1. AMCOM MK66 Final Presentation Filiz Genca Ashley Devoto Jeff Kohlhoff Matt Galante Jason Newquist Adrian Lauf Shannon Stonemetz Shannon Stonemetz

2. Project Overview Development of a precision guidance avionics module for the Hydra 70 rocket missile. Development of a precision guidance avionics module for the Hydra 70 rocket missile. M261 MPSM warheadM261 MPSM warhead M261 19-round launch platformM261 19-round launch platform MK 66 rocket motorMK 66 rocket motor Module will have built in IMU and GPS guidance systems Module will have built in IMU and GPS guidance systems Module will contain 4 canards actuated by servo motors that will perform flight adjustments Module will contain 4 canards actuated by servo motors that will perform flight adjustments Manufacture a mechanical prototype Manufacture a mechanical prototype

3. Software Block Diagram Data Handler IMU Data Processing SW GPS Data Processing SW RMS Control Software Serial I/O Control Routines Parallel Control Servo Lines, Deploy Line Course Plot/ Correction RS-232 Devices: (IMU, GPS, RMS) Roll Compensation

4. GPS Interfacing Outputs raw data (real-time data) Outputs raw data (real-time data) Binary formatBinary format Transmission ProtocolTransmission Protocol 8 bits 8 bits 1 stop bit 1 stop bit No parity bit No parity bit Output Interval Output Interval Can be set to any time between.05 and 999 secondsCan be set to any time between.05 and 999 seconds

5. IMU Specifications Honeywell HG1930 Gun-Hard MEMS IMU Honeywell HG1930 Gun-Hard MEMS IMU RS422 interfaceRS422 interface Must be converted to 232 Must be converted to 232 Synchronous or AsynchronousSynchronous or Asynchronous OutputOutput Linear Acceleration Linear Acceleration Angular acceleration Angular acceleration

6. Correction sequence Correction determined: -5°, +5°, -5°, +5° Differential Calculations Back 1 2 3 4 A B C D Reference frame applied -1 1 Translation to servo codes 0101101001011010 -A -B -C -D +A +B +C +D Servo mapping and line addressing Servo Control Logic Power Conversion Feedback

8. Module Shell and Interfaces Aluminum Construction 15 inches long Acme Stub Nose Threads 6 pitch.5 in deep interference fit into shell Secured with press fit pull out pins

9. Frame Subassembly.25 in aluminum construction Struts to mount IMU, GPS, CPU, Thermal Battery.5 in x.5in Mounting bar for canard assembly

12. Canard Aluminum construction Machined from single piece NACA 0012 Airfoil Shape Positive stop machined into canard Hole to receive negative stop

13. Canard Deployment Helical torsion spring for deployment Positive stop machined into mechanism Spring loaded negative stop

16. Canard Actuation Anti backlash gears Gears mount to tab on assembly Assembly rotates about nubbin Nubbin connected to frame mounting bar w/snap ring

17. Final Demonstration Two notebook PCs Two notebook PCs One will act as Altera- based processing boardOne will act as Altera- based processing board Second will act as GPS, IMU, RMS, providing simulated dataSecond will act as GPS, IMU, RMS, providing simulated data More flexible More flexible Nios Devel. Kit has no readily-useable parallel port Nios Devel. Kit has no readily-useable parallel port RS232 Servo IEEE 1284 (Parallel) “FPGA Processor board” “GPS, IMU, RMS”