1. METEOR Guidance System P07106 Nov 2006 – May 2007 Project Review

2. Project Goals Control system for rocket flight Actuation system for rocket maneuvering Flight ready electrical hardware Software implementation Flight simulation

3. People Dave –Control system –Simulation Ryan –Software –Horizon sensor electrical Mark –Flight Computer –Electrical hardware Ben –Actuations system –Mechanical assembly Joe –Horizon sensor radiometry –Camera Lens Assembly –Actuator testing systems –Project management

4. Control System Utilize sensor inputs Determine response Generate commands for actuators

5. Complementary Filter

6. PID Controller

7. Sensors Inertial Measurements Unit –Off the shelf IMU –3 axis acceleration –3 axis rotation rate –Digital output 150 Hz Horizon Sensor –Custom made –CMOS imaging sensor –Wide angle lens –Band Pass filtered

8. IMU Internal ADC with temperature compensation RS-422 Digital Output 5G Accelerometers on all three axis 300 Deg/s Rate Gyros on all three axis 35G Accelerometers on two axis Non Idealities -Acceleration dependant Gyro bias

9. Horizon Sensor

10. Software

11. Image processing Equidistant point algorithm -Removes curvature of earth - -Simple orientation extraction Pixel luminosity thresholding -Easy to implement -Uses constant threshold value -Can use a variable threshold lookup table vs altitude

12. Flight Computer Custom design TI 2808 DSP 4 layer PCB SMT construction

13. Block Diagram

14. Actuators 4 Vernier jets Powered by pressurized NOX Gas generated from boiling liquid Jets rotate on BB Rotary unions Controlled by PWM servo actuators and push-pull linkages

15. Nozzles Converging-diverging design Throat area matched for flow rate Area ratio optimized for thrust Custom tooling for fabrication Thrust & flow tested

16. Motion control NOX feed line with rotary union PWM controlled digital servo Response measured experimentally

17. Simulation 2D simulations –Spec thruster output –Spec mass and burn time to other groups –Determine worst case trajectory 3D simulations –Test control system –Test actuator response –Spec thrust axis tolerances

18. 2D simulations

19. 3D Simulations

20. Conclusions Micron CMOS sensors not performing as indicated in spec sheet Horizon sensors n