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Flight Computer (FC)

Flight Computer (FC). Liam O’Sullivan - 06308627. Flight Computer. FC Design (Hardware). Implemented on the Gumstix Overo Fire. Overo Fire. FC Design (Software Architecture). Use this text format. FC Software Architecture. FC Acceptance Testing. State Estimation (SE).

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Flight Computer (FC)

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  1. Flight Computer (FC) Liam O’Sullivan - 06308627

  2. Flight Computer

  3. FC Design (Hardware) • Implemented on the Gumstix Overo Fire Overo Fire

  4. FC Design (Software Architecture) Use this text format... FC Software Architecture

  5. FC Acceptance Testing

  6. State Estimation (SE) Liam O’Sullivan - 06308627

  7. State Estimation

  8. SE Design 15 states to be measured * indirect measurement

  9. SE Design (Position and Velocity) Vicon motion capture system • External motion capture system • Measures object translation and rotation with sub mm accuracy • 200Hz update rate • Ethernet connection (via GCS) • Located at the ARCAA building Vicon IR camera

  10. SE Design (Attitude) Attitude estimated by 3 Kalman Filters (KF) • 1 KF for each Euler angle • IMU rate data (Time Update) • IMU acc data (Measurement Update) • Compass data (Ψ Measurement Update)

  11. SE Design (Attitude) • Example: Estimating φ via KF

  12. SE Testing Outcomes (Attitude) • IMU mounting error in both φ (-1.4°) and θ (-1.2°)

  13. SE Testing Outcomes (Attitude) • Accelerometer low pass filtering

  14. SE Acceptance Testing

  15. Lessons Learnt Flight computer • Too much operating system overhead State estimation • Accelerometer data needs filtering • Ψ requires KF bound checking • Difficult to design visual control within a year (without a platform)

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