 100mW device
transmitting in the L1-band
(1575 MHz)
• RSSI from the vehicle’s onboard Wi-Fi chip will then
be monitored for changes in
Wi-Fi power
*All antennas assumed isotropic
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Detection
25
Requirement: Detect GPS RFI
Solution: Monitor GPS AGC for deviations greater than 3σ from temperaturecorrected, nominal value
GPS AGC and Antenna Temperature
AGC Data
1350
AGC
2 sigma
3 sigma
1280
AGC
1260
1300
1240
1220
1200
0
1
2
1200
1150
3
4
5
4
5
Time [days]
1250
Antenna Temperature
AGC
1180
0
1
2
3
4
20
15
10
5
0
5
1
Introduction
Project
Description
Design
Solution
2
3
Time [days]
Time [days]
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Detection - Ground Data
26
• L1 RFI signal is injected into the RF
stream of the GPS Module
• An inline, variable attenuator is used
to decrease the attenuation on the
false signal; varied at fixed time
intervals while AGC and position data
are logged from the GPS chip
To GPS
GPS Antenna
• The data from the test are used to
determine how much power must be
injected to:
1. Trigger a 3σ change in AGC
2. Invalidate the position solution
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Attenuated
RFI
RFI Input
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Detection - Ground Data
27
• Ground test data are then used to
compared direct injection lab tests to
expected, in-practice AGC values
using the following equation:
To GPS
GPS Antenna
Pr : Power received
Pt : Power transmitted
c : Speed of Light
f : transmission frequency
d : Distance from signal source
Gr : Antenna Gain
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Attenuated
RFI
RFI Input
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Detection - Ground Data
28
• Correlate direct injection results to
free-air transmission
Pr : Power received
Pt : Power transmitted
c : Speed of Light
f : transmission frequency
d : Distance from signal source
Gr : Antenna Gain
To GPS
GPS Antenna
Attenuated
RFI
RFI Input
• Correlate GPS power, Wi-Fi power
and AGC
• Map Wi-Fi ΔRSSI to ΔAGC
*RSSI: Received Signal Strength Indicator
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Detection
29
AGC Data
AGC
4
3.5
1350
x 10
AGC
2 sigma
3 sigma
3
1300
2.5
2
AGC
• Even without temperature
compensation, it can be
seen that RFI events will
likely land outside of 3 sigma
1250
1.5
1
1200
0.5
• By fitting a linear best fit line
to the Temperature Vs. AGC
data, a function describing
the “Temperaturecorrected” AGC value can be
formulated
1150
0
1
2
3
4
5
0
1210
1220
1230
1240
1250
1260
1270
1280
1290
Time [days]
• Taking this into account
drastically changes the AGC
distribution
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
1300
RFI Block Diagram
Baseline AGC
30
AGC Threshold
Nominal AGC Data
AGC Level
Monitor
AGC with RFI
RFI Detected?
GPS Ground Test Results
YES
NO
Mapping Mode
GPS Module
GPS Solution
Mission Mode
Wi-Fi RSSI
Wi-Fi Module
Wi-Fi Power to GPS
AGC conversion
Flight Software
Flight Hardware
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Quadrotor Flight Temperature
31
Requirement: Flight will not change the temperature of the GPS
receiver by more than 10°C and the battery temperature remains
within operational limits(0 – 50 °C)
Solution: Separate the GPS receiver from the battery
Component Thermal Properties
Battery Characteristics
• k = 254 W/m*K
• ρ = 1391.89 kg/m3
• cp = 920 J/kg*K
• l = .141 m
• w = .049 m
• t = .0236 m
Introduction
Project
Description
Design
Solution
Receiver Characteristics Frame Characteristics:
• k = 0.32 W/m*K
VeroWhitePlus Plastic
• cp = 600 J/kg*K
• k = 0.35 W/m*K
• A = 0.0033 m2
• ρ = 1175 kg/m3
• t = .0047 m
• cp = 350 J/kg*K
• l = .141 m
• w = .049 m
• t = .0236 m
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Quadrotor Flight Temperature
Thermal Circuit
Battery
Frame
Air Convection
T∞= 23°C
hflight= 100 W/m2
hhover= 25 W/m2
GPS
Receiver
q
𝑅𝑡𝑜𝑡 = 𝑘
𝑈=
𝐿𝑓𝑟𝑎𝑚𝑒
𝑓𝑟𝑎𝑚𝑒 𝐴𝑓𝑟𝑎𝑚𝑒
1
𝑅𝑡𝑜𝑡 𝐴
=
+𝑘
𝐿𝐺𝑃𝑆
𝐺𝑃𝑆 𝐴𝐺𝑃𝑆
𝐿𝐺𝑃𝑆
𝑘𝑓𝑟𝑎𝑚𝑒
32
1
𝑎𝑖𝑟 𝐴𝐺𝑃𝑆
+ℎ
Power Calculation
Pflight = 1.97 W
PHover = 1.50 W
P
Since Atops>>Asides, Ptop= 2
𝑃𝑡𝑜𝑝
Pgps_sees = 𝐴
1
𝐿
1
+ 𝐺𝑃𝑆 +
𝑘𝐺𝑃𝑆 ℎ𝑎𝑖𝑟
𝑏𝑎𝑡𝑡
𝐴𝑔𝑝𝑠 = q
qflight= 0.039 W
qhover = 0.030 W
𝑞
∆𝑇 =
𝑈𝐴
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Quadrotor Flight Temperature
33
Steady State
Temperatures
Material
Battery
ΔT from
Ambient
GPS
RX
ΔT from
Ambient
Flight
Temp (°C)
31.1
8.1
24.5
1.50
Hover
Temp (°C)
35.7
12.7
29.1
6.10
Ambient temperature is 23 °C
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Zone Mapping
34
Requirement: Vehicle will be capable of locating RFI source within 7 meters of true
location
Solution: Use triangular circumscribed circle to define radii and center point
Assumptions
•
RFI source antenna is omnidirectional
•
Antenna broadcast is free of interference
𝑃1
Relavent Equations
𝑥1
𝑥2
𝑥3
𝑃1 = 𝑦 , P2 = 𝑦 , 𝑃3 = 𝑦
1
2
3
𝑟=
𝑃𝑐
𝑃1 − 𝑃2 𝑃2 − 𝑃3 𝑃3 − 𝑃1
2 𝑃1 − 𝑃2 × 𝑃2 − 𝑃3
𝑃3
𝑃𝑐 = 𝛼𝑃1 + 𝛽𝑃2 + 𝛾𝑃3
𝛼=
𝑃2 − 𝑃3 2 𝑃1 − 𝑃2 ∙ 𝑃1 − 𝑃3
2 𝑃1 − 𝑃2 × 𝑃2 − 𝑃3 2
𝛽=
𝑃1 − 𝑃3 2 𝑃2 − 𝑃1 ∙ 𝑃2 − 𝑃3
2 𝑃1 − 𝑃2 × 𝑃2 − 𝑃3 2
𝛾=
𝑃1 − 𝑃2 2 𝑃3 − 𝑃1 ∙ 𝑃3 − 𝑃2
2 𝑃1 − 𝑃2 × 𝑃2 − 𝑃3 2
Introduction
Project
Description
𝑟
𝑃2
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Zone Mapping
Start
No
35
Enter RFI Zone
Re-acquire GPS
Record Last Trusted
GPS Location
Turn 180o and Reenter Zone
Turn 90o Towards
Center and Fly
Maintain Heading
and Speed
Maintain Heading
and Speed
Maintain Heading
and Speed
Measure AGC Level
and Record Time
Record Time
No
AGC Level
Acceptable?
No
AGC Level
Acceptable?
Check if at
Midpoint
Yes
Measure AGC Level
Yes
Yes
Calculate Midpoint
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Zone Mapping Sensitivity
36
1000 Simulations were conducted
Assumptions
• GPS location error: 0 − 2.5𝑚
• Vehicle Flight Speed: 4
𝑚
𝑠
• Circle radii: 100𝑚
Constraints
• All points chosen must be 10 meters apart
• Third point must be approximately (< 3m
differentiation) aligned with the bisector of
the first 2 points
Results
• 984 of 1000 satisfy center location
requirement
• Average flight time = 3.2 minutes
• Average distance traveled = 521 meters
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Long Range Communication
37
Requirement: The ground station and the vehicle must remain in constant
communication.
Solution: Use a pair of cellular modems as well as a proxy at CU Boulder to
facilitate a constant connection
AR Drone
connected to a
cellular modem
Introduction
Project
Description
Design
Solution
3G/4G
Critical Project
Elements
Proxy at
CU
Boulder
Satisfying
Requirements
3G/4G
Risks
Ground station
connected to a
cellular modem
Validation and
Verification
Project
Planning
Conclusion
Data Transmission
38
Data Transmission Rates of On-Board Electronics
Invensense Front Facing
IMU – 3000
Camera
Data
Rates
0.131
MB/s*
0.5 MB/s
Down Facing
Camera
GPS
0.167 MB/s**
0.075 MB/s
Battery
Levels
Needed
Data Rate
Cellular
Modem]
0.001
MB/s
0.874
MB/s
1.5 MB/s
* Functions of sampling rate (IMU sampling at 0.5 s)
**Assumed to be 1/3 of front facing camera because resolution is 120p at 60 fps vs. front facing
camera’s 720p at 30 fps. Further testing is required to verify resolution
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Inertial Navigation
39
Requirement: Quadrotor must be able to navigate when the use of GPS is lost and
return “home” within the operator’s sight range
Solution: Perform dead reckoning using outputs from the vehicle
AR. Drone 2.0 contains built in
sensor filtering and state estimation
Speed [m/s]
Velocity Estimation
Time [s]
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Inertial Navigation
40
GPS:
40.1342 N
150.3465 W
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Inertial Navigation
• Heading bias, 𝜃𝑏 =
meters of home
tan−1
𝑥
,
3000
41
to return within 𝑥
𝜃𝑏 ≈ 2° to return within 100 𝑚 radius of home
• Velocity bias, 𝑉𝑏 =
of home
𝑉
𝑥,
𝑑
to return within 𝑥 meters
𝑚
𝑉𝑏 ≈ 0.133 to return within 100 𝑚 radius of home
𝑠
𝑚
assuming 𝑉 = 4 , 𝑑 = 3000 𝑚
𝑠
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Inertial Navigation
42
Assumptions
• Velocity assumed V = 4
𝑚
𝑠
• 3000 m of travel
• Time to travel t = 750 s
𝑁
• 𝑓 = 𝑡 ≈ 2 𝐻𝑧 heading correction
frequency sufficient to land within
100 m of target
Error
𝑁
𝑋=
𝑛=1
𝑁
𝑌=
𝑛=1
𝑉𝑡
𝜔𝑛 𝑡
sin
𝑁
𝑁
𝑉𝑡
𝜔𝑛 𝑡
cos
𝑁
𝑁
|𝑬𝒓𝒓𝒐𝒓| =
Introduction
Project
Description
𝑿𝟐 + 𝒀𝟐
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Vehicle Performance
43
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: Increase power supply from stock 1000 mAh AR.Drone 2.0 battery to
Dynamite Speedpack Silver 4000 mAh battery. AR.Drone 2.0 stock outdoor hull
configuration weighs 424 g. The new, fully-loaded vehicle weighs 482.42 g.
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Vehicle Performance (Power)
44
Estimating Current Draw
STEP 1: Find current during hover
STEP 2: Find flight angle at designated speed
Ampshover
Velocity
A
Thrust
Battery
Pack
Thrust
Weight
𝐴𝑚𝑝𝑠𝑓𝑙𝑖𝑔ℎ𝑡
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Weight
Angle
𝐴𝑚𝑝𝑠ℎ𝑜𝑣𝑒𝑟
=
cos 𝐴𝑛𝑔𝑙𝑒
Validation and
Verification
Project
Planning
Conclusion
Vehicle Performance (Mass)
Component
Mass [g]
Percent of Stock
Mass (424 g) [%]
Outdoor
Hull
32
7.55
1000 mAh
Battery
101
23.82
Stickers
10
2.36
USB Port
1.18
0.28
*Navigation
Boards
61.07
14.40
Battery
Housing
33.25
7.84
Structure/
Frame
61.25
14.45
*Cross Strut
124.25
29.30
TOTAL
424
100
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
45
Conclusion
Vehicle Performance (Mass)
Component
Mass [g]
Percent of Stock
Mass (482.42 g) [%]
Custom
Battery Case
38.6
8.00
Speedpack
Battery
225
*Cross Strut
124.25
*Navigation
Boards
61.07
12.66
MediaTek GPS
2.5
0.52
Arduino Pro
Mini
2
USB to UART
Introduction
Project
Description
Design
Solution
Critical Project
Elements
46
46.64
25.76
0.41
10
2.028
Cell Modem
19
3.94
TOTAL
482.42
100
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Vehicle Performance
47
VeroWhitePlus RGD835
𝑘𝑔
Density:1175 3
𝑚
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Vehicle Performance (Mass)
48
AR. Drone Mass Budget
Unrequired Stock Components
Additional Components
Component
Mass [g]
Component
Mass [g]
Outdoor Hull
32
Custom Battery Housing
38.60
1000 mAh Battery
101
Stickers
10
MediaTek 3339 GPS
Antenna/Reciever
2.5
USB Port
5
Speedpack 4000 mAh Battery
225
Battery Housing
33.25
Arduino Pro Mini
2
Structure/ Frame
61.25
CP2102 USB to UART
10
TOTAL
242.5
Cell Modem
19
TOTAL
297.1
Required Stock Components: Cross Struts and Navigation Board
Final Mass
Introduction
Project
Description
Design
Solution
482.42 [g]
Critical Project
Elements
Satisfying
Requirements
113.78 [% of stock]
Risks
Validation and
Verification
Project
Planning
Conclusion
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
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Vehicle Performance Modeling
𝑹𝒂𝒏𝒈𝒆 = 𝑽𝒇𝒍𝒊𝒈𝒉𝒕
𝑪𝒃𝒂𝒕𝒕𝒆𝒓𝒚 − 𝑰𝒆𝒍𝒆𝒄𝒕𝒓𝒐𝒏𝒊𝒄𝒔 𝒕𝒔𝒆𝒂𝒓𝒄𝒉 + 𝟐𝒕𝒉𝒐𝒗𝒆𝒓 − 𝑰𝒇𝒍𝒊𝒈𝒉𝒕 𝒕𝒔𝒆𝒂𝒓𝒄𝒉 − 𝑰𝒉𝒐𝒗𝒆𝒓 𝟐𝒕𝒓𝒆𝒄𝒐𝒗𝒆𝒓
− 𝑫𝒊𝒔𝒕𝒂𝒏𝒄𝒆𝒎𝒂𝒑
𝑰𝒇𝒍𝒊𝒈𝒉𝒕 + 𝑰𝒆𝒍𝒆𝒄𝒕𝒓𝒐𝒏𝒊𝒄𝒔
Parameter
Value
Electronics
Value
𝑉𝑓𝑙𝑖𝑔ℎ𝑡
4 m/s
𝐼𝐺𝑃𝑆
0.075 A
𝐶𝑏𝑎𝑡𝑡𝑒𝑟𝑦
4000 mAh
𝐼𝑈𝑆𝐵
0.05 A
𝐼𝑓𝑙𝑖𝑔ℎ𝑡
5.478 A
𝐼𝐴𝑉
0.25 A
𝐼ℎ𝑜𝑣𝑒𝑟
4.744 A
𝐼𝑀𝐶
0.16 A
𝐼𝑒𝑙𝑒𝑐𝑡𝑟𝑜𝑛𝑖𝑐𝑠
0.785 A
𝐼𝐶𝑒𝑙𝑙
0.25 A
𝑡search
60 s
𝐼𝑒𝑙𝑒𝑐𝑡𝑟𝑜𝑛𝑖𝑐𝑠
0.785 A
𝑡𝑟𝑒𝑐𝑜𝑣𝑒𝑟
3-30 s
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑚𝑎𝑝
0.521 m
𝑅𝑎𝑛𝑔𝑒
Introduction
Project
Description
500
Design
Solution
Critical Project
Elements
6.385km
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Risk Matrix
511
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood
Negligible
Marginal
Critical
Frequent
•
Communication failure
Probable
•
Sensors inadequate for return
home requirement
Occasional
•
Range requirement takes too
much power
•
•
Over Budget
Can’t reserve test location
•
Remote
Custom Hull
fractures on
impact
Improbable
•
RFI source location
error too large due
to RSSI resolution
•
Cannot operate kill
command in GUI
Vehicle too heavy
for control
algorithm stability
COA Denied
•
•
Unacceptable
Introduction
Project
Description
Catastrophic
Acceptable with Mitigation
Acceptable
Design
Solution
Risks
Critical Project
Elements
Satisfying
Requirements
•
Validation and
Verification
Cannot inject
autonomous navigation
info into existing
firmware
Inconsequential
Project
Planning
Conclusion
Agenda
Project
Description
Design Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project Planning
522
RFI Mapping Verification
Increase Power of
Wifi Transmitter
533
Compare the Center and Power
Map
Area
Gradient
of the Zone as
Fly Drone into
RFIthe
Zone
Determined by the Drone to
that of the Actual Setup
Relay 3 GPS
coordinates to
ground station
Calculated RFI source Location
Actual RFI source Location
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Inertial Navigation Verification
Equipment Needed
• AR. Drone 2.0
• Extended Tape Measure
• GPS receiver
Key Measurements
• Final Distance from target
• Vehicle IMU reported
velocity, rotation, time
Test
𝑑 = 0.5𝑘𝑚, 1𝑘𝑚, 2𝑘𝑚, 3𝑘𝑚
𝑅𝑠𝑢𝑐𝑐𝑒𝑠𝑠 = 100𝑚
?
𝑅𝑎𝑐𝑡𝑢𝑎𝑙 < 𝑅𝑠𝑢𝑐𝑐𝑒𝑠𝑠
Define ‟Home” Location
𝑅𝑠𝑢𝑐𝑐𝑒𝑠𝑠
Project
Description
Design
Solution
𝑅𝑎𝑐𝑡𝑢𝑎𝑙
40.1342° N
150.3465° W
𝑑
Navigate Home Inertially
Allow drone to
acquire current GPS
location
Introduction
544
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Agenda
Project
Description
Design Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project Planning
555
56
Work Breakdown Structure
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
57
Work Plan
Indicates Precedence
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
58
Cost Plan
Navigation Electronics
$496.26
10%
Hardware Upgrades
$43.39
1%
SIVAQ Budget ($5000)
Margin
$1,624.75
32%
Laptop
$730.00
14%
[CATEGORY NAME]s
[VALUE]
[PERCENTAGE]
Communication
$739.98
15%
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Power
$93.15
2%
Satisfying
Requirements
Fuselage
$240.00
5%
Risks
Validation and
Verification
Project
Planning
Conclusion
59
Test Schedule
Nominal AGC Test
RFI Injection Test
Wi-Fi RSSI Resolution Test
Wi-Fi Power Gradient Test
Latency Test
Processing Power Test
Waypoint Navigation Test
Dynamic Waypoint Test
RFI Detection Test
Inertial Navigation Test
RFI
Individual
Subsystem
Tests
COMMS
Software
December
Safe-to-Integrate Checks
Combined
Subsystem
Tests
System Tests
Introduction
Project
Description
Early February – IR1
RFI Mapping with Wi-Fi Zone Test
Early March – IR2
Ground Station Waypoint Flight Test
Final Mission Test
April – Full System
Delivery
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
60
References
Brennan, Gentile, Hillery, Miekle, Overcash, Rivera, Sissom, Wiesman, Zhu, “SIVAQ Conceptual Design Document,” University of
Colorado Department of Aerospace Engineering, 30SEP2013.
Brennan, Gentile, Hillery, Miekle, Overcash, Rivera, Sissom, Wiesman, Zhu, “SIVAQ Project Definition Document,” University of
Colorado Department of Aerospace Engineering, 23SEP2013.
“Technical Specifications: State of the Art Technology,” Parrot AR Drone 2.0, [http://ardrone2.parrot.com/ardrone-2/specifications/]
Akos, D. M, “Who’s afraid of the spoofer? GPS/GNSS spoofing detection via automatic gain control (AGC),” Navigation, 59(4):281–
290, 2012.
“COA Notes,” 19SEP2013, [https://recuv-ops.colorado.edu/projects/faa_coa/wiki#How-to-Obtain-a-COA]
Garrock, “Wheel Antenna Mod – Significant Wifi Performance Upgrade,” Parrot AR Drone & AR Drone 2.0 Forum, 18JUL2012,
[http://forum.parrot.com/ardrone/en/viewtopic.php?id=6721]
Parrot AR Drone & AR Drone 2.0 Forum, [http://forum.parrot.com/ardrone/en/viewtopic.php?id=6721]
Verbatim USB Storage Website. “16GB - TUFF-'N'-TINY™ USB Drive,” Copyright ©2013 [http://www.verbatim.com/prod/usbdrives/everyday-usb-drives/tuff-n-tiny-sku-97168/]
“PyPy Speed Center,” [http://speed.pypy.org/]
Full Blown Hucker, “TU Delft – Search and Rescue with AR Drone 2,” MultiRotorForums.com, OCT2012,
[http://www.multirotorforums.com/showthread.php?9288-TU-Delft-%96-Search-and-Rescue-with-AR-Drone2&s=f93bdfa922cee6524313f08fe267be68%00]
Bristeau, P. J., Callou, F., Vissière, D., Peiti, N., “The Navigation and Control technology inside the AR.Drone micro UAV,”
[http://cas.ensmp.fr/~petit/papers/ifac11/pjb.pdf]
Texas Instruments, “AM335x-PSP 04.06.00.08 Features and Performance Guide,” [http://processors.wiki.ti.com/index.php/AM335xPSP_04.06.00.08_Features_and_Performance_Guide#Ethernet_Driver]
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
61
BACKUP SLIDES
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Baseline Vehicle Hardware[3]
Microprocessor
Battery
USB port
16 bit PIC
40 MHz clock
Lithium Polymer
1000 mAh capacity
400 Mb/s
Memory
Brushless
14.5 Watts
28,500 RPM
Microball
Berings
Nylatron Gears
Altimeter
DDR2 RAM
200 MHz clock
Motor (x4)
Pin Connection
Solder Connection
Motor
Controller (x4)
6 m precision
Accelerometer
32 bit ARM Cortex A8
1 GHz clock
Navboard
Motherboard
Downward facing
camera
Introduction
Project
Description
Design
Solution
3 axis
± 50 mg precision
Magnetometer
QVGA
64° diagonal lens
60 fps recording speed
Atheros AR61036 chipset
2.4 GHz Tx frequency
Barometric pressure
sensor
± 10 Pa precision
Ultrasound
Microprocessor
Wi-Fi
62
3 axis
6° precision
Forward facing
camera
IMU
Invensense IMU-3000
Contains 3 axis gyro and
input for 3-axis
accelerometer
93° wide angle lens
720p
30fps recording speed
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
63
Component Breakdown
Receives all frequencies within the antenna’s bandwidth
• Approximately L1 ± 10 MHz
• Incoming GPS signal below thermal noise floor
L1: 1575 MHz
1565 MHz
1585 MHz
Low Noise Amplifier (LNA)
• Bumps everything in received bandwidth to higher power
Introduction
Project
1565
Description
MHz
Design
Solution
Critical Project
Elements
L1: 1575
Satisfying
Requirements
MHz
Risks
Validation and
Verification
1585
MHz
Project
Planning
Conclusion
64
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected
L1 carrier frequency
L1: 1575 MHz
1565 MHz
1585 MHz
Mixer takes filtered signal and mixes it with a signal produced
by a stable oscillator
• Phase Lock Loop (PLL) ensures phase of signals is
matched before mixing
Mixed
0
L1 – 𝑓𝑇𝐶𝑋𝑂
L1 + 𝑓𝑇𝐶𝑋𝑂
L1
ADC limiting BW
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
65
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by
the ADC
0
L1 – 𝑓𝑇𝐶𝑋𝑂
L1 + 𝑓𝑇𝐶𝑋𝑂
L1
L1 – 𝑓𝑇𝐶𝑋𝑂
0
ADC limiting BW
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and
amplifies the incoming signal for optimal ADC sampling
+2
+2
+2
-2
-2
-2
Not good
Introduction
Project
Description
Design
Solution
Critical Project
Elements
What the ADC wants
Not good
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
66
Component Breakdown
8 bit ADC samples signal at expected rate to extract GPS
information
• VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain
AGC
Introduction
Ideal gain
Too little gain
Automatic Gain Control takes gain information from ADC
(above) and feeds it back to the VGA such that the VGA can
change the gain necessary to allow for Gaussian distribution of
samples in ADC
• AGC will change when an RFI event occurs, otherwise AGC
levels are expected to be constant
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
67
Flight Software
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
68
Flight Software
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Flight Software
Flight Plan
Waypoints
Blocks
Navigation
Modes
Procedure
Sector
Shape
Maintain
Heading
Maintain
Attitude
Initialization
Go
Path
Exception
Deroute
Loop
Maintain
Altitude
• Our flight plan will consist of Initialization block, Path,
Procedure, and Sector
• An exception triggered by AGC will use the Deroute
option to initiate the mapping Procedure
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Flight Software
•
Parrot AR. Drone SDK 2.0 Architecture
•
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
AR.Drone 2.0 Library
• SOFT
• Header
• Lib/ardrone_tool
• Lib/utils
• FFMPEG
• ITTAIM
• VPSDK
• VPSTAGES
• VPOS
• VPCOM
• VPAPI
AR.Drone 2.0 Tool
• AT command management thread
• Navdata management thread
• Video management thread
• Video recorder thread
• Control thread
Risks
Validation and
Verification
Project
Planning
Conclusion
Ground Station Design
Clickable Map
Front Facing Camera
GPS Integrity and
Communication Monitor
Navigation Data



Kill Command
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Velocity
Heading
Coordinates
Validation and
Verification
Project
Planning
Conclusion
Command Center
Linux Computer
QGroundControl
MAVLink
AR.Drone 2.0
QGCCore
Other
Libraries
Online Map Data
• Application is built in C++ and runs on Linux
• Software is comprised of custom code, the QGroundControl
core, and potentially other libraries (i.e. MAVLink for
communication)
• Ground station uses wifi to connect to the internet to stream
map data and to communicate with the drone
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
73
Antenna Modification
Mainboard
RF Cable Mount
RF Close-up
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
74
Antenna Modification
Final Product
Mod with RF cable installed
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Wi-Fi Router
• Wi-Fi router transmits
a 2.4GHz signal
through the external
antenna output
• A variable gain
amplifier is used to
increase the gain,
based on the antenna
gain, to achieve the
desired power output
of 232 mW
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Variable Gain Amplifier
Wi-Fi Router
Wi-Fi Antenna
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Loiter Mode and Camera Coverage
Duration: 1 minute
(customer requirement)
• Altitude:
22.3 m
• Ground Coverage:
6400 m2
• Distance Traveled:
240 m
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
77
Parrot GPS Flight Recorder
• Contains SiRF IV GPS chip
• Native program.elf can be launched to log and
output GPS information
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Zone Mapping
Solution: Fly around zone implementing perpendicular bisectors using past points.
Step 1.
Detect RFI Event
Step 2.
Fly to Nominal Mapping Level
Step 3.
Temporarily Alter Flight Controls to Keep Nominal Mapping
Antenna Pointed at Center
Level
Step 4.
Fly Along Perimeter at a Certain AGC
Value
No RFI
Calculate Center of Circle Using Current
GPS Position and Past Positions
Step 6.
Determine if 95% of Calculated Centers
are Within 7 meters of Each Other at
Each Point
Step 7.
Exit Mapping Mode and Continue
Mission
Project
Description
Design
Solution
Critical Project
Elements
n+1
n+2
Start
Capture Zone
Step 5.
Introduction
Finish
n
RFI Detected
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions:
𝒎
• Constant vehicle speed = 𝟒 𝒔
• Constant gradient in all directions
• Vehicle is able to orient itself towards center
Results:
• 100% of maps satisfy requirements
• Average mission time = 19.8 seconds
• Average distance traveled = 79.17 meters
Risks:
• More processing required than 3 point method
• Safe RFI zone may not exist
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Long Range Communication
• Timing analysis was done though the use of
ipbench and inetd
• One-way trip time was measured across a 3G
and 4Gl.
• Average time was 147ms for 3G and 75ms for
4g
• Expected RTT between the drone and the
drone falls between 150-300 ms.
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Antenna Pattern Test
Requirement: Detect GPS RFI before GPS solution is compromised
Need: Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna.
Test Set-up
• 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects.
• The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius.
• Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal.
• A tape measure will extend from the Wi-Fi antenna to the drone.
Procedure
• Power on Wi-Fi antenna to begin broadcasting Wi-FI.
• Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB. This will be done in 5 m increments until the Wi-Fi antenna is reached.
• Correlate this data with the RFI injection test to obtain the zone that will trigger RFI
Risks/Errors
• Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver.
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Communications Range Test
Requirement: The ground station and the vehicle must remain in constant
communication.
Need: Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up
• Configure the ground station to use the cell modem. The same must be done to the
drone with its own cell modem.
• Port forward the ground station to the drone through the CU Boulder Proxy already
created.
• Two extra computers with the ability to run wireshark. One placed at the ground
station and the other in proximity to the drone.
Procedure
• Run a speed test on the proxy connection using a browser based
program(http://www.speedtest.net/) to obtain total data rates.
• Measure both sides of communication during autonomous flight using wireshark.
Risks/Errors
• Drone cuts communication after 2 seconds of silence, so latency must be better than
that.
• Minor errors will be present in packet loss, and low resolution of browser speed test.
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion
Processing Power Test
Requirement: Must have processing power for autonomous flight
Testing Plan
• Fly the drone through various phases of flight: waypoint to waypoint, loiter, and
mapping.
• Log processing power for each of these phases.
Introduction
Project
Description
Design
Solution
Critical Project
Elements
Satisfying
Requirements
Risks
Validation and
Verification
Project
Planning
Conclusion