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SOARS

SOARS. Self Organizing Aerial Reconnaissance System. Matt Edwards Arseny Dolgov John Shelton Johnny Jannetto Galina Dvorkina Nick Driver Eric Kohut Kevin Eberhart. Critical Design Review ASEN 4018 Senior Projects 11/15/06. 1. Presentation Outline. Overview and Objectives

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SOARS

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  1. SOARS Self Organizing Aerial Reconnaissance System Matt Edwards Arseny Dolgov John Shelton Johnny Jannetto Galina Dvorkina Nick Driver Eric Kohut Kevin Eberhart Critical Design Review ASEN 4018 Senior Projects 11/15/06 1

  2. Presentation Outline • Overview and Objectives • System Architecture • Objectives • Requirements • System Design • Expected Performance 2

  3. Project Overview Truck Slave hmax = 70 m Target (X,Y,Z) • Objective: Design, build and test an autonomous aerial system (UAS) capable of imaging multiple targets within a 1km circle as quickly as possible with 99% probability of object detection (according to Johnson criteria). • AFRL COUNTER Project • Optimal imaging altitude <100m for a small aerial vehicle • Minimize risk to larger master vehicle Master GPS Coordinates, Heading Ground Station 1. AFRL COUNTER Project. Used with permission. 3

  4. Test Scenario 4

  5. Requirements Overview • Image at least 3 targets, satisfy Johnson Criteria • Time: <8 minutes • Flying distance: >4 km • Slave UAV >1km radius of operation in relation to stationary (assumed) Master vehicle • New critical requirement: • Image lag < 2 seconds from slave to ground-station • Targets given by GPS location and heading from ground station • Slave UAV • Max weight: 1.5kg • Maximum width for below-wing mounting: 120 cm 5

  6. Requirements Detail

  7. Deliverables Future COUNTER Mission Target System • Selection of slave vehicle • GS to Master to Slave RF link • Image reception • Target specification • Demonstrate <2 sec image delay • Slave telemetry (GPS position, altitude, heading, speed) • 3 Images taken with correct position, attitude (Johnson criteria) • Autonomous navigation • Deployment feasibility 7

  8. System Architecture: Slave • Slave requires custom interface and power board to house camera and send data to CU Autopilot. • Custom autopilot and controls software will be developed to meet target imaging requirements. PCB Design& Fab

  9. System Architecture: Master • Master houses two COTS radios • 1 long-range point-to-point (for communication with ground-station) • 1 short-range multipoint (for communicating with multiple networked slaves) • CU autopilot provides data for verification, maintains master UAV loiter • Custom microcontroller software handles command dispatch and data/telemetry PCB Design& Fab

  10. System Architecture: Ground Station • Ground station houses 1 long-range radio for sending commands to master • Custom microcontroller and software interface to PC graphical interface • GUI allows user to enter target location, issue commands • Image display PCB Design& Fab Target Location Input Heading Input PC Interface

  11. Slave Component Layout Rate Gyro GPS Antenna RC Receiver ZigBee Radio 2.4GHz RF Antenna Camera Mount Under Wing ESC LiPo Battery Pack

  12. Master & Slave Mounting

  13. Autopilot Control Method • Lyapunov vector field used for navigating to designated target at desired GPS location and heading. • Custom autopilot code will use roll rate-gyro and GPS for heading control • Altitude hold to be implemented with pressure altimeter. Elevators and thrust used for altitude control.

  14. Software Design • Interrupt-driven operation ensuresthat both radios are serviced bymaster vehicle • Master waits for input fromradios, receives commands • Retransmits commands to slaves • Sends back images,telemetry

  15. Expected Performance • Imaging • Aircraft • Communications • Autopilot

  16. Imaging Performance • 640x480 JPEG compression camera • 6 lines of resolution within target (meets Johnson criteria) at 100m range • 60° FOV leaves >30° margin in pitch, roll and yaw • Plots show that maximum perpendicular velocity during approach < 20m/s. • At this speed, camera blur is well below 10%

  17. Communications Performance • Communications subsystem must ensure <2 seconds image propagation delay • Camera outputs 16kbyte JPEG images • Slowest link in system must be >115kbps • Current system limited by image retrieval speed from camera • 115kbps bottleneck in camera interface • No other camera available with built-in JPEG compression • Most cameras output RAW format in 8-bit parallel, image size too big (>400kbytes) • Communications system has large margin (250kbps minimum data rate) to leave room for protocol overhead, errors and dropped packets Image Path Delay < 2 seconds

  18. Autopilot Performance • Use of custom Lyapunov field for pointing and direction control (simulation below) • Vector field center can be adjusted to switch to different targets • Simulation results show that particle traveling at 20m/s is guided to within 30° of target heading on approach, and particle passes directly overhead of target.

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