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CENG4625 Senior Projects – Semester 2
Adam Almaguer, Juan Flores, Thomas Ives,
and Omar Sanjak
April 30, 2010
Celestial Navigational System
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Agenda
• Background
• Project Motive
• Objectives
• Requirements
• System Functionality and Components
• System Simulation
•Conclusion
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Project Motive
• Current NASA navigational plans :
– constellation of expensive satellites – 30 meter accuracy
– Limited to large celestial bodies
•Our navigational system plan: – Provide an inexpensive alternative
– provide one meter accuracy position location forsurface activities
– Useful in any environment with a solid surface
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Objectives
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Navigation
System
Inexpensive
Portable Easy to use
COTS Parts
Accurate
AccommodateEMU limitations
Simple Design
Lightweight
RechargableBattery
Limited Controls
Low Power Usage
Large coverage
Durable
Shock Resistant
Dust Resistant
Radiation Shielded
Space Temperature
Zero Gravity
Simple Setup
Informative Output
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Requirements
• Customer Requirements –
System can be used on Mars, and other celestial bodies – Hardware should consume little power and be
rechargeable
– Receiver unit is easy to use
• Engineering Requirements – Hardware must be enclosed to deter foreign particles
from affecting internal and external components
– Hardware can be charged using more than one method
– Receiver screen output should identify itself and allbeacons within its detection range
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Requirements (Cont.)
There are several engineering requirements that our group will not beable to implement for the prototype because we do not have a way oftesting them. They are:
1. Hardware must be built to withstand cosmic radiation andmicrometeorites -This is usually done in a closed lab where componentsare bombarded with radiation and high velocity projectiles
2. Hardware will be able to function in zero gravity - We would need to testthe hardware in a near zero gravity environment like an airplane followingan elliptic flight path relative to the center of the Earth.
3. Hardware must comply with the flammability requirements of NASA-STD-6001, “Flammability, Odor, Off-gassing, and CompatibilityRequirements and Test Procedures for Materials in Environments ThatSupport Combustion” – We would need access to a laboratory in order toconduct Determination of Off-gassed Products and Total Spacecraft Off-gassing Tests
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Navigation Concept• Automated Survey
– Beacons transmits angle to Receiver
• Beacon zero-angle identified
• Beacon rotates clockwise
– Receiver calculates Beacon angles
• Angles between beacons provided
– Receiver calculates distance to beacons using
triangulation• Build Database
– Record Beacon info (ID, distance between
beacons, zero-angle direction, health)
– User specified locations
• Periodic Re-Survey – Beacon angles re-measured
– Beacon distances re-measured
– New specified locations recorded
R
A
B
D
C
0°
0°
0°
0°
0°
∠R0B ∠R0A∠R0D ∠R0C
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W
X
Y
Z
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Beacon Circuit
Reset
12 8
224
Counter(74LS93)
ID Switch
4
5V
16
Preamble(AAAAH)
Parallel to Serial (74165)
Motor Assembly /w
Photo Interrupters
÷2
÷2 ÷416MHz CLK
Prism /w Lens
Buffer
Buffer
Buffer
Laser
PSK Signal Modulator
Buffer
16MHz8MHz
2MHz
30M Distance
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Beacon Message
Message (48 bit)
F r e e
( 8
b i t s )
G u a r d
( 2
b i t s )
G u a r d
( 2
b i t s )
Extra (16 bit)
Preamble (16 bit) ID (8 bit) Angle (12 bit)
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ID
PLL Demodulator
(NE564)
Clock
Data
12UART
(IN58250N)
16
Serial toParallel
(74LS299)
/w Word
ComparePreamble Data Good
8
Angle
Baud
CLK
Navigation
Computer
(Propeller)
RS232112Kb/s
Photo Diode
Display
DC bias
Circuit
DC Blocking
Filter
Amplifier
(OPA37)
Receiver Circuit
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Receiver Microcontroller
Runs at 3.3V
8 32bit CPUs32 I/O pins
One Video Generator per Core
Programmed in SPIN or PASM
32KB RAM and 32KB ROM
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Receiver Process
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Inputs to Receivers Calculations Outputs User: Range of beacon Distances between
beacons
Set values to variables for
future calculation. Visual representation of each
beacon and its location from
the others.
Beacon Message: 16-bit preamble Beacon ID Beacon Rotation number 8-bit message postamble
or Beacon Health 2-bit data separators
Verify that message is accurate
(using Message format ) Compare message with
previous ones to get enoughinformation about current
location.
Visual interpretation for
location of the receiver
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- 8 m
1
3
2
Latitude
(-2. -.3)
- 24 m
Longitude
24 m
(-2 , 1)
56 m
(-2, 2.3)
RECEIVER DISPLAY
Vector
88 m120 m152 m
(-2, 3.6)(-2, 5)(-2, 6.3)
-5 -4 -3 -2 -1 0 1 2 3
6
5
4
3
2
1
0
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Conclusion (Cont.)
• References
– NASA, “The Vision for Space Exploration,” Tech. Rep. NP-2004-01-334-HQ, NASA, Washington, D.C., 2004
– Schier, James. “NASA’s Lunar Space Communication and
Navigation Architecture,” American Institute of
Aeronautics and Astronautics- 092407, NASA HQ,Washington, D.C., 2008
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Additional Slides
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Phase Lock Loop (PLL) Demodulator
Phase
Detector
VCOBPF
(2MHz)
Schmitt
Trigger
FSK in
(8/16MHz)Data out (2MHz)
Clock out (16 MHz)
PLL
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