sivaq - university of colorado boulder
TRANSCRIPT
SIVAQ Signal Integrity Verifying Autonomous Quadrotor
Organization
Team SIVAQ
Brett Wiesman
Project Manager Matt Zhu
Ground Software Lead
Ross Hillery
Electronics Lead
Steve Gentile
Mechanical Lead
Shane Meikle
Systems Engineer Erin Overcash
Financial Lead
Sean Rivera
Flight Software Lead
Geoff Sissom
Structural Lead
Nick Brennan
SafetyNavigation Lead
2
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
3
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Mission Statement
Mission Statement Augment the capabilities of the Parrot AR Drone 20 such that it flies autonomously with a
predetermined flight path records data relays data and detects and responds to GPS Radio Frequency Interference
(RFI)
4
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Project Description
Highest Level of Success
Autonomous quadrotor autopilot with
(a) GPS navigation system and signal integrity monitoring (b) ldquoReturn home capability (c) Mission range of 3km (d) Communications device for transmission of video data and last
known position (e) SIVAQ will provide live video data such that the pilot can identify
a red target 1 m2 in a 3600 m2 field (f) SIVAQ will be capable of locating the source of RFI within 7m of
the actual source (g) Custom fuselage that improves efficiency while preserving center
of gravity and structural integrity and while maintaining stock controllability
5
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS
Loiter 1 minute and locate target using downward facing
camera
Command Destination and Waypoints for autonomous
travel
Begin flight with continuous signal
integrity monitoring and flight data transmission
Return home
Downlink and store flight data
in real time
Travel towards estimated
target location
6
Define Survey Sector
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Organization
Team SIVAQ
Brett Wiesman
Project Manager Matt Zhu
Ground Software Lead
Ross Hillery
Electronics Lead
Steve Gentile
Mechanical Lead
Shane Meikle
Systems Engineer Erin Overcash
Financial Lead
Sean Rivera
Flight Software Lead
Geoff Sissom
Structural Lead
Nick Brennan
SafetyNavigation Lead
2
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
3
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Mission Statement
Mission Statement Augment the capabilities of the Parrot AR Drone 20 such that it flies autonomously with a
predetermined flight path records data relays data and detects and responds to GPS Radio Frequency Interference
(RFI)
4
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Project Description
Highest Level of Success
Autonomous quadrotor autopilot with
(a) GPS navigation system and signal integrity monitoring (b) ldquoReturn home capability (c) Mission range of 3km (d) Communications device for transmission of video data and last
known position (e) SIVAQ will provide live video data such that the pilot can identify
a red target 1 m2 in a 3600 m2 field (f) SIVAQ will be capable of locating the source of RFI within 7m of
the actual source (g) Custom fuselage that improves efficiency while preserving center
of gravity and structural integrity and while maintaining stock controllability
5
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS
Loiter 1 minute and locate target using downward facing
camera
Command Destination and Waypoints for autonomous
travel
Begin flight with continuous signal
integrity monitoring and flight data transmission
Return home
Downlink and store flight data
in real time
Travel towards estimated
target location
6
Define Survey Sector
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
3
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Mission Statement
Mission Statement Augment the capabilities of the Parrot AR Drone 20 such that it flies autonomously with a
predetermined flight path records data relays data and detects and responds to GPS Radio Frequency Interference
(RFI)
4
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Project Description
Highest Level of Success
Autonomous quadrotor autopilot with
(a) GPS navigation system and signal integrity monitoring (b) ldquoReturn home capability (c) Mission range of 3km (d) Communications device for transmission of video data and last
known position (e) SIVAQ will provide live video data such that the pilot can identify
a red target 1 m2 in a 3600 m2 field (f) SIVAQ will be capable of locating the source of RFI within 7m of
the actual source (g) Custom fuselage that improves efficiency while preserving center
of gravity and structural integrity and while maintaining stock controllability
5
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS
Loiter 1 minute and locate target using downward facing
camera
Command Destination and Waypoints for autonomous
travel
Begin flight with continuous signal
integrity monitoring and flight data transmission
Return home
Downlink and store flight data
in real time
Travel towards estimated
target location
6
Define Survey Sector
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Mission Statement
Mission Statement Augment the capabilities of the Parrot AR Drone 20 such that it flies autonomously with a
predetermined flight path records data relays data and detects and responds to GPS Radio Frequency Interference
(RFI)
4
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Project Description
Highest Level of Success
Autonomous quadrotor autopilot with
(a) GPS navigation system and signal integrity monitoring (b) ldquoReturn home capability (c) Mission range of 3km (d) Communications device for transmission of video data and last
known position (e) SIVAQ will provide live video data such that the pilot can identify
a red target 1 m2 in a 3600 m2 field (f) SIVAQ will be capable of locating the source of RFI within 7m of
the actual source (g) Custom fuselage that improves efficiency while preserving center
of gravity and structural integrity and while maintaining stock controllability
5
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS
Loiter 1 minute and locate target using downward facing
camera
Command Destination and Waypoints for autonomous
travel
Begin flight with continuous signal
integrity monitoring and flight data transmission
Return home
Downlink and store flight data
in real time
Travel towards estimated
target location
6
Define Survey Sector
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Project Description
Highest Level of Success
Autonomous quadrotor autopilot with
(a) GPS navigation system and signal integrity monitoring (b) ldquoReturn home capability (c) Mission range of 3km (d) Communications device for transmission of video data and last
known position (e) SIVAQ will provide live video data such that the pilot can identify
a red target 1 m2 in a 3600 m2 field (f) SIVAQ will be capable of locating the source of RFI within 7m of
the actual source (g) Custom fuselage that improves efficiency while preserving center
of gravity and structural integrity and while maintaining stock controllability
5
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS
Loiter 1 minute and locate target using downward facing
camera
Command Destination and Waypoints for autonomous
travel
Begin flight with continuous signal
integrity monitoring and flight data transmission
Return home
Downlink and store flight data
in real time
Travel towards estimated
target location
6
Define Survey Sector
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS
Loiter 1 minute and locate target using downward facing
camera
Command Destination and Waypoints for autonomous
travel
Begin flight with continuous signal
integrity monitoring and flight data transmission
Return home
Downlink and store flight data
in real time
Travel towards estimated
target location
6
Define Survey Sector
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
CONOPS ndash Scenario 2
Continuous signal monitoring and
data transmission detection
Command Destination and Waypoints for autonomous
travel
Downlink and store flight data
in real time
Immediate powerful RFI detected Lose
Communication link with ground station
Abort mission disable GPS and
attempt to return home inertially
Immediate large radius RFI is
enabled
7
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
False GPS sphere of influence
CONOPS ndash Scenario 2
Command Destination and Waypoints for autonomous
travel
False Signal Detected
Map sphere of influence
Continuous signal monitoring and
data transmission detection
Downlink and store flight data
in real time
8
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
9
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Design
Material bull VeroWhitePlus Characteristics bull New Mass = 48242g bull Removable Battery bull Retains stock mount
configuration bull Retains stock battery
connectors bull Manufactured in house by
Rapid 3D Prototyper Cost $9753
10
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Functional Block Diagram 11
Hard DataPower Connection
Wireless Data Connection
Developed for Project
Pre-Existing Hardware
Motherboard
Serial Port
AR Drone 20
Navigation
Software
Vehicle Kill
Command
Dynamic
Waypoints
GUI
Autonomous
Navigation
Software
RFI Detection
Software
RFI
Simulation
Software Modifications
Battery
GPS ReceiverAntenna
Storage Device
Electronics Package
Thermistor
USB to UART
Arduino
Cell Modem
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Module
bull MediaTek MT3339 GPS Module with integrated patch antenna
bull Custom prototype firmware created by MediaTek to output AGC message
12
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
How AGC works
Summary of the GPSAntenna signal conditioning process from antenna reception to the receiver processor
Goal Extract GPS positioning information from the L1 carrier frequency (157542 MHz)
13
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Unmodified Software Block Diagram
AR Drone 20 FreeFlight app
User input (Tilt angles max
height max speed)
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native Program Native stability
control firmware
bull In the stock configuration the vehicle is flown manually using a mobile app GUI
bull This mobile app communicates via WiFi to a local program running on the vehicle
bull Parrot provides a Software Development Kit that allows users to create their own apps to control the vehicle
Mobile Device
WiFi transmission
Local Processing
14
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Modified Flight Software
Paparazzi Open Source Autopilot framework
bull Compiled for ARM processor to run locally
bull SDK recognizable commands include roll pitch yaw throttle take-off land kill etc
bull Navdata contains all vehicle sensor data
Motor Controllers
AR Drone 20 1GHz ARM Cortex A8 microprocessor
Native stability control
firmware Native program
Paparazzi Center
Navdata SDK
recognizable commands
15
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station GUI 16
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Critical Project Elements
1 RFI Detection and Zone Mapping
2 Long Range Communications
3 Autonomous Navigation
4 Command Center
5 Vehicle Performance
17
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
18
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Additional Electronics
CP2102 USB to UART
Arduino Pro Mini
CP2102 USB to UART
19
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Addition
bull External GPS must mimic Parrotrsquos available GPS to preserve functionality bull NMEA message from the MediaTek 3339 must be converted to SiRF IV using
the Arduino Pro Mini
GPS
Arduino UART to USB AR Drone 20
20
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software Composition
Paparazzi
Paparazzi Center
Ground Control Station
Airframe Flight Plan
Flight Settings
Comm Telemetry Map Notebook Strips
Waypoint Editing
Flight Plan
Flight Settings Xml configuration files
GUI Elements
Software Programs
21
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Plan Flowchart
Initialization
RFI Zone Mapping Procedure
Exception Triggered
RFI Detected
Yes
Path
22
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation
Requirement Simulate a 100 mW GPS RFI device without transmitting any signals in the L1 band
Solution Use a modified Wi-Fi router to create a Wi-Fi band transmission with characteristics (power gradients and power received) identical to the proposed L1
RFI device
Definition Value
fWIFI Wi-Fi transmission frequency 24 GHz
fGPS GPS transmission frequency 1575 MHz
ptGPS Transmit power of specified RFI device 100 mW
PtWIFI Power required at fWIFI to simulate a 100mW GPS RFI device 232 mW
23
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Simulation bull L1 RFI is will be simulated
using a transmission in the Wi-Fi band (24GHz)
bull The Wi-Fi transmit power will be increased until the power curve matches that of a 100mW device transmitting in the L1-band (1575 MHz)
bull RSSI from the vehiclersquos on-
board Wi-Fi chip will then be monitored for changes in Wi-Fi power
All antennas assumed isotropic
24
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
Requirement Detect GPS RFI
Solution Monitor GPS AGC for deviations greater than 3σ from temperature-corrected nominal value
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
0 1 2 3 4 5
1180
1200
1220
1240
1260
1280
GPS AGC and Antenna Temperature
Time [days]
AG
C
0 1 2 3 4 5
5
10
15
20
Time [days]
Ante
nn
a T
em
pe
ratu
re
25
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull L1 RFI signal is injected into the RF stream of the GPS Module
bull An inline variable attenuator is used to decrease the attenuation on the false signal varied at fixed time intervals while AGC and position data are logged from the GPS chip
bull The data from the test are used to determine how much power must be injected to
1 Trigger a 3σ change in AGC 2 Invalidate the position solution
RFI Input
GPS Antenna To GPS
Attenuated RFI
26
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Ground test data are then used to compared direct injection lab tests to expected in-practice AGC values using the following equation
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain
RFI Input
GPS Antenna To GPS
Attenuated RFI
27
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection - Ground Data
bull Correlate direct injection results to free-air transmission
Pr Power received Pt Power transmitted c Speed of Light f transmission frequency d Distance from signal source Gr Antenna Gain bull Correlate GPS power Wi-Fi power
and AGC bull Map Wi-Fi ΔRSSI to ΔAGC
RSSI Received Signal Strength Indicator
RFI Input
GPS Antenna To GPS
Attenuated RFI
28
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Detection
0 1 2 3 4 51150
1200
1250
1300
1350
AGC Data
Time [days]
AG
C
AGC
2 sigma
3 sigma
1210 1220 1230 1240 1250 1260 1270 1280 1290 13000
05
1
15
2
25
3
35x 10
4 AGC
bull Even without temperature compensation it can be seen that RFI events will likely land outside of 3 sigma
bull By fitting a linear best fit line to the Temperature Vs AGC data a function describing the ldquoTemperature-correctedrdquo AGC value can be formulated
bull Taking this into account drastically changes the AGC distribution
29
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
GPS Ground Test Results
Flight Hardware
Baseline AGC
AGC with RFI
GPS Module
Wi-Fi Module
Flight Software
AGC Threshold
Wi-Fi Power to GPS AGC conversion
AGC Level Monitor
RFI Detected
YES NO
Mapping Mode
Mission Mode
RFI Block Diagram
GPS Solution
Wi-Fi RSSI
Nominal AGC Data
30
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Requirement Flight will not change the temperature of the GPS receiver by more than 10degC and the battery temperature remains
within operational limits(0 ndash 50 degC)
Solution Separate the GPS receiver from the battery
Battery Characteristics bull k = 254 WmK bull ρ = 139189 kgm3 bull cp = 920 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Receiver Characteristics bull k = 032 WmK bull cp = 600 JkgK bull A = 00033 m2 bull t = 0047 m
Frame Characteristics VeroWhitePlus Plastic bull k = 035 WmK bull ρ = 1175 kgm3 bull cp = 350 JkgK bull l = 141 m bull w = 049 m bull t = 0236 m
Component Thermal Properties
31
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Battery Frame GPS
Receiver
Thermal Circuit Air Convection Tinfin= 23degC hflight= 100 Wm2
hhover= 25 Wm2
119880 =1
119877119905119900119905119860=
1
119871119866119875119878119896119891119903119886119898119890
+119871119866119875119878119896119866119875119878+1ℎ119886119894119903
∆119879 =119902
119880119860
q Power Calculation Pflight = 197 W PHover = 150 W
Since AtopsgtgtAsides Ptop= P
2
Pgps_sees = 119875119905119900119901
119860119887119886119905119905119860119892119901119904 = q
qflight= 0039 W qhover = 0030 W
119877119905119900119905 =119871119891119903119886119898119890
119896119891119903119886119898119890119860119891119903119886119898119890 + 119871119866119875119878
119896119866119875119878119860119866119875119878 +
1
ℎ119886119894119903119860119866119875119878
32
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Quadrotor Flight Temperature
Steady State Temperatures
Material Battery ΔT from Ambient
GPS RX
ΔT from Ambient
Flight Temp (degC)
311 81 245 150
Hover Temp (degC)
357 127 291 610
Ambient temperature is 23 degC
33
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
119875119888
1198752
RFI Zone Mapping
Assumptions
bull RFI source antenna is omnidirectional
bull Antenna broadcast is free of interference
Relavent Equations
1198751 = 11990911199101 P2 =
11990921199102 1198753 =
11990931199103
119903 =1198751 minus 1198752 1198752 minus 1198753 1198753 minus 11987512 1198751 minus 1198752 times 1198752 minus 1198753
119875119888 = 1205721198751 + 1205731198752 + 1205741198753
120572 =1198752 minus 1198753
2 1198751 minus 1198752 ∙ 1198751 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120573 = 1198751 minus 1198753
2 1198752 minus 1198751 ∙ 1198752 minus 11987532 1198751 minus 1198752 times 1198752 minus 1198753
2
120574 = 1198751 minus 1198752
2 1198753 minus 1198751 ∙ 1198753 minus 11987522 1198751 minus 1198752 times 1198752 minus 1198753
2
1198751
1198753
119903
Requirement Vehicle will be capable of locating RFI source within 7 meters of true location
Solution Use triangular circumscribed circle to define radii and center point
34
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
No No No
Record Last Trusted GPS Location
Enter RFI Zone
Maintain Heading and Speed
Measure AGC Level and Record Time
AGC Level Acceptable
Re-acquire GPS
Turn 180o and Re-enter Zone
Maintain Heading and Speed
Record Time
Check if at Midpoint
Turn 90o Towards Center and Fly
Maintain Heading and Speed
Measure AGC Level
AGC Level Acceptable
Calculate Midpoint
Yes Yes Yes
Start
35
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping Sensitivity
1000 Simulations were conducted
Assumptions
bull GPS location error 0 minus 25119898
bull Vehicle Flight Speed 4119898
119904
bull Circle radii 100119898
Constraints
bull All points chosen must be 10 meters apart
bull Third point must be approximately (lt 3m differentiation) aligned with the bisector of the first 2 points
Results
bull 984 of 1000 satisfy center location requirement
bull Average flight time = 32 minutes
bull Average distance traveled = 521 meters
36
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
Requirement The ground station and the vehicle must remain in constant communication
Solution Use a pair of cellular modems as well as a proxy at CU Boulder to facilitate a constant connection
AR Drone connected to a cellular modem
Proxy at CU
Boulder
Ground station connected to a cellular modem
3G4G 3G4G
37
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Data Transmission
Invensense IMU ndash 3000
Front Facing Camera
Down Facing Camera
GPS Battery Levels
Needed Data Rate
Cellular Modem]
Data Rates
0131 MBs
05 MBs 0167 MBs 0075 MBs 0001 MBs
0874 MBs
15 MBs
Functions of sampling rate (IMU sampling at 05 s)
Assumed to be 13 of front facing camera because resolution is 120p at 60 fps vs front facing camerarsquos 720p at 30 fps Further testing is required to verify resolution
Data Transmission Rates of On-Board Electronics
38
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Requirement Quadrotor must be able to navigate when the use of GPS is lost and return ldquohomerdquo within the operatorrsquos sight range
Solution Perform dead reckoning using outputs from the vehicle
Time [s]
Spee
d [
ms
]
Velocity Estimation
AR Drone 20 contains built in sensor filtering and state estimation
39
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
GPS
401342 N
1503465 W
40
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
bull Heading bias 120579119887 = tanminus1 119909
3000 to return within 119909
meters of home 120579119887 asymp 2deg to return within 100 119898 radius of home
bull Velocity bias 119881119887 =119881
119889119909 to return within 119909 meters
of home
119881119887 asymp 0133119898
119904 to return within 100 119898 radius of home
assuming 119881 = 4119898
119904 119889 = 3000 119898
41
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation
Assumptions
bull Velocity assumed V = 4 119898
119904
bull 3000 m of travel bull Time to travel t = 750 s
bull 119891 =119873
119905asymp 2 119867119911 heading correction
frequency sufficient to land within 100 m of target
Error
119883 = 119881119905
119873sin120596119899119905
119873
119873
119899=1
119884 = 119881119905
119873cos120596119899119905
119873
119873
119899=1
|119916119955119955119952119955| = 119935120784 + 119936120784
42
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
Requirement ARDrone 20 shall fly 3 km from launch point loiter for 60 seconds then return 3 km to takeoff point
ARDrone 20 Capabilities
Manufacturer Claim 36 km max range (Cruise Speed 5 ms Flight Time 12 minutes)
Solution Increase power supply from stock 1000 mAh ARDrone 20 battery to Dynamite Speedpack Silver 4000 mAh battery ARDrone 20 stock outdoor hull
configuration weighs 424 g The new fully-loaded vehicle weighs 48242 g
43
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Power)
Estimating Current Draw
STEP 1 Find current during hover STEP 2 Find flight angle at designated speed
Weight
Ampshover
Thrust
A
Battery Pack
Angle
Weight Thrust
119860119898119901119904119891119897119894119892ℎ119905 = 119860119898119901119904ℎ119900119907119890119903cos 119860119899119892119897119890
Velocity
44
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass)
Component Mass [g] Percent of Stock Mass (424 g) []
Outdoor Hull
32 755
1000 mAh Battery
101 2382
Stickers 10 236
USB Port 118 028
Navigation Boards
6107
1440
Battery Housing
3325 784
Structure Frame
6125 1445
Cross Strut 12425 2930
TOTAL 424 100
45
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) Component Mass [g]
Percent of Stock Mass (48242 g) []
Custom Battery Case
386 800
Speedpack Battery
225 4664
Cross Strut 12425 2576
Navigation Boards
6107 1266
MediaTek GPS 25 052
Arduino Pro Mini
2 041
USB to UART 10
2028
Cell Modem 19 394
TOTAL 48242 100
46
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
VeroWhitePlus RGD835
Density1175119896119892
1198983
47
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance (Mass) AR Drone Mass Budget
Additional Components Unrequired Stock Components
Component Mass [g]
Custom Battery Housing 3860
MediaTek 3339 GPS AntennaReciever
25
Speedpack 4000 mAh Battery 225
Arduino Pro Mini 2
CP2102 USB to UART 10
Cell Modem 19
TOTAL 2971
Component Mass [g]
Outdoor Hull 32
1000 mAh Battery 101
Stickers 10
USB Port 5
Battery Housing 3325
Structure Frame 6125
TOTAL 2425
Final Mass 48242 [g] 11378 [ of stock]
Required Stock Components Cross Struts and Navigation Board
48
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance
High Performance Rotary Package
Design (All Purchased)
bull Replacing existing pieces with lighter gears pinions and shaft
bull Replacing bushings with ball bearings
bull Adding high performance oil to bearings
Result
bull Motor draws 12 less current during flight
bull 6135 A -gt 5478 A in flight
bull 5313 A -gt 47439 A during hover
bull Increases range by 6985 m
49
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Vehicle Performance Modeling
119929119938119951119944119942 = 119933119943119949119946119944119945119957119914119939119938119957119957119942119955119962 minus 119920119942119949119942119940119957119955119952119951119946119940119956 119957119956119942119938119955119940119945 + 120784119957119945119952119959119942119955 minus 119920119943119949119946119944119945119957119957119956119942119938119955119940119945 minus 119920119945119952119959119942119955120784119957119955119942119940119952119959119942119955
119920119943119949119946119944119945119957 + 119920119942119949119942119940119957119955119952119951119946119940119956minus 119915119946119956119957119938119951119940119942119950119938119953
Parameter Value
119881119891119897119894119892ℎ119905 4 ms
119862119887119886119905119905119890119903119910 4000 mAh
119868119891119897119894119892ℎ119905 5478 A
119868ℎ119900119907119890119903 4744 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119905search 60 s
119905119903119890119888119900119907119890119903 3-30 s
119863119894119904119905119886119899119888119890119898119886119901 0521 m
Electronics Value
119868119866119875119878 0075 A
119868119880119878119861 005 A
119868119860119881 025 A
119868119872119862 016 A
119868119862119890119897119897 025 A
119868119890119897119890119888119905119903119900119899119894119888119904 0785 A
119877119886119899119892119890 6385km
500
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Risk Matrix
SDSS RISK ASSESSMENT MATRIX
Severity
Likelihood Negligible Marginal Critical Catastrophic
Frequent bull Communication failure
Probable bull Sensors inadequate for return home requirement
Occasional bull Range requirement takes too much power
Remote bull Custom Hull fractures on impact
bull Over Budget bull Canrsquot reserve test location
bull RFI source location error too large due to RSSI resolution
Improbable bull Cannot operate kill command in GUI
bull Vehicle too heavy for control algorithm stability
bull COA Denied
bull Cannot inject autonomous navigation info into existing firmware
Unacceptable Acceptable with Mitigation Acceptable Inconsequential
511
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
522
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Mapping Verification
Increase Power of Wifi Transmitter
Fly Drone into RFI Zone Map the Area Compare the Center and Power
Gradient of the Zone as Determined by the Drone to
that of the Actual Setup
Calculated RFI source Location
Actual RFI source Location
Relay 3 GPS coordinates to ground station
533
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Inertial Navigation Verification
401342deg N
1503465deg W
Navigate Home Inertially
Define ‟Homerdquo Location
119877119904119906119888119888119890119904119904
Equipment Needed bull AR Drone 20 bull Extended Tape Measure bull GPS receiver Key Measurements bull Final Distance from target bull Vehicle IMU reported
velocity rotation time
119889
Allow drone to acquire current GPS
location
119877119886119888119905119906119886119897
119877119904119906119888119888119890119904119904 = 100119898
119877119886119888119905119906119886119897 lt 119877119904119906119888119888119890119904119904
Test 119889 = 05119896119898 1119896119898 2119896119898 3119896119898
544
Agenda Project
Description
Design Solution
Critical Project Elements
Satisfying Requirements
Risks
Validation and Verification
Project Planning
555
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Breakdown Structure
56
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Work Plan
Indicates Precedence
57
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Cost Plan Navigation Electronics
$49626 10
Hardware Upgrades $4339
1
Laptop $73000
14
[CATEGORY NAME]s [VALUE]
[PERCENTAGE]
Fuselage $24000
5
Power $9315
2
Communication $73998
15
Margin $162475
32
SIVAQ Budget ($5000)
58
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Test Schedule
Individual Subsystem Tests
RFI
COMMS
Software
RFI Injection Test
Wi-Fi RSSI Resolution Test
Nominal AGC Test
Wi-Fi Power Gradient Test Latency Test
Processing Power Test Waypoint Navigation Test Dynamic Waypoint Test
RFI Detection Test Inertial Navigation Test
Safe-to-Integrate Checks Combined Subsystem Tests System Tests
RFI Mapping with Wi-Fi Zone Test
Ground Station Waypoint Flight Test
Final Mission Test
December
Early February ndash IR1
Early March ndash IR2
April ndash Full System Delivery
59
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
References 60
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Conceptual Design Documentrdquo University of Colorado Department of Aerospace Engineering 30SEP2013
Brennan Gentile Hillery Miekle Overcash Rivera Sissom Wiesman Zhu ldquoSIVAQ Project Definition Documentrdquo University of Colorado Department of Aerospace Engineering 23SEP2013
ldquoTechnical Specifications State of the Art Technologyrdquo Parrot AR Drone 20 [httpardrone2parrotcomardrone-2specifications]
Akos D M ldquoWhorsquos afraid of the spoofer GPSGNSS spoofing detection via automatic gain control (AGC)rdquo Navigation 59(4)281ndash290 2012
ldquoCOA Notesrdquo 19SEP2013 [httpsrecuv-opscoloradoeduprojectsfaa_coawikiHow-to-Obtain-a-COA]
Garrock ldquoWheel Antenna Mod ndash Significant Wifi Performance Upgraderdquo Parrot AR Drone amp AR Drone 20 Forum 18JUL2012 [httpforumparrotcomardroneenviewtopicphpid=6721]
Parrot AR Drone amp AR Drone 20 Forum [httpforumparrotcomardroneenviewtopicphpid=6721]
Verbatim USB Storage Website ldquo16GB - TUFF-N-TINYtrade USB Driverdquo Copyright copy2013 [httpwwwverbatimcomprodusb-driveseveryday-usb-drivestuff-n-tiny-sku-97168]
ldquoPyPy Speed Centerrdquo [httpspeedpypyorg]
Full Blown Hucker ldquoTU Delft ndash Search and Rescue with AR Drone 2rdquo MultiRotorForumscom OCT2012 [httpwwwmultirotorforumscomshowthreadphp9288-TU-Delft-96-Search-and-Rescue-with-AR-Drone-2amps=f93bdfa922cee6524313f08fe267be6800]
Bristeau P J Callou F Vissiegravere D Peiti N ldquoThe Navigation and Control technology inside the ARDrone micro UAVrdquo [httpcasensmpfr~petitpapersifac11pjbpdf]
Texas Instruments ldquoAM335x-PSP 04060008 Features and Performance Guiderdquo [httpprocessorswikiticomindexphpAM335x-PSP_04060008_Features_and_Performance_GuideEthernet_Driver]
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
BACKUP SLIDES
61
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Baseline Vehicle Hardware[3]
Memory DDR2 RAM
200 MHz clock
Wi-Fi Atheros AR61036 chipset
24 GHz Tx frequency
Forward facing camera
93deg wide angle lens 720p
30fps recording speed
Motor Controller (x4)
USB port 400 Mbs
Downward facing camera
QVGA 64deg diagonal lens
60 fps recording speed
Navboard
Altimeter Barometric pressure
sensor plusmn 10 Pa precision
Ultrasound 6 m precision
Accelerometer 3 axis
plusmn 50 mg precision
Magnetometer 3 axis
6deg precision
Motherboard
Motor (x4) Brushless
145 Watts 28500 RPM
Microball Berings
Nylatron Gears
IMU Invensense IMU-3000
Contains 3 axis gyro and input for 3-axis accelerometer
Microprocessor 32 bit ARM Cortex A8
1 GHz clock
Microprocessor 16 bit PIC
40 MHz clock
Battery Lithium Polymer
1000 mAh capacity
Solder Connection
Pin Connection
62
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Receives all frequencies within the antennarsquos bandwidth bull Approximately L1 plusmn 10 MHz bull Incoming GPS signal below thermal noise floor
1565 MHz 1585 MHz L1 1575 MHz
Low Noise Amplifier (LNA) bull Bumps everything in received bandwidth to higher power
1565 MHz 1585 MHz L1 1575 MHz
63
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
Filter narrows bandwidth of incoming signal closer to expected L1 carrier frequency
1565 MHz 1585 MHz L1 1575 MHz
Mixer takes filtered signal and mixes it with a signal produced by a stable oscillator
bull Phase Lock Loop (PLL) ensures phase of signals is matched before mixing
Mixed L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
64
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Component Breakdown
A second filter limits the incoming signal to the bandwidth accepted by the ADC
L1 ndash 119891119879119862119883119874 L1 + 119891119879119862119883119874 L1 0
ADC limiting BW
L1 ndash 119891119879119862119883119874 0
ADC limiting BW
A Variable Gain Amplifier (VGA) takes input information from ADC and amplifies the incoming signal for optimal ADC sampling
+2
-2
What the ADC wants Not good Not good
+2
-2
+2
-2
65
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
8 bit ADC samples signal at expected rate to extract GPS information bull VGA must amplify signal such that ADC samples a Gausian
Distribution of bins
Too much gain Too little gain Ideal gain
Component Breakdown
Automatic Gain Control takes gain information from ADC (above) and feeds it back to the VGA such that the VGA can change the gain necessary to allow for Gaussian distribution of samples in ADC bull AGC will change when an RFI event occurs otherwise AGC
levels are expected to be constant
AGC
66
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 67
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software 68
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Flight Plan
Waypoints Blocks
Sector Initialization Exception Deroute Loop Navigation
Modes
Shape Path Go Maintain Heading
Maintain Attitude
Procedure
bull Our flight plan will consist of Initialization block Path Procedure and Sector
bull An exception triggered by AGC will use the Deroute option to initiate the mapping Procedure
Maintain Altitude
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Flight Software
Parrot AR Drone SDK 20 Architecture
bull ARDrone 20 Library bull SOFT
bull Header bull Libardrone_tool bull Libutils
bull FFMPEG bull ITTAIM bull VPSDK
bull VPSTAGES bull VPOS bull VPCOM bull VPAPI
bull ARDrone 20 Tool bull AT command management thread bull Navdata management thread bull Video management thread bull Video recorder thread bull Control thread
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Ground Station Design
Clickable Map Front Facing Camera
Kill Command
Navigation Data
Velocity Heading Coordinates
GPS Integrity and Communication Monitor
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Command Center
bull Application is built in C++ and runs on Linux
bull Software is comprised of custom code the QGroundControl core and potentially other libraries (ie MAVLink for communication)
bull Ground station uses wifi to connect to the internet to stream map data and to communicate with the drone
Linux Computer
QGroundControl
MAVLink QGCCore
ARDrone 20
Online Map Data Other
Libraries
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mainboard
RF Close-up
RF Cable Mount
73
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Modification
Mod with RF cable installed
Final Product
74
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Wi-Fi Router
Wi-Fi Router
Variable Gain Amplifier
Wi-Fi Antenna
bull Wi-Fi router transmits a 24GHz signal through the external antenna output
bull A variable gain amplifier is used to increase the gain based on the antenna gain to achieve the desired power output of 232 mW
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Loiter Mode and Camera Coverage
Duration 1 minute (customer requirement)
bull Altitude 223 m
bull Ground Coverage 6400 m2
bull Distance Traveled
240 m
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Parrot GPS Flight Recorder
bull Contains SiRF IV GPS chip bull Native programelf can be launched to log and
output GPS information
77
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
Solution Fly around zone implementing perpendicular bisectors using past points
No RFI
RFI Detected
Capture Zone
n n+1
n+2
Start
Finish
Nominal Mapping Level
Step 1 Detect RFI Event
Step 2 Fly to Nominal Mapping Level
Step 3 Temporarily Alter Flight Controls to Keep Antenna Pointed at Center
Step 4 Fly Along Perimeter at a Certain AGC Value
Step 5 Calculate Center of Circle Using Current GPS Position and Past Positions
Step 6 Determine if 95 of Calculated Centers are Within 7 meters of Each Other at Each Point
Step 7 Exit Mapping Mode and Continue Mission
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
RFI Zone Mapping
MATLAB Simulation Results
Assumptions
bull Constant vehicle speed = 120786119950
119956
bull Constant gradient in all directions bull Vehicle is able to orient itself towards center Results bull 100 of maps satisfy requirements bull Average mission time = 198 seconds bull Average distance traveled = 7917 meters
Risks bull More processing required than 3 point method bull Safe RFI zone may not exist
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Long Range Communication
bull Timing analysis was done though the use of ipbench and inetd
bull One-way trip time was measured across a 3G and 4Gl
bull Average time was 147ms for 3G and 75ms for 4g
bull Expected RTT between the drone and the drone falls between 150-300 ms
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Antenna Pattern Test
Requirement Detect GPS RFI before GPS solution is compromised Need Ability to characterize the antenna pattern of a 232 mW Wi-Fi antenna
Test Set-up bull 232 mW omnidirectional Wi-Fi antenna will be elevated 1 m from the ground to
remove ground effects bull The drone will be placed 150 m from the Wi-Fi antenna as most jammers have a 100
m RFI zone radius bull Antheros AR Wi-Fi receiver that resides on the drone will be used to read the power of
the broadcasting Wi-Fi signal bull A tape measure will extend from the Wi-Fi antenna to the drone Procedure bull Power on Wi-Fi antenna to begin broadcasting Wi-FI bull Walk the drone towards the Wi-Fi antenna while measuring the strength of the signal
in dB This will be done in 5 m increments until the Wi-Fi antenna is reached bull Correlate this data with the RFI injection test to obtain the zone that will trigger RFI RisksErrors bull Accuracy is defined by the resolution of the Atheros AR Wi-Fi receiver
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Communications Range Test
Requirement The ground station and the vehicle must remain in constant communication
Need Knowledge of maximum data rates and latency using CU Boulder Proxy
Test Set-up bull Configure the ground station to use the cell modem The same must be done to the
drone with its own cell modem bull Port forward the ground station to the drone through the CU Boulder Proxy already
created bull Two extra computers with the ability to run wireshark One placed at the ground
station and the other in proximity to the drone Procedure bull Run a speed test on the proxy connection using a browser based
program(httpwwwspeedtestnet) to obtain total data rates bull Measure both sides of communication during autonomous flight using wireshark RisksErrors bull Drone cuts communication after 2 seconds of silence so latency must be better than
that bull Minor errors will be present in packet loss and low resolution of browser speed test
Introduction Project
Description Design
Solution Critical Project
Elements Satisfying
Requirements Risks
Validation and Verification
Project Planning
Conclusion
Processing Power Test
Requirement Must have processing power for autonomous flight
Testing Plan bull Fly the drone through various phases of flight waypoint to waypoint loiter and
mapping bull Log processing power for each of these phases
