Mems Based Inertial Navigation Systems Onboard Balloons1128

7/24/2019 Mems Based Inertial Navigation Systems Onboard Balloons1128

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MEMS - based Inertial Navigation Systems

onboard Balloons

Giovanni B. Palmerini - Emanuele Medaglia

Maria Cristina Oliva - Paolo Montefusco

1st Workshop on Science and Technology throughLong Duration Balloons, INAF-o!e, "une #-$, %&&'


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Rexus - Bexus is a bilateralGerman-Swedish cooperationto ofer students experimentopportunities using soundingrocket and stratospheric

balloon ights rom Esrange inNorthern Sweden.

Each ight will carry a payloadconsisting solely o studentexperiment.

n announcement o

opportunity was made inNo!ember "##$ or ightcampaigns in "##% and "##&.


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-Esrange Space Center is locatedin northern Sweden' () km rom the

town o *iruna at +$oN' ",oE- Esrange has been the site o manycampaigns' in!ol!ing diferent typeso balloons more than )## launches


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BEXUSexperiments arelited to an altitude o"#-/) km or a ightduration o "-) hours'depending on totalexperiment mass (#-,## kg. 0he balloon has

a !olume o ,"### m/

'and an inated diameter


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1light duration1light duration2 "-) hours ltitudeltitude2 ")-/) *m

ccelerationcceleration2 -,#g !ertically and 3)ghori4ontally

5anding !elocity5anding !elocity2 % m6s approx.

0hermal en!ironment0hermal en!ironment2 down to - 78


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9ur entry or :E;NS'or LOW COst Inertial Navigation System'

an experiment based on the recently a!ailable ?E?S?icro Electro ?echanical Systems technology

Gyros

ccelerometers@esolution o

measurements

Aoubleintegration

G-loop

ttitudedeterminatio

n

State2BositionCelocity

The advantages of MEMS sensors:

Lightweight Volume and Power minimal requirements

Low costAvailailit!

"uggedness "eliailit!


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0o learn

0o in!estigate the easibility o a ?E?S-based >NS in a slowdynamic en!ironment

0o estimate errors deri!ed by using 890S components

0o compare results with more precise na!igation systemGBS pro!ided by :exus E:SS bay

0o pro!ide attitude data or the gondola

0o !eriy the possibility to ofer an inexpensi!e backup incase o main system una!ailability


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59=89>NS experiment is an >NS based on a strapdown design

>nertial measurements are gained by ?E?S-based motionsensing de!ices

?icrochip B>8 processor will collect measurements' computean approximate solution' pro!ide data to balloonhousekeeping or downlinking to ground and store data into aash memory

Aiferent sensors pressure' magnetic will be added to

impro!e the inertial solution


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?agnetic 1ield Sensor

Bressure Sensor

ttitude

Aetermination

?easurements@eduction

Na!igation 8omputer

Aouble integration

Bosition D Celocity

0emperatureSensor

Gyros

ccelerometers


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Bressure Sensor

ttitude

Aetermination


Na!igation 8omputer

Aouble integration

Bosition D Celocity

0emperatureSensor

Gyros

ccelerometers


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Gyros

ccelerometers


Bressure Sensor

ttitude

Aetermination


Na!igation 8omputer

Aouble integration

Bosition D Celocity

0emperatureSensor


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8omparison between on-board data computed with limitedresources' i.e. at a limited data rate and exhausti!e onground processing complete data set calibration or on-the-run drit

0est o the solution !alidity with re-alignment rom FocialHdata perormed at !arious times and mission phases

:eha!ior o the error eIuation or the >NS obtainedconsidering the FocialH telemetry data J GBS benchmark -as the true solution and lineari4ing about i.e. check the

perormances o ?E?S sensors on diferent time-scales cIuisition o hands-on experience on sensorsK errors and

calibration


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nalog Ae!icesnalog Ae!ices

A>S,+/))A>S,+/))

Ligh precision three-axes inertial sensor

3 ,# g ' 3 /## 76s range

,( bit resolution

1actory calibrated sensiti!ity' bias and alignement

-(# 78 to %) 78

SB> compatible serial interace


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Speake D 8o 5lanapleySpeake D 8o 5lanapley

1G?-" 1G?-,1G?-" 1G?-,

Ligh sensiti!ity "-axis and ,-axis magnetic Meld sensors ) !olt operations

0he output is a robust ) !olt rectangular pulse whose periodis directly proportional to the Meld strength


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LoneywellLoneywell

SA;#,)"(@SA;#,)"(@

Bressure ranges rom # to ,) psi

).# Cdc supply

Ligh le!el output (.# Cdc span

uanti4ation step o / mC

=ide compensated temperature range # 78 to %) 78


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?icrocontroller

speciMcation2

?icrochip B>8 ,%1"+"#?icrochip B>8 ,%1"+"#

"% pin microcontroller

D >"8 interace

,# channel ,# bit A8

+( *b program ash memory

1lash memory speciMcation2

0?E50?E5 0()A:,+,A0()A:,+,A % pin S9>8 serial ash

memory

,+ ?bit

/ wires SB> interace


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N59GAEC>8ES

A>S,+/))>?nterace

?echanical interace

Bost-processing sotware or attitude and position determination

?aria 8ristina?aria 8ristina2

Ground station sotware de!eloper or 0?608 handling

@eal-time computation

?echanical design

8A design

=ebmaster


EmanueleEmanuele220hermal interace

0hermal and Structural analysis

9nboard computation



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,+ No! "##$ - nnouncement o opportunity or :E;

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Mems Based Inertial Navigation Systems Onboard Balloons1128