1. AMCOM MK66 IAB Presentation Adrian Lauf (Comp.E) Jason Newquist (Mech. E)

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. System Inputs Rocket Management System (RMS) Rocket Management System (RMS) Provides target informationProvides target information Authorizes LaunchAuthorizes Launch Uses RS-232 serial interfaceUses RS-232 serial interface IMU (Inertial Measurement Unit) IMU (Inertial Measurement Unit) The main component in finding the system’s orientation in spaceThe main component in finding the system’s orientation in space Provides Δ(Vx, Vy, Vz), Δ(Vroll, Vpitch, Vyaw)Provides Δ(Vx, Vy, Vz), Δ(Vroll, Vpitch, Vyaw) Uses RS-422 serial interfaceUses RS-422 serial interface Experiences “IMU drift”Experiences “IMU drift” GPS GPS Used in calibration of IMUUsed in calibration of IMU Compensates for “IMU drift”Compensates for “IMU drift” Uses RS-232 serial interfaceUses RS-232 serial interface

4. Software Requirements/Considerations Compensate for roll/spin of the missile when fired Compensate for roll/spin of the missile when fired Use the GPS to compensate for IMU drift Use the GPS to compensate for IMU drift GPS updates only 1 point/secGPS updates only 1 point/sec Signal deployment Signal deployment Would ideally run on an FPGA board Would ideally run on an FPGA board Back 2 3 4 A B C D

5. 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 (Parallel port) Course Plot/ Correction RS-232 Devices: (IMU, GPS, RMS) Roll Compensation IMU Calibration (from GPS data)

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”