Project BLISS Boundary Layer In-Situ Sensing System Kyle Corkey Devan Corona Grant Davis Nathaniel...
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Project BLISS Boundary Layer In-Situ Sensing System Kyle Corkey Devan Corona Grant Davis Nathaniel Keyek-Franssen Customer Dr. Suzanna Diener Northrop Grumman Faculty Advisor Dr. Donna Gerren Robert Lacy John Schenderlein Rowan Sloss Dalton Smith Team 1
Project BLISS Boundary Layer In-Situ Sensing System Kyle Corkey Devan Corona Grant Davis Nathaniel Keyek-Franssen Customer Dr. Suzanna Diener Northrop
Project BLISS Boundary Layer In-Situ Sensing System Kyle Corkey
Devan Corona Grant Davis Nathaniel Keyek-Franssen Customer Dr.
Suzanna Diener Northrop Grumman Faculty Advisor Dr. Donna Gerren
Robert Lacy John Schenderlein Rowan Sloss Dalton Smith Team 1
Slide 2
Outline Project Overview Major Changes and Status Update
Manufacturing Status Mechanical Electrical Software Budget Update
2
Slide 3
Motivation Northrop Grumman Atmospheric Boundary Layer Model
Verification Boundary layer inertial wind data, cloud base altitude
used in verification Boundary Layer Wind Model Applications:
Airborne pollution monitoring Prediction of forest fire advances
Facilitating soldiers in battle 3
Slide 4
Project Deliverables 3-Dimensional U-, V-, W- inertial wind
vector data inside the measurement cylinder Cloud base altitude and
cloud footprint data above the measurement cylinder Measurement
Cylinder 4
Slide 5
Levels of Success 5 Level 1: Certified to operate in an
airspace defined as a cylinder with a 100 meter radius and 200
meter height above ground level. Level 2: Executes flight plan
following points spaced no more than 30 meters apart spanning the
defined airspace. Level 3: Execute level 2 flight plan with
Measurement System onboard and collecting data Delivery System
Motivation: The measurement system needs to be transported through
the measurement cylinder to meet special and temporal
requirements.
Slide 6
Levels of Success 6 Level 1: Wind measurement system collects
relative wind data with resolution of 0.1 meter/second. Level 2:
Post-process the relative wind data from a ground test to compute
the U, V, W inertial wind velocity vector components. Level 3:
Deliver U-, V-, W- inertial wind velocity vector field with
temporal and spatial location for each measurement. Measurement
System Motivation: Provide Northrop Grumman with data precise
enough to verify a boundary layer wind model.
Slide 7
Levels of Success 7 Level 1: Image the cloud footprint above a
100 meter radius cylinder at 1/4 Hz for a 15 minute period. Level
2: System is tested in full scale to take distance measurement with
less than 10% error up to 2km Level 3: Deliver time-stamped cloud
footprint images and cloud base altitude measurements at 1/4 Hz
during the 15 minute test period. Cloud Observation System
Motivation: Provide Northrop Grumman with cloud observation data to
correlate with wind vector field measurements.
Slide 8
Concept of Operations 100 m 200 m Legend Within Project Scope
NG model wind vector Physical Wind Vector Wind Vector of in-situ
data 100 m 200 m 100 m 200 m 100 m 200 m Airspace Test Volume
Subject To Modeling Northrop Grumman Wind Model Results In-Situ
Relative Wind Velocity Data Collection and Cloud Imaging Inertial
Wind from In-Situ Data and Cloud Base Altitude Wind Vector and
Cloud Data Used to Verify Northrop Grumman Model 8 100 m
Slide 9
Experimental Setup 100 m 200 m 30 m BLISS Measurement and
Delivery System Data points Spaced at most 30m radially in 3D space
Legend Physical Wind Velocity Vector Field (u-,v-,w-) Cloud
observations constrained to the measurement cylinders vertical
projection Atmospheric clouds located high above test volume
In-Situ relative wind velocity data collection Cloud Observation
System stereovision cameras 9
Slide 10
Functional Block Diagram Aircraft State & Wind Pressure
Inertial U-,V-,W- Wind Vector Field Post Processing Algorithm
Northrop Grumman Wind Model Delivery System Raspberry Pi Pixhawk
Flight Controller Motor GPS Antenna Electrical Power System Power
Module Speed Controller 14.8V 5V Flight Path Waypoints Manual
Commands 5V GPS Coordinates Elevon Servos Elevon Servos Serial
Command PWM Measurement System Pressure Transducers Inertial
Navigation System Arduino Due SD Card Relative Wind Electrical
Power System 5-Hole Probe Thermistor Aircraft State & Wind
Pressure SPI 9V Analog Voltage Air Pressure Analog The Measurement
System is packaged in the Delivery System 10 14.8V
Slide 11
Functional Block Diagram Continued Vertical Camera Internal SD
Card Cloud Observation System Northrop Grumman Wind Model Computer
with Post Processing Algorithm Vertical Camera Battery Internal SD
Card Left and Right.RAW Images Cloud Base Altitude &
Footprint.RAW Image Power X Cloud Base Camera Field of View Camera
Field of View Battery 11
Slide 12
Critical Project Elements 12 CPERequirementMotivationStatus
Obtaining a COA4.1.1UAV cannot legally fly without a COAObtained in
12/2014 Rapid Prototyping 5-hole probe 1.2Used to measure
windCompleted 1/23/15 Calibrated 5-hole probe1.2.3Need to
geometrically calibrate the probe to accurately measure wind
Calibration to be conducted 2/10-3/6 Aircraft State
Knowledge1.2.2Needed to convert relative wind to inertial wind INS
microcontroller code in development, behind but will finish on
schedule Flight Path1.1.1.1, 3.1To meet required spatial and
temporal measurement resolution Code currently in progress, on
schedule Cloud Observation Algorithm 2.2.2Deliver cloud data within
required error bounds Phase 1 completed 12/2014. Final code
scheduled 3/23/15
Slide 13
Probe Calibration with Wind Tunnel Calibration jet will no
longer be used: Difficult to create and verify the needed top-hat
profile Cannot quantify uncertainties of the flow Significant man
hours in manufacturing Material cost is preventative 13
Slide 14
Probe Calibration with Wind Tunnel 14 To calibrate the 5-hole
probe within requirements, the wind tunnel flow must be known to: V
to 0.56 m/s to 3.44 to 2.97 VV u v w Probe tip
Slide 15
Wind Tunnel Test 15 X Y Z Traversed a Pitot-static probe in X,
Y Plane and a Z axis in 15 m/s and 25 m/s wind 150 mm Horizontal
Traverse Origin 298mm from End of Test Section 80 mm Vertical
Traverse Origin 165mm from base Wind Direction Mounting Plate Pitot
Probe Y is Vertical 266 mm Z Traverse X Y Z Visualization of probe
traverse
Slide 16
Wind Tunnel Data for Changing X-Position 16 Slope = 0.000254
(m/s)/mm X Y Z x = 0 mm x = 20 mm Wind Direction Viewed from
Side
Slide 17
Wind Tunnel Data for Changing Y-Position 17 Slope = -0.000374
(m/s)/mm X Y Z y = 160 mm Wind Direction Viewed from Side
Slide 18
Wind Tunnel Data for Changing Z-Position Z-position was
traversed at one x, y pair. Test setup physically limited by the
hole in side wall of tunnel Total of 21 positions at increments
from wall to wall in tunnel 18 Mean VelocityStandard Deviation
25.07 m/s0.0487 m/s Viewed from Top X Y Z Wind Direction
Slide 19
Wind Tunnel Conclusions 19 Velocity gradient is negligible in
X, Y and Z across tunnel. Significantly less than required 0.56 m/s
for 5-Hole Probe Calibration. No outliers from the standard
deviation Fl ow angularity is difficult to test Solution: Test with
calibrated 5-Hole Probe Only 2 known on campus RECUV Recently
Damaged GoJett On Backorder Solution: Make assumptions using our
probe Rotate the probe in X Axis, parallel to flow See if raw data
is consistent Offramp: Assume angularity is negligible in and
Angularity of = 3.44 and = 2.97 are very reasonable with such a
small pressure gradient AxisAverage Velocity (m/s) Maximum Standard
Deviation (m/s) X24.970.0684 Y24.970.0767 Z25.070.0487
Slide 20
Schedule Overview 20 Mechanical Phase 1 Software Phase 1
Electrical Phase 1 Systems Phase 1 Measurement System Test Phase
Hack Cameras Software Phase 2 Systems Phase 2 Cloud Observation
Test Phase UAV Test Phase Final Test Phase MSR TRR Mechanical Phase
2
Slide 21
21 Detailed Schedule Through TRR Switching to wind tunnel
reduced manufacturing man hours by 4 weeks of work ~1-2 days of
work remain Electrical complete Delivery system software is ahead
of schedule INS microcontroller code behind schedule Due to
shipping time and resources devoted to pressure transducers
Devoting extra man hours to catch up Calibration is still on
schedule to begin 2/10 MSR TRR
Slide 22
Detailed Schedule After TRR 22 TRR
Slide 23
Mechanical Components 23 ComponentStatusTo Do Rapid Prototype
5-hole probe Completed 1/23/15 Wind Tunnel Calibration Stand
Expected Completion 2/6/15, on schedule Integrate Potentiometers,
Assemble Stand Skywalker X-8 AssemblyWing assembly complete.
Fuselage assembly rescheduled. Integrate UAV probe mount into
fuselage, Glue fuselage together
Slide 24
5-hole Probe Status The 5-hole probe was rapid prototyped by
Protogenic on 1/23/15 Holes are clear and unobstructed of material
Next Steps: Insert stainless steel tubing into the back of the
probe Connect pressure transducers Begin probe calibration Expected
Completion: 2/6/15 24 4.25 in
Slide 25
25 Roll Potentiometer Yaw Potentiometer Electronics Plate
5-Hole Probe Turntable Locking Mechanism (2x) Wind Tunnel Base
Turntable to Move Probe in Yaw Yaw Plate Sits Flush With Wind
Tunnel Base All metal components have been machined Two parts will
be 3D printed by Friday (2/6) Potentiometers will be delivered on
2/3 Next Steps: Interface potentiometers w/ Arduino Assemble stand
Begin probe calibration Expected Completion: 2/6/15 Wind Tunnel
Calibration Stand Status
Slide 26
Skywalker X-8 Assembly Status Wing assembly is complete The
fuselage assembly has been rescheduled until the probe mount is
inserted UAV probe mount would be easier to insert before complete
assembly Not critical that assembly is done now Next Steps: Mount
probe in Skywalker Integrate delivery and measurement system
components into UAV Expected Completion: 3/20/15 26
Slide 27
Electrical Components 27 Arduino Due Interfacing with:StatusTo
Do Transducers: 5 Differential & 1 AbsoluteComplete Inertial
Navigation SystemIn Progress Interface with GPS antenna, error
checking logic, integrate into to final script ThermistorIn
Progress Error checking logic, integrate into to final script
PotentiometersIn Progress Error checking logic, integrate into to
final script
Slide 28
Pressure Transducers Transducers soldered to Vectorbord
Successfully communicating with Arduino Due Arduino code written
for calibration Arduino code ready for final flight implementation
12-bit resolution voltage written to SD card text file Next Step:
Integrate into final script Integrate transducers to 5-Hole Probe
28
Slide 29
Inertial Navigation System (INS) Received INS pre-soldered to
breakout board Communicating with Arduino over SPI Code currently
written to collect: Roll, Pitch, and Yaw Angular rates To do: GPS
interfacing 2 weeks Error checking logic Integrate into final
script Expected Completion: 2/16/15 29
Slide 30
Software Components 30 ComponentStatusTo Do Autopilot
SoftwareIn Progress, On Schedule Code flight path into Mavlink
Messaging Protocol Software in the Loop (SITL) Setup Complete,
Ahead of Schedule Run simulation with multi-phase flight path Cloud
Observation Algorithm In Progress, not scheduled until 2/23 Improve
algorithm with large scale test data, automate the computation
process
Slide 31
Autopilot Software Goals: Dynamically create flight path around
an arbitrary GPS coordinate Simulate Skywalker in the flight path
with a Software in the Loop simulation. Program flight plan onto
Pixhawk Autopilot 31
Slide 32
Autopilot Software 32 Data Collection Location Reference
Coordinates of Data Collection Cylinder Flight Path Waypoints
Matlab Script to Build Flight Path Waypoints Around Reference
Coordinate Multi-Phased Flight Algorithm Flight Plan Algorithm uses
Aircraft State to Progress through Multi-Stage Flight Plan. SITL
ArduPlane Simulation Simulation of Flight Path Using Multi- Phase
Flight Plan Flight Path Error Matab Script to compare Expected to
Actual Flight Path to Meet Spatial Resolution Requirement Completed
In Progress
Slide 33
Software in the Loop 33 Current Functionality: Take-off and
Landing Commanding of waypoints and loiter points to a sample
aircraft Next Steps: Setup configuration file to define Skywalker
X8 Conduct a full mission simulation Program code onto Pixhawk
Hardware testing Airspeed Roll & Pitch Altitude
Slide 34
Cloud Observation System Rescheduled to begin on 2/23 Initial
camera was only supported in beta with CDHK firmware hack Difficult
porting process, low success rates In the process of finding a
replacement camera Constrained by resolution and price 34
Slide 35
Budget Update 35 Estimated Expenses at time of CDR: $4708.29
Total Expenditures thus far: ~ $4125 Remaining Margin: ~ $875
Notable savings from shipping budget allocation Additional small
purchases have led to an increase in spending
Slide 36
Budget Update 36 Future ExpendituresExpenses To Date
Slide 37
Recap Mechanical components are all on schedule Calibration
will still start on schedule on 2/10 Electrical components are
complete except for the INS microcontroller code and camera
firmware hack INS development is behind schedule but will catch up
this week with Bobby Lacy free of additional tasks Cloud
observation camera firmware hacks will begin 2/23 Software is on
schedule Software in the loop is set up Next step is testing flight
path in software in the loop setup Current margin for the project
is $874.61 Projected final margin of $524.61 37
Slide 38
Acknowledgements We would like to thank all of the PAB, our
advisor Dr. Gerren, our customer Dr. Diener from Northrop Grumman,
Trudy Schwartz, Bobby Hodgkinson, Dr. Farnsworth, Matt Rhode, and
James Mack for all their help in preparation for this MSR. 38
Slide 39
Questions ? 39
Slide 40
Back Up Slides 40
Slide 41
Contour Plot of Velocity in X, Y Space Gradient scale is within
our uncertainty requirement of 0.56 m/s 41 Mounting Plate 5-Hole
Probe Location Wind Direction X Y Z
Slide 42
Wind Tunnel Data for Changing X-Position 42 X Y Z x = 0 mm x =
20 mm Wind Direction Viewed from Side Slope = 0.000293
(m/s)/mm
Slide 43
Wind Tunnel Data for Changing Y-Position 43 X Y Z y = 160 mm
Wind Direction Viewed from Side Slope = -0.0012 (m/s)/mm
Slide 44
Wind Tunnel Data for Changing Z-Position Z-position was
traversed at one x, y pair. Test setup physically limited by the
hole in side wall of tunnel Total of 21 positions at increments
from wall to wall in tunnel 44 Viewed from Top X Y Z Wind Direction
Mean VelocityStandard Deviation 15.04 m/s0.0833 m/s
Slide 45
Contour Plot of 15 m/s in X, Y Space Gradient scale is within
our uncertainty requirement of 0.56 m/s 45 Mounting Plate 5-Hole
Probe Location Wind Direction X Y Z
Slide 46
Detailed Schedule Through TRR with Resources 46
Slide 47
Detailed Schedule From TRR to Spring Break with Resources
47
Slide 48
Detailed Schedule After Spring Break with Resources 48
Slide 49
Wind Tunnel Calibration Stand Drawings 49
Slide 50
Wind Tunnel Calibration Stand Drawings 50
Slide 51
Wind Tunnel Calibration Stand Drawings 51
Slide 52
Wind Tunnel Calibration Stand Drawings 52
Slide 53
Wind Tunnel Calibration Stand Drawings 53
Slide 54
Wind Tunnel Calibration Stand Drawings 54
Slide 55
Wind Tunnel Calibration Stand Drawings 55
Slide 56
Flight Path Creation Algorithm Matlab script designed to build
waypoints in a local NED coordinate frame, then transformed to
Geocentric LLA coordinates based on reference waypoint supplied by
user. Currently builds flight path tracks to compare to SITL
simulation for flight path accuracy comparisons. Final Version will
create dynamic loiter waypoints for each helix flight stage.
56
Slide 57
Multi-Phased Flight Path Multiple stage flight plan designed to
simplify autopilot control commands. Uses knowledge of aircraft
state to progress through stages. Laws for transition between
stages are under testing in SITL. 57
Slide 58
Multi-Phased Flight Path Stage separation uses transition
between flight path segments. Flight path will include 4 helix
stages and 3 connector stages. 58
Slide 59
Multi-Phase Flight Path 59 Stage 1: Climbing Helix Initiated
Upon Switch to Autonomo us Flight Stage 2: Connector Initiated When
Aircraft Achieved 200 m Climb Stage 3: Descending Helix Initiated
when Aircraft is 65 m Distance from Loiter Waypoint 2 Stage 4:
Connector Initiated When Aircraft Achieved 200 m Descent Stage 5:
Ascending Helix Initiated when Aircraft is 65 m Distance from
Loiter Waypoint 3 Stage 6: Connector Stage 6: Ascending Helix
Initiated When Aircraft Achieved 200 m Climb Initiated when
Aircraft is 65 m Distance from Loiter Waypoint 4
Slide 60
Software in the Loop 60 Flight Plan.TXT File with Waypoint,
Loiter as MavLink Commands MAVProxy Ground Control Station MavLink
Commands ArduPlane Autopilot Platform to Control UAV Motor and
Servos MAVLink Commands Over Serial Connection JSBSim Flight
Dynamics Model and Physics Simulator Simulated Motor and Servo
Console & Map Display UAV in flight and report data Location,
Aircraft State
Slide 61
INS Factory Calibration All sensors (accelerometers,
gyroscopes, magnetometers) are calibrated for axis misalignment,
scale factor, and bias at the manufacturer. Calibration is stored
onboard and applied in real time during operation The performance
specifications for the IMU and GPS are validated through ground and
air vehicle testing against high-end fiber optic gyro based INS
units at the manufacturer 61