1. Mid-term Presentation: 28 th July 2004 Positioning Team Jing Xiong Demetri SpanosNicolas Foirien Andrew Kwok Vijay Gupta

2. MVWT II / Positioning Team GOTChA 7/1/04 Goals - Functional vision system in lab - Robust positioning solution on rooftop Technical Challenges - Little documentation for lab vision - Don’t know what’s wrong with vision - (no BIOS access, no second HD) - conflicting reports of performance - Finite budget for rooftop positioning - New method must be implementable on bats (size weight I/O) Objectives - Identify problem/cause in vision - Repair vision to extent possible - Maintain current functionality - Identify rooftop positioning system by July 7 th (10 cm accuracy) - Order by July 14th - Implement by AFOSR demo, if possible Approach - Find Steve (in progress) - Collect all vision documentation - Switch back to Win2k - Skyetek developer’s kit - Systematic vision diagnostic (~2 hours, 6 th Jul)

3. MVWT II / Positioning Team GOTChA 7/28/04 Goals - Functional vision system in lab - Robust positioning solution on rooftop Technical Challenges - Interface to vehicle RS232 weight size - Update rate / sensor noise - Hard to measure orientation Objectives - Repair vision to extent possible (maintain current functionality) - Achieve 10cm accuracy for rooftop positioning system - $25K budget - Implement rooftop positioning in time for RoboFlag Competition -2 week: purchased system arrives -1 week: finish rooftop vision implementation Approach - DGPS dual measurement with our own base station - Kalman filter on DGPS boards (Superstar II Navtech) - Accelerometers

4. Systems Comparison RFIDDGPSVisionIR Cost$20 K +$10 K +> $20 K$100 K Accuracy10 cm1-10 cm~ 1 cm1 mm Timeweeks1 week> RFID1 week DifficultyHighLowMed  HighLow Update Rate  velocity (~ 5 Hz) 10 Hz50 Hz> 10 Hz OrientationNoYes (2 measurements) Yes (2 measurements) On- / Off- BoardOn OffOn

5. RFID Based Positioning System – Feasibility Analysis Hardware feasibility : Testing using turn table shows max vehicle speed can be > 6 m/s. Spacing required for 10 cm accuracy is 10 cm Multiple tag information doesn’t improve accuracy unless distance of reader to tag is known (possible improvement for future) Financial feasibility : With budget = $25,000 and 30 vehicles Possible to tag 21x21 m^2 of floor area with 10cm accuracy Labor feasibility : Unique numbering, sticking them on the floor individually : time consuming

6. Vision Computer DS, JX Arbiter Cameras Router DS, JX Control Computers Help! Needs Work Other Team Working System Block Diagram for Vehicle Lab (7/28/04) DS,JX NF, VG Everything Else

7. System Block Diagram -Rooftop DGPS- 7/28/04 Satellites Base StationVehicles Arbiter (C2 Team) Diff Corr. 802.11 Xi,Yi,θi Need surveyorPos./Vehicle DGPS Board 1 DGPS Board 2 (w/ KF) Zaurus RS232 802.11 Help! Needs Work Other Team Working

8. DGPS Budget ItemUnit PriceQuant. Item Expense Superstar II DGPS Receiver/Antenna 165243960 Superstar II DGPS Base Station 115022300 Development Kit8001 GPS/KF Textbook1001 TOTAL7160

9. Superstar II DGPS A low-cost, small-size DGPS receiver 4.6cm x 7cm 22 grams (w/o antenna) Can be run as a base-station with appropriate antenna On-board computation Serial Port Communication Within 100m of base station, expect to get 1cm accuracy at 10 Hz Antenna pair separated by 10cm gives angle to within 10 degrees (worst-case)

10. Agenda for the Remainder of Summer Acquire materials by 6 Aug –DGPS boards for vehicles –Base stations –Development kit Software interface for DGPS by 13 Aug Hardware mounting by 13 Aug Obtain exact coordinates for base stations via a surveyor by 13 Aug Gather statistics and characteristics of a Kalman Filter for a DGPS solution Implement the use of accelerometers in the current vehicles