Image Acquisition and Processing of Remotely Sensed Data ImAP RSD Image Acquisition and Processing of Remotely Sensed Data Project Advisor: Dr. Basart Client: Matt Nelson Team Members (EE492): Julian Currie Luis Garcia Amardeep Jawandha Matt Ulrich
Problem Statement Project Description The ISU SSCL lab requires an Inertial Measurement Unit (IMU) and data logging system for the ImAP RSD project. Project Description In order for the on-board camera to accurately point to its intended target, the system needs information regarding its attitude. The current ImAP team goal is to develop a device that accurately detects, records, and transmits this motion information. It will detect, record, and transmit six degrees of movement.
Design: Input/Outputs The IMU inputs are: Analog changes X,Y, and Z position along with yaw, pitch, and roll The IMU outputs are: Numerical values representing the payloads location in space sent to an SD card and an onboard computer
System Block Diagram
Functional Requirements FR01: IMU shall measure balloon oscillation frequency and angular rotation rate to one degree per second. FR02: IMU shall measure to 0.01g for each of the three principle axes. FR03: Data logging system shall be able to log at a 100 Hz rate with 10 bit or greater precision. FR04: IMU shall function for a minimum of 2 hours using a 4 Amp-hour battery pack FR05: IMU shall operate over a temperature range of -40˚ C to +85˚ C Non-Functional Requirement IMU shall receive power from a 11.1 V nominal lithium-ion battery
Project Status Planning phase of the project is completed. A prototype has been developed. Testing is currently in progress. Code revisions are still required for the microcontroller. A method for users to interpret data is currently being developed.
Testing Accelerometer Breadboard Prototype and Mega128.2 Test Board on Testing Platform.
Gyroscope Confirm Functionality of 3 Sensors Model Errors Sufficiently Test Platform with Encoder Encoder Display Gyroscope Confirm Functionality of 3 Sensors Model Errors Sufficiently Compensate for Errors via Microcontroller Encoder Detects Angular Position: θ Testing Methods: Static Dynamic Encoder Accuracy: ± .1° Gyroscope Detects Angular Acceleration: α Sources of Gyroscope Error: Drift Non-Linearity of Scale Factor Temperature
Graphical User Interface MATLAB GUI Current Status: Work in progress: Code is currently being written in MATLAB. We are using the trapezoid integration method. Accomplishments: Success at reading in the formatted text file. Issues: Currently looking into different integration schemes to minimize error. Future Plans: More research on numerical methods and finish code to interpret and graph all data from the SD card
Software/Hardware Current Status: The IMU is functioning correctly. We observed the voltage changes through an oscilloscope, multimeter, and ADC of the Mega128 board. The results are close to matching our calculations The Logomatic successfully logs values from multiple inputs to the SD card through it’s own ADC Accomplishments: A functioning IMU System Issues: The data show on the SD card is consistent but not as accurate as we would like yet Future Plans: Develop ways to reduce noise Send data serially to the onboard computer