1 Brumby Flight Dynamics- Instrumentation and Flight Test Results Jacob Campbell Advisors: Frank van Graas & Maarten Uijt de Haag Presented at: JUP Quarterly

11

Brumby Flight Dynamics- Brumby Flight Dynamics- Instrumentation and Instrumentation and Flight Test ResultsFlight Test Results

Jacob CampbellJacob Campbell

Advisors:Advisors:

Frank van Graas &Frank van Graas &

Maarten Uijt de HaagMaarten Uijt de Haag

Presented at:Presented at:

JUP Quarterly ReviewJUP Quarterly Review

January 9-10, 2003January 9-10, 2003

22

OutlineOutlineOutlineOutline

Previous WorkTriple GPSAirborne Wireless LAN

Repeater

Current ResearchSensorsPlanningFlight TestResults

Future Work

33

Previous Work-Previous Work- Short Base Line Short Base Line

GPS Attitude DeterminationGPS Attitude Determination

Previous Work-Previous Work- Short Base Line Short Base Line

GPS Attitude DeterminationGPS Attitude Determination

Conducted By Matt Harris and Dr. Dan Aloi

3 Marconi Allstar GPS Receiver

44

Previous Work-Previous Work-Airborne Wireless Internet RepeaterAirborne Wireless Internet Repeater

Previous Work-Previous Work-Airborne Wireless Internet RepeaterAirborne Wireless Internet Repeater

55

Current ResearchCurrent ResearchCurrent ResearchCurrent Research

• Acquisition:•Model airplane

category•Significant

payload

• GPS Receiver

• Data link• Compass• Brakes

• IMU• Airdata

boom

• ModelPrediction

Controls Automatic takeoff

Accurate height

Autoland

Remotely Pilotedwith autopilot aiding

Fully autonomous

• Advanceddata collectionsystem

Aero Model Inputs

EnrouteHold modes

Red - Complete

Blue - In Progress

Black - Future Plans

66

Current Research – Data Wire DiagramCurrent Research – Data Wire DiagramCurrent Research – Data Wire DiagramCurrent Research – Data Wire Diagram

Lippert Computer

PC-104300 MHz (passive cooling)

100 MB Disk on Chip

10 RS-232 Ports

10 Base T (for data

download)

Lippert Computer

PC-104300 MHz (passive cooling)

100 MB Disk on Chip

10 RS-232 Ports

10 Base T (for data

download)

Z-World Jack Rabbit 30 MHz

-C


-C


-C


-C


-C


-C

HoneywellStatic Pressure

HoneywellStatic Pressure

X-Bow IMUX-Bow IMU

HoneywellDynamic Press.

HoneywellDynamic Press.

Angle of AttackVane

Angle of AttackVane

Side SlipVane

Side SlipVane

CMC GPSCMC GPS

Leica 3-axis Compass

Leica 3-axis Compass

PW to Serial Converter (PIC)

PW to Serial Converter (PIC)

TTL, 19.2kb/s, 1 Hz Position, 10 Hz Pseudo Range and Carrier Phase

TTL, 1 Pulse Per GPS Second (PPS)

232, 19.2kb/s, Data Rate-133 Hz

TTL, 19.2kb/s, Data Rate-20 Hz

485, 19.2kb/s, Data Rate-20 Hz

Analog, Sampled at ~ 5 Hz

Analog, Sampled at ~ 5 Hz

TTL, 9.6kb/s, Data Rate ~ 3.3 Hz

PPM, 50Hz

TTL, 4.8kb/s, Data Rate ~ 8 Hz

(PPS)

(PPS)

RS-232, 115.2kb/s

RS-232, 115.2kb/s

RS-232, 115.2kb/s

DATA COLLECTIONDATA COLLECTIONTIME STAMPINGTIME STAMPINGSENSORSSENSORS

TTL->232

TTL->232

JR PCM10S RC Receiver

JR PCM10S RC Receiver

77

Current Research-Current Research--C GPS Time Synchronization-C GPS Time Synchronization


Initialize Jack Rabbit Real Time Clock (RTC) to GPS Time Message

GPS Time Message Delayed ~ 0.6 seconds

Creates an Offset between GPS Time and the Jack Rabbit’s RTC

Jack Rabbit Real Time Clock (RTC)

GPS Time

1 32 4

1 32 4

RTC_Offset

88



ISR StartISR Start

PPS_Time (Read RTC)PPS_Time (Read RTC)

FIRST PPS?

FIRST PPS?

RTC_Offset (ceil(PPS_Time) -PPS_Time)RTC_Offset (ceil(PPS_Time) -PPS_Time)

RTC_Offset RTC_Offset – diffRTC_Offset RTC_Offset – diff

diff < (1-c)diff < (1-c)

diff (PPS_Time – PPS_TimePrev)diff (PPS_Time – PPS_TimePrev)

diff diff - 1diff diff - 1

diff >= cdiff >= c

PPS_TimePrev PPS_TimePPS_TimePrev PPS_Time

ISR ReturnISR Return

NO

NO

NO

YES

YES

YES

Mis

sed

P

ulse G

litch

c: Jack Rabbit Clock Drift

(absolute value, thus positive)

PPS_Time: Time Interrupt Received

PPS_TimePrev: Time Last Interrupt Received

RTC_Offset: Difference between GPS Time and RTC

diff: Time between Last Interrupt and Current Interrupt

Missed Pulse & Missed Pulse & Glitch CorrectionGlitch Correction

99

Sensor Measurement Time StampingSensor Measurement Time StampingDelaysDelays

Sensor Measurement Time StampingSensor Measurement Time StampingDelaysDelays

SensorMeasurement

Integration Time (ms)

Sensor Processing Time (ms)

Data Transmission

Delay (ms)

Jack Rabbit Time Stamping

Delay (ms)

Total Delay (ms)

CMC GPS 0 0 n/a n/a 0

X-Bow IMU 0.8 0.9 0.260 ~0.05 2.01

PPT & HPA

(Pd & Ps)50 16.7 0.521 ~0.05 67.2

Alpha & Beta 250 n/a n/a ~0.05 250

Leica

Compass100 200 1.04 ~0.05 301

JR PCM10S

RC Receiver~120 n/a 2.08 ~0.05 122

1010

Current Research - PlanningCurrent Research - PlanningCurrent Research - PlanningCurrent Research - Planning

1111

Current Research - PlanningCurrent Research - PlanningCurrent Research - PlanningCurrent Research - Planning

Avionics Platform Avionics Platform with Brumby Hull

1212

Current Research, Current Research, Flight TestFlight Test

Current Research, Current Research, Flight TestFlight Test

Wire Wrap used to allow for flexibility in signal routing

GPS Antenna Inside Hull

1313

Current Research – Flight TestCurrent Research – Flight TestCurrent Research – Flight TestCurrent Research – Flight Test

1414

Current Research:Current Research:Power ConsumptionPower ConsumptionCurrent Research:Current Research:

Power ConsumptionPower Consumption

4 Ah, 14.4 V, Li-Ion Battery (16.4 - 14.0 volts)

Measured Load: 1.1 A

3+ hours of Battery Life

1515

Current Research: Current Research: WeightWeight

Current Research: Current Research: WeightWeight

Device Weight

Data Collection Panel 6.4 lbs.

Li Ion Battery 1.2 lbs.

Freewave Data Transceiver 1.0 lbs.

Compass 0.2 lbs.

Data Boom 0.4 lbs.

Rx bat. (2, 4-cell Nicad) 2.1 lbs.

Total Payload 11.3 lbs.

Available

(AMA Legal, w/ fuel)

4.75 lbs.

Payload Weight Budget

Aircraft Empty Weight 37.5 lbs.

Aircraft Weight 10/23/2002

(w/ fuel)

50.25 lbs.

Max Gross Takeoff Weight

(AMA* restricted

takeoff weight w/ fuel)55.0 lbs

Max Gross Takeoff Weight

(Design Specifications

w/o fuel)

66.0 lbs

Aircraft Weight Budget

* ACADEMY OF MODEL AERONAUTICS

1616

Flight Test- October 23, 2002Flight Test- October 23, 2002Flight Test- October 23, 2002Flight Test- October 23, 2002

1717

Flight Test – Gyro OutputsFlight Test – Gyro OutputsFlight Test – Gyro OutputsFlight Test – Gyro Outputs

0 10 20 30 40 50 60 70-50

0

50

roll

rate

, d

eg

/s

0 10 20 30 40 50 60 70-50

0

50

pit

ch

ra

te,

de

g/s

0 10 20 30 40 50 60 70-40

-20

0

20

t, sec

ya

w r

ate

, d

eg

/s

Throttle : 75%Duration: 60 s

Straight and Level w/ Turn the last 10 Seconds

1818

Flight Test – Pitch GyroFlight Test – Pitch GyroFlight Test – Pitch GyroFlight Test – Pitch Gyro



1919

Flight Test – Roll GyroFlight Test – Roll GyroFlight Test – Roll GyroFlight Test – Roll Gyro



2020

Flight Test – Yaw GyroFlight Test – Yaw GyroFlight Test – Yaw GyroFlight Test – Yaw Gyro



2121

0 10 20 30 40 50 60 70-2

-1

0

1

ax

, g

0 10 20 30 40 50 60 70-2

0

2

4

ay

, g

0 10 20 30 40 50 60 70-2

0

2

4

t, sec

az

, g

Flight Test – Accelerometer OutputFlight Test – Accelerometer OutputFlight Test – Accelerometer OutputFlight Test – Accelerometer Output



2222

Flight Test – X AccelerometerFlight Test – X AccelerometerFlight Test – X AccelerometerFlight Test – X Accelerometer



2323

Flight Test – Y Accelerometer Flight Test – Y Accelerometer Flight Test – Y Accelerometer Flight Test – Y Accelerometer



2424

Flight Test – Z AccelerometerFlight Test – Z AccelerometerFlight Test – Z AccelerometerFlight Test – Z Accelerometer



2525

Future WorkFuture WorkFuture WorkFuture Work

Data Collection ImprovementsIncrease IMU Time Tagging Precision and Accuracy

Second Internal Counter on JackrabbitIMU Timing PulseIsolate IMU from Engine “Noise”

Add messages to convey the operational state of the JR to the PC-104 and vice-versa.Improve JR subroutine to sample Alpha and BetaGround Link and Ground Station

Sean’s Work on the 6 DOF ModelAdd a Truth Reference for Multipath StudiesSatellite Link

QUALCOMM Globalstar GSP-1620 Satellite Data Modem (see next slide)

2626

Future WorkFuture WorkFuture WorkFuture Work

QUALCOMM Globalstar GSP-1620 Satellite Data Modem

Power Consumption: 5.4 W max

Voltage: 5.6-16 VDC

Dimensions: 7.48 x 2.95 x 0.68 in

Weight

Modem: 6.3 oz.

Antenna: 8.8 oz.

2727

AcknowledgementsAcknowledgementsAcknowledgementsAcknowledgements

Dr. van Graas (sponsor and advising)

Jamie Edwards (brumby pilot)

Sean Calhoun (controls and hardware)

Jared Kresge (hardware and programming)

Massimo Crisci (hardware and programming)

Andrey Soloviev (frequency domain analysis)

2828

QuestionsQuestionsQuestionsQuestions

Documents

1 Brumby Flight Dynamics- Instrumentation and Flight Test Results Jacob Campbell Advisors: Frank van Graas & Maarten Uijt de Haag Presented at: JUP Quarterly