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Submarine INS

Submarine INS. Design Review ECE 4007 L1 Ernest Yang James Yang Chris Branson Nate Fisher. Project Goals. An Inertial Navigation System (INS) A self-contained device to determine navigation data Used by a submarine for underwater navigation Participation in a NAVY sponsored competition

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Submarine INS

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  1. Submarine INS Design Review ECE 4007 L1 Ernest Yang James Yang Chris Branson Nate Fisher

  2. Project Goals • An Inertial Navigation System (INS) • A self-contained device to determine navigation data • Used by a submarine for underwater navigation • Participation in a NAVY sponsored competition • Relatively Low Cost – Approx. $10000/unit 2 Inertial Navigation System

  3. Project Specifications

  4. Project Specification

  5. Current Budget 6DoF IMU- $325 DsPic30F3013- $10 Misc. Components (resistors, caps, board, etc)- $30 Total so far: $365

  6. Schedule

  7. Project Status • Completed System Design • Test Vehicle Determined • IMU Chosen • Parts Status • 6 DOF IMU • DsPic30F3013

  8. Overview of the System Kalman Estimator 6 DOF IMU State Estimate (DsPIC) ∑ Plant Desired Position (x, y) Robot’s Controller Robot’s Motors Player Player

  9. Test Vehicle Design Kalman Estimator 6 DOF IMU State Estimate (DsPIC) ∑ Plant Desired Position (x, y) Robot’s Controller Robot’s Motors Player Player

  10. Test Vehicle Design • Considerations • Position and Velocity Status Required in “Real Time” • Repeated Trial Runs • Ease of Programming • Reusable • Player (playerstage.sourceforge.net) • Position and Velocity Status Available “Real Time” • Easy to Use Interface (C and C++ libraries) • Robots Can Be Borrowed with No Need to Reconfigure Hardware

  11. INS Design Kalman Estimator 6 DOF IMU State Estimate (DsPIC) ∑ Plant Desired Position (x, y) Robot’s Controller Robot’s Motors Player Player

  12. Kalman Filter Model • State Predictor • Build System Model • Determine Dynamic Model Error • Measurement Updates • Find Measurement Residual • Determine Dynamic Sensor Error

  13. Kalman Filter Process Inertial Navigation Computer Vehicle Control Inputs Model Error State Predictor + ∑ K State Estimate - Sensor Measurement ∑ Sensor Noise

  14. Inertial Measurement Unit (IMU) • Model#: Sense-6DOF-v2-150 • 6 Degrees of Freedom • Three Gyroscopes • Analog Electronics ADXRS 150 Gyroscopes • Three Accelerometers • Freescale MMA7260Q Triple Axis Accelerometer • Pre-Assembled by Sparkfun.com • TTL RS232 Output • 4-Pin Header

  15. Microcontroller - dsPIC30F • 2 UART Connection • Easy to Interface with RS232 Compatible Devices • IMU • PC on the Submarine • ICSP Connection • Standard Programming Interface • EEPROM (1024 Bytes) • Persistent Data Storage • 40 Pin DIP Packaging • Easy Assembly • Easy Chip Replacement

  16. ICSP Connector 6 Pin Header Submarine Data Input ICSP Circuit dsPIC30F PGD/PGC U1RX/TX U2RX/TX Vdd 5V Voltage Regulator Jumper Switch IMU Data Input External Power Source 9V Battery Interconnects and Interfaces

  17. Parts Status • Inertial Measurement Unit (IMU) • One Unit Ordered • Awaiting Delivery • Microcontroller dsPic30F3014 • Ordered and Received Two Units • Learning to Program using C/C++ • PCB • Schematics Design Completed • In Process of Testing on a Protoboard

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