1 Brumby Flight Dynamics- Instrumentation and Flight Test Results Jacob Campbell Advisors: Frank van Graas & Maarten Uijt de Haag Presented at: JUP Quarterly Review January 9-10, 2003

2 OutlineOutline Previous Work Triple GPS Airborne Wireless LAN Repeater Current Research Sensors Planning Flight Test Results Future Work

3 Previous Work- Short Base Line GPS Attitude Determination Conducted By Matt Harris and Dr. Dan Aloi 3 Marconi Allstar GPS Receiver

4 Previous Work- Airborne Wireless Internet Repeater

5 Current Research Acquisition: Model airplane category Significant payload GPS Receiver Data link Compass Brakes IMU Airdata boom Model Prediction Controls Automatic takeoff Accurate height Autoland Remotely Piloted with autopilot aiding Fully autonomous Advanced data collection system Aero Model Inputs Enroute Hold modes Red - Complete Blue - In Progress Black - Future Plans

6 Current Research – Data Wire Diagram Lippert Computer PC MHz (passive cooling) 100 MB Disk on Chip 10 RS-232 Ports 10 Base T (for data download) Lippert Computer PC MHz (passive cooling) 100 MB Disk on Chip 10 RS-232 Ports 10 Base T (for data download) Z-World Jack Rabbit 30 MHz  -C Honeywell Static Pressure Honeywell Static Pressure X-Bow IMU Honeywell Dynamic Press. Honeywell Dynamic Press. Angle of Attack Vane Angle of Attack Vane Side Slip Vane Side Slip Vane CMC GPS Leica 3-axis Compass PW to Serial Converter (PIC) TTL, 19.2kb/s, 1 Hz Position, 10 Hz Pseudo Range and Carrier Phase TTL, 1 Pulse Per GPS Second (PPS) 232, 19.2kb/s, Data Rate-133 Hz TTL, 19.2kb/s, Data Rate-20 Hz 485, 19.2kb/s, Data Rate-20 Hz Analog, Sampled at ~ 5 Hz TTL, 9.6kb/s, Data Rate ~ 3.3 Hz PPM, 50Hz TTL, 4.8kb/s, Data Rate ~ 8 Hz (PPS) RS-232, 115.2kb/s DATA COLLECTION TIME STAMPING SENSORS TTL->232 JR PCM10S RC Receiver

7 Current Research-  -C GPS Time Synchronization Initialize Jack Rabbit Real Time Clock (RTC) to GPS Time Message GPS Time Message Delayed ~ 0.6 seconds Creates an Offset between GPS Time and the Jack Rabbit’s RTC Jack Rabbit Real Time Clock (RTC) GPS Time RTC_Offset

8 Current Research-  -C GPS Time Synchronization ISR Start PPS_Time  (Read RTC) FIRST PPS? FIRST PPS? RTC_Offset  (ceil(PPS_Time) -PPS_Time) RTC_Offset  RTC_Offset – diff diff < (1-  c ) diff  (PPS_Time – PPS_TimePrev) diff  diff - 1 diff >=  c PPS_TimePrev  PPS_Time ISR Return NO YES Missed Pulse Glitch  c : Jack Rabbit Clock Drift (absolute value, thus positive) PPS_Time: Time Interrupt Received PPS_TimePrev: Time Last Interrupt Received RTC_Offset: Difference between GPS Time and RTC diff: Time between Last Interrupt and Current Interrupt Missed Pulse & Glitch Correction

9 Sensor Measurement Time Stamping Delays Sensor Measurement Integration Time (ms) Sensor Processing Time (ms) Data Transmission Delay (ms) Jack Rabbit Time Stamping Delay (ms) Total Delay (ms) CMC GPS 00n/a 0 X-Bow IMU ~ PPT & HPA (P d & P s ) ~ Alpha & Beta 250n/a ~ Leica Compass ~ JR PCM10S RC Receiver ~120n/a2.08~

10 10 Current Research - Planning

11 11 Current Research - Planning Avionics Platform Avionics Platform with Brumby Hull

12 12 Current Research, Flight Test Wire Wrap used to allow for flexibility in signal routing GPS Antenna Inside Hull

13 13 Current Research – Flight Test

14 14 Current Research: Power Consumption 4 Ah, 14.4 V, Li-Ion Battery ( volts) Measured Load: 1.1 A 3+ hours of Battery Life

15 15 Current Research: Weight DeviceWeight Data Collection Panel6.4 lbs. Li Ion Battery 1.2 lbs. Freewave Data Transceiver1.0 lbs. Compass 0.2 lbs. Data Boom 0.4 lbs. Rx bat. (2, 4-cell Nicad) 2.1 lbs. Total Payload11.3 lbs. Available (AMA Legal, w/ fuel) 4.75 lbs. Payload Weight Budget Aircraft Empty Weight37.5 lbs. Aircraft Weight 10/23/2002 (w/ fuel) lbs. Max Gross Takeoff Weight (AMA* restricted takeoff weight w/ fuel) 55.0 lbs Max Gross Takeoff Weight (Design Specifications w/o fuel) 66.0 lbs Aircraft Weight Budget * ACADEMY OF MODEL AERONAUTICS

16 16 Flight Test- October 23, 2002

17 17 Flight Test – Gyro Outputs Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

18 18 Flight Test – Pitch Gyro Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

19 19 Flight Test – Roll Gyro Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

20 20 Flight Test – Yaw Gyro Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

21 21 Flight Test – Accelerometer Output Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

22 22 Flight Test – X Accelerometer Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

23 23 Flight Test – Y Accelerometer Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

24 24 Flight Test – Z Accelerometer Throttle : 75% Duration: 60 s Straight and Level w/ Turn the last 10 Seconds

25 25 Future Work Data Collection Improvements Increase IMU Time Tagging Precision and Accuracy Second Internal Counter on Jackrabbit IMU Timing Pulse Isolate IMU from Engine “Noise” Add messages to convey the operational state of the JR to the PC-104 and vice-versa. Improve JR subroutine to sample Alpha and Beta Ground Link and Ground Station Sean’s Work on the 6 DOF Model Add a Truth Reference for Multipath Studies Satellite Link QUALCOMM Globalstar GSP-1620 Satellite Data Modem (see next slide)

26 26 Future Work QUALCOMM Globalstar GSP-1620 Satellite Data Modem Power Consumption: 5.4 W max Voltage: VDC Dimensions: 7.48 x 2.95 x 0.68 in Weight Modem: 6.3 oz. Antenna: 8.8 oz.

27 27 AcknowledgementsAcknowledgements Dr. van Graas (sponsor and advising) Jamie Edwards (brumby pilot) Sean Calhoun (controls and hardware) Jared Kresge (hardware and programming) Massimo Crisci (hardware and programming) Andrey Soloviev (frequency domain analysis)

28 28 QuestionsQuestions