Team Chopper
Subterranean Mapping performed by co-operative helicopters
Shirley Choi
Bejan Hafezzadeh
Joseph Kaiser
Sean Norwood
Itay Tenne
Introduction
• Subterranean
Mapping
• Autonomous Cooperative
Helicopters
• Avionics System
• Can Avionics
Interface Board
(CAIN)
System Overview
Satellites
INS
Flight
Computer
RS232
Interface
Board
IMU
Pressure Sensors
GPS
RS644
RS232
RS232
Interface
Board
Interface
Board
Magnetometer
RS232
Interface
Board
Interface
Board
Power Generator
Power Board
CAN Multi-Drop Bus
All Boards
Interface
Board
Interface
Board
Interface
Board
Servo Isolation
RS232
On board
Radio
RS232
Servo battery
PWM signals
Servos
RC receiver
For test
and debug
Host PC
for COM and
configuration
Ground Radio
RC Transmitter
USB
To GPS
Multi-Drop Bus
Error Correcting
GPS
Helicopter’s On-board Devices
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CAIN Boards
586-Engine-P (Flight computer)
Servos
IMU
RC receiver
GPS
CAIN BOARD
• Chopper Avionic Interface Node
• Interfaces between the CAN bus and the
individual devices.
• Built around an Atmel Processor
• Contains UARTs(RS-232), PWM
generators, Digital Output and Inputs
• Individually programmable
CAIN Board Block Layout
TWI/SPI
ADC
addr
ISP
JTAG
Addr/data
RS232
RS232
CAN transceiver
/
CAN bus
NV RAM
Atmel
RS644
AT90CAN128
EEPPOM
LEDs
PWM
(6 channels)
Jumpers/Selectors
586-Engine-P
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Main processing unit for the helicopter
Based around an AMD 586 processor
On board CF memory card reader
Will read the sensor inputs from on-board
devices and RC controller and send
corrected signals to the servos
• Will include the control law to perform the
augmented control on the helicopter
Servo
• A servo is used to mechanically control the
helicopter
• It is controlled by PWM signals produced by errorcorrected signals from the remote-controller unit
IMU
• An Inertial Measurement Unit gives 6 key
measurements of the helicopter
• These measurements are sent to the flight
computer via the CAN bus
• The flight computer processes this
information for error correction
RC receiver
• A remote controller (RC) is used to control
the orientation of the helicopter
• The RC receiver receives human input
signal
• Signal decoded through CAIN board
– Sent to servos for full manual control
– Or, dispatched on CAN bus to be processed
by augmented control system
GPS
• GPS unit on helicopter provides flight
computer with latitude, longitude, and
altitude measurements
• The GPS used for fully autonomous flight
Risk Analysis
• Power consumption on board
• Control loop (simulation)
• Noise
– EMI, Cross-Talk, ESD
• Physical vibration
• Time delay (transmission)
Contingency Plan
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Shopping cart
Powered by batteries
No control loop (manually driven)
PCBs spaced out – less noise
Minimized physical vibration
Part List
Provided by Prof. Meyer:
Parts
quantity
Parts
quantity
Total Cost
Chopper
1
RC helicopter
1
$500.00
Digital Servos
1
AT90CAN128
6
$100.00
586-Engine-P
1
CAN Transceiver
6
$11.00
EEPROM
4
$40.00
SRAM
4
$16.00
12 MHz oscillator
4
$16.00
R/C components
/
$100.00
6 layer PCB Fabrication (4
boards)
/
$730.00
PCB population (4 boards)
/
$560.00
Flight box
1
$300.00
GPS
1
STK500
development board
2
RC receiver
1
Shopping Cart
1
12V battery
2
Total: $2373
Schedule
Future Development
• CAIN is versatile, it is capable of interfacing with
unknown devices.
• More modules
– Pressure sensor
– Magnetometer … etc
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pre-filtering data on CAIN
Development of the multi-master model
Implement advance control system
Path finding ability