1. Airframe Measurements
P09233 – Detailed Design Review

2. Team Structure Team Lead: Michael Skube – Mechanical Engineer
Co-Team Lead: James Hunt – Mechanical Engineer
Electrical Lead: Joseph Peters – Electrical Engineer
Kevin Li – Electrical Engineer
William Atkinson – Mechanical Engineer
Heidi Morgan – Electrical Engineer
John Isely – Mechanical Engineer

3. Power – Airframe A On-Board Supply

4. Airframe Measurement System

5. Power – Input Voltages Device Minimum Vin Maximum Vin Vin Used
Micro-controller*
4.5V
10V 5V
GPS
3.3V
Pitot Static Tube
3.0V
16V
IMU
5.5V
Altimeter
3.7V
*LM1117 – Linear Regulator

6. Power – Calculation Device Vin Min Current Max Current Min Power
Max Power
Micro-controller 5V
.06 mA
.11 mA
.06 mW
.55mW
GPS
33 mA
55 mA
109 mW
182 mW
Pitot Static Tube
20 mA
30 mA
100 mW
150 mW
IMU
57 mA
165 mW
285 mW
Altimeter
13 mA
16 mA
65 mW
80 mW
Total Power Consumption: : W – .697 W
Airframe A Battery:
14.4 V
2.5 Ampere-hour
36 W-hour
Can supply power for 52 – 82 continuous hours
~100x our expected flight time (40 minutes)

7. GPS Variable update rate 32 Parallel Channels High Accuracy Small Size
1-5 Hz
32 Parallel Channels
High Accuracy
~3.3m
Small Size
30x30x8.5mm
Software:
GPS Locator Utility

8. GPS – GPS Locator Utility

9. GPS – Accuracy Test

10. GPS – Accuracy Test

11. GPS – Accuracy Test

12. GPS – Accuracy Test Observations Number of Satellites:
Max: 13
Min: 9
Avg: 10
Percentage of available satellites used: ~83%
Altitude (example from starting point)
Google Earth: 524ft
GPS: 517ft
~1% error

13. GPS – Accuracy Test
Speed (MPH)
Sample Number
Stop Signs

14. GPS – Accuracy Test
Red Barn
Altitude (m)
Sample Number

15. GPS –Test Plan Test #1: Accuracy Test Test #2: Time Satellite Fix
Test #3: Material Interference
Test #4: Orientation effects

16. Microcontroller Atmel: AT91SAM7S Various I/O SD Card 2x UART
10 bit ADC
SPI
SD Card

17. IMU Analog Devices: ADIS16350 6 degrees of freedom
Tri-axis accelerometer
X, Y and Z linear acceleration
Tri-axis gyroscope
X, Y and Z angular acceleration
Serial Peripheral Interface (SPI)
master (MCU) –slave (IMU)

18. IMU – Output Registers
Adapted from ADIS16350 Datasheet

19. IMU – Timing Diagram
Adapted from ADIS16350 Datasheet

20. SPI Communication: IMU
Example code: x-axis gyro
Chip Select is driven low
Address written to DIN to determine what register is read
Data is read off by MCU
The gyro needs to be calibrated while the plane is stationary. This is done to eliminate drift and compensate for the temperature dependence. The code below initialized the gyro.

21. UART Communication: GPS
UART (parallel to serial) controlled
Interrupt to inform MCU new data is available
Prevents the processor from being bogged down

22. ADC Communication: Initialization
Measure analog voltages and assign digital values to store.
10 bit ADC
1024 digital measurements possible

23. Measurements Box Design
The design space inside Airframe A required that the MCU be cut down, the change in size is shown below
full size board cut down board

24. Measurements Box Design
GPS
IMU
Altimeter
Microcontroller
Ultrasonic

25. Measurements Box In Airframe A

26. Component Constraints & Dimensions
IMU Requires Specific Mounting Direction
Ultrasonic Sensor Mounting on the Exterior
Altimeter Requires Static Pressure Inside = Static Pressure Outside
GPS Requires Specific Mounting Direction
GPS Requires No Dense Obstructions
Pitot Static Tube Mounting Outside of Boundary Layer
Pitot Static Tube Sensor Must be Easy to Remove

27. Pitot Static Tube Analysis
The Pitot Static tube works off of two very simple principles, Bernoulli and the Ideal Gas Equation
Bernoulli Equation
Ideal Gas Equation
From this, the speed of the aircraft through the air can be found directly.

28. Pitot Static Tube Testing
Test #1 – Wind Tunnel Testing in RIT Wind Tunnel
Test #2 – Car Test with Anemometer
Test #3 – Time Delay Test on tubing
Test #4 – Flight in Airframe A
Test #5 – Compare Velocity with GPS Velocity

29. Pitot Tube Test Results
Test #1 – Small Wind Tunnel at RIT
Anemometer
ETS Pitot-Tube
m/s
mph
1.0
2.20
0 ~ 2
1.3
2.86
1 ~ 3
1.5
3.30
3 ~ 4
2.0
4.40 4
Spec from ETS states lower limit of 2 mph

30. Test #1 – Large Wind Tunnel

31. Test #2 – Car Test

32. Pitot Tube Test Results (cont.)
Test #3 – Time Delay Theory
This is based off Pneumatics with a Capacitance and a Resistance
Then a system model can be setup with a step input to find the time delay to the sensor.

33. Pitot Tube Test Results (cont.)
Test #3 – Time Delay Theory
R = 1.322e-6 m*s
C = 9.332e-7 m*s^2

34. Pitot Static Sensor Mounting

35. Pitot Static Tube Mounting

36. Pitot Static Tube Mounting (cont.)

37. Altitude Stair Test 1

38. Altitude Stair Test 2

39. Altimeter cont… Future tests Vacuum Chamber Altimeter vs GPS
Use a vacuum chamber to simulate the pressure drop of high altitude ~10,000 ft
Altimeter vs GPS
Compare the GPS and Altimeters readings

40. Vibration Dampening Softness Ratings for our Application
Vibration Damping helps to reduce vibrations and shocks to sensors and components
Softness Ratings for our Application
5 - 9 for Foams
for Rubbers
Good or Excellent compression recovery was also selected as it will allow the dampener to have quick energy dissipation.
Sensors and the MCU will use Vibration Foam Sheets
The Boxes Mounting Bolts will use Vibration Grommets

41. Vibration Dampening
Images from McMaster.com

42. Expenses To Date $ 910.73 Item Model Altimeter ZLOG 3 Data Recorder#
Item
Model
Manufacture
Part Number
QTY
Price
Shipped 1
Altimeter
ZLOG 3
Digital Products
#ZLOG3 $ $ 2
Data Recorder
eLogger V3
Eagle Tree Systems
MPRV3-LEADS-100 $ $ 3
MicroSensor V3
ALTIMETER-V3 $ $ 4
Airspeed
AIRSPEED-V3 $ $ 5
Pitot-Static Tube
Pitot-Static Tube Kit
PITOT-KIT-V3 $ $ 6
Microprocessor
SAM7-256 Board
Spark Fun Electronics
DEV-00774 $ $ 7
GPS
32 Chan San Jose Nav.
GPS-08266 $ $ 8
Ultrasonic Range Finder
SEN-08504 $ $ 9
GPS Break Out Board
Lassen iQ Eval Board - USB
GPS-00168 $ $ 10
3/16" X 12" X 12"
Foam w/ Adhesive Back, SOFT
McMaster
86375K151 $ $ 11
1/8" X 1/2" 39'
93275K12 $ $ 12
.25" Dia, .057" Thick
Vibration Grommet
9311K138 $ $ 13
1/8" X 12" X 12"
Foam w/ Adhesive Back, FIRM
86375K163 $ $ 14
1/16" ID, 1/8" OD
Silicone Tubing
51135K11 50 $ $ 15
4-40, 1/8" H
Barrel Thread Plate
90975A002 $ $ 16
1/16" Single Barb
Tee Fitting
5116K11 $ $ 17
7mm OD, 3.2mm ID
Fiber Washer
95225A315 $ $ 18
4-40, 1/2" Length
Socket Cap Screw
92196A110 $ $ #
Item
Model
Manufacture
Part Number
QTY
Price
Shipped 19
4-40, 3/4" Length
Socket Cap Screw
McMaster
92196A113 1 $ $ 20
4-40, 1" Length
92196A115 $ $ 21
1/32" X 12" X 12"
PTFE Sheet Gasket
1063T21 2 $ $ 22
1/16" X 12" X 12"
1063T22 $ $ 23
IMU
Analog Devices $ $ 24
BOX - MOD01
Initial Release of BOX
P09233 - $ $ 25
4 Pack of Bateries AA
Radio Shack $ $ 26
AAA 27
Battery Holder
4X AA $ $ 28
Battery Clips 9V $ $ 29
2X AA $ $ 30
3X AAA 31
Adapter Plug M 32
AC Adapter
6V 800Ma AC $ $ 33
SD Memory Card
1Gb
Sandisk $ $ 34
Binder
1.5"
OFFICE DEPOT $ $ 35
Ready Index
5 Tabs $ $ 36
1.5" (2-Pack) $ $ $

43. Bill of Materials TOTAL $ 1,100.79 # Item Model Manufacture
Part Number
QTY
Price
Shipping
Shipped 1
Altimeter
ZLOG 3
Digital Products
#ZLOG3 $ $ $ 2
Airspeed
MicroSensor V3
Eagle Tree Systems
AIRSPEED-V3 $ $ $ 3
Pitot-Static Tube
Pitot-Static Tube Kit
PITOT-KIT-V3 $ $ 4
Microprocessor
SAM7-256 Board
Spark Fun Electronics
DEV-00774 $ $ $ 5
GPS
32 Chan San Jose Nav.
GPS-08266 $ $ 6
Ultrasonic Range Finder
SEN-08504 $ $ 7
GPS Break Out Board
Lassen iQ Eval Board - USB
GPS-00168 $ $ $ 8
3/16" X 12" X 12"
Foam w/ Adhesive Back, SOFT
McMaster
86375K151 $ $ 9
1/8" X 1/2" 39'
93275K12 $ $ 10
.25" Dia, .057" Thick
Vibration Grommet
9311K138
12/25 $ $ 11
1/8" X 12" X 12"
Foam w/ Adhesive Back, FIRM
86375K163 $ $ 12
1/16" ID, 1/8" OD
Silicone Tubing
51135K11 20 $ $ 13
4-40, 1/8" H
Barrel Thread Plate
90975A002
17/100 $ $ 15
7mm OD, 3.2mm ID
Fiber Washer
95225A315
31/100 $ $ 16
4-40, 1/2" Length
Socket Cap Screw
92196A110
7/100 $ $ 17
4-40, 3/4" Length
92196A113 $ $ 18
4-40, 1" Length
92196A115 $ $ 19
IMU
ADIS 16350
Analog Devices $ $
BOX - MOD01
Initial Release of BOX
P09233 -
1/4 $ $ 21
AC Adapter
6V 800Ma AC
Radio Shack $ $ 22
SD Memory Card
1Gb
Sandisk $ $
TOTAL
$ ,100.79

44. Projected Project Costs
Building a second Measurements Box:
Total Project Cost: $1900 (includes IMU cost ~$500)
Total Project Cost: $1400 (assumes donated IMU)
Measurements Box BOM:
$1100 (includes IMU cost ~$500)
$600 (assumes donated IMU)
The Current Project Cost: $910

45. Current Risks Ability to Program the MCU
Ability to Interface with the IMU
Ability to Test the IMU – MAV Test Stand
GPS Calibration
Airframe A Flight Testing

46. Action Items Program MCU IMU Testing Further Sensor Testing
Pitot Static Tube Mounting Design
Part Drawings
Assembly Instructions
Component Documentation

47. Part Design Test Pitot Static Tube Program MCU Test Altimeter
Schedule - SDII
Team Member
WEEK 11 FINALS
BREAK
WEEK 12
WEEK 13
WEEK 14
Michael Skube (TEAM LEAD)
Review Project Status, Meet with team leads, Update EDGE, Individual Sensor Review, Order new Parts, Finalize SD I Documents
Complete Documentation, Write Instillation Instructions
Meet with Team Leads, Update EDGE, System Integration Review
Test complete system on Ground Station
James Hunt (TEAM / MECHANICAL LEAD)
Prepare for Individual Sensor Review, Revisit Sensor Selection if needed, Continue Testing, Meet with team leads
Begin Testing Complete Measurements System, Meet with Team Leads
Joseph Peters (ELECTICAL LEAD)
Complete Documentation, Program Microcontroller
Program Microcontroller
Begin Complete System Integration, Meet with Team Leads
Kevin Li
Prepare for Individual Sensor Review, Revisit Sensor Selection if needed, Continue Testing, present testing results
Begin Complete System Integration
Heidi Morgan
John Isely
Complete Documentation, Test Sensors
William Atkinson
Program MCU
Test Altimeter
Document BOX Build
Test Pitot Static Tube
Part Design
Phase I System Testing

48. (TEAM / MECHANICAL LEAD)
Schedule - SDII
Team Member
WEEK 15/17
WEEK 16
WEEK 18
WEEK 19
WEEK 20/21/22
Michael Skube
(TEAM LEAD)
Review/Fix/Re-test Complete Measurements System on Ground System, Meet with other Team Leads
Test complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Meet with Team Leads, Update EDGE, Fly Measurements System and Document Flight, Prepare for IMAGINE RIT
IMAGINE RIT FESTIVAL
Finalize All Documentation, Update EDGE, Team Lead Meeting
James Hunt
(TEAM / MECHANICAL LEAD)
Joseph Peters
(ELECTICAL LEAD)
Kevin Li
Review/Fix/Re-test Complete Measurements System on Ground System,
Update Documentation, Update EDGE, Fly Measurements System and Document Flight, Prepare for IMAGINE RIT
Finalize All Documentation, Update EDGE
Heidi Morgan
John Isely
William Atkinson
Refine Programming
Documentation
Drawings
Phase II System Testing
Final Documentation