1
Project BLISS
Boundary Layer In-Situ Sensing System
Customer
Dr. Suzanna Diener
Northrop Grumman
Faculty Advisor
Dr. Donna Gerren
Team
Kyle Corkey
Devan Corona
Grant Davis
Nathaniel Keyek-Franssen
Robert Lacy
John Schenderlein
Rowan Sloss
Dalton Smith
2
Outline
• Project Overview
• Major Changes and Status Update
• Manufacturing Status
▫ Mechanical
▫ Electrical
▫ Software
• Budget Update
3
Motivation
• Northrop Grumman Atmospheric Boundary
Layer Model Verification
▫ Boundary layer inertial wind data, cloud base
altitude used in verification
• Boundary Layer Wind Model Applications:
▫ Airborne pollution monitoring
▫ Prediction of forest fire advances
▫ Facilitating soldiers in battle
4
Project Deliverables
• 3-Dimensional U-, V-, Winertial wind vector data inside
the measurement cylinder
• Cloud base altitude and cloud
footprint data above the
measurement cylinder
Measurement Cylinder
5
Levels of Success
Delivery System
Level 1:
Certified to operate in an
airspace defined as a
cylinder with a 100 meter
radius and 200 meter
height above ground level.
Level 2:
Executes flight plan following
points spaced no more than
30 meters apart spanning the
defined airspace.
Level 3:
Execute level 2 flight
plan with Measurement
System onboard and
collecting data
Motivation: The measurement system needs to be
transported through the measurement cylinder to meet
special and temporal requirements.
6
Levels of Success
Measurement System
Level 1:
Wind measurement system
collects relative wind data
with resolution of 0.1
meter/second.
Level 2:
Post-process the relative
wind data from a ground test
to compute the U, V, W
inertial wind velocity vector
components.
Level 3:
Deliver U-, V-, W- inertial
wind velocity vector field
with temporal and spatial
location for each
measurement.
Motivation: Provide Northrop Grumman with data
precise enough to verify a boundary layer wind model.
7
Levels of Success
Cloud Observation System
Level 1:
Image the cloud footprint
above a 100 meter radius
cylinder at 1/4 Hz for a 15
minute period.
Level 2:
Level 3:
System is tested in full scale Deliver time-stamped cloud
to take distance
footprint images and cloud
measurement with less than base altitude measurements
10% error up to 2km
at 1/4 Hz during the 15
minute test period.
Motivation: Provide Northrop Grumman with cloud observation
data to correlate with wind vector field measurements.
8
Concept of Operations
Legend
Airspace Test
Volume Subject
To Modeling
Within
Project
Scope
In-Situ Relative Wind
Velocity Data
Collection and Cloud
Imaging
NG model
wind vector
100 m
200 m
200 m
200 m
200 m
Northrop
Grumman
Wind Model
Results
100 m
100 m
100 m
200 m
100 m
Inertial Wind
from In-Situ
Data and Cloud
Base Altitude
Physical
Wind
Vector
Wind Vector and
Cloud Data Used to
Verify Northrop
Grumman Model
Wind Vector
of in-situ
data
9
Experimental
Setup
Legend
BLISS Measurement
and Delivery System
Data points –
Spaced at most
30m radially in
3D space
Cloud observations
constrained to the
measurement
cylinder’s vertical
projection
100 m
Physical Wind
Velocity Vector Field
(u-,v-,w-)
Cloud Observation
System stereovision
cameras
Atmospheric clouds
located high above
test volume
200 m
≤ 30 m
In-Situ relative wind
velocity data collection
10
Functional Block Diagram
Northrop
Grumman Wind
Model
GPS
Power
Module
Inertial
U-,V-,WWind Vector
Field
GPS
Coordinates
14.8V
5V
Speed
Controller
Serial
Command
PWM
PWM
Pixhawk Flight
Controller
Flight Path
Waypoints
14.8V
Electrical Power
System
Post Processing
Algorithm
5V
Raspberry Pi
Delivery System
Aircraft
State &
Wind
Pressure
Motor
SD Card
Measurement System
Aircraft State
& Wind
Pressure
9V
Arduino Due
Electrical Power
System
Analog
Voltage
Inertial
Navigation
System
SPI
Thermistor
Analog
Pressure
Transducers
Air
Pressure
5-Hole Probe
Elevon
Servos
Manual
Commands
Antenna
Relative
Wind
The Measurement
System is packaged
in the Delivery System
11
Functional Block
Diagram Continued
X
Cloud Base
Camera Field
of View
Camera Field
of View
Northrop Grumman
Wind Model
Battery
Cloud Base Altitude
& Footprint
Computer with Post
Processing Algorithm
Power
Power
Vertical
Camera
.RAW Image
Left and Right
.RAW Images
Internal SD
Card
Vertical
Camera
.RAW Image
Internal SD
Card
Cloud Observation System
Battery
12
Critical Project Elements
CPE
Requirement
Motivation
Status
Obtaining a COA
4.1.1
UAV cannot legally fly without a COA
Obtained in 12/2014
Rapid Prototyping 5-hole
probe
1.2
Used to measure wind
Completed 1/23/15
Calibrated 5-hole probe
1.2.3
Need to geometrically calibrate the
probe to accurately measure wind
Calibration to be
conducted 2/10-3/6
Aircraft State Knowledge
1.2.2
Needed to convert relative wind to
inertial wind
INS microcontroller code
in development, behind
but will finish on schedule
Flight Path
1.1.1.1, 3.1
To meet required spatial and temporal
measurement resolution
Code currently in
progress, on schedule
Cloud Observation
Algorithm
2.2.2
Deliver cloud data within required
error bounds
Phase 1 completed
12/2014. Final code
scheduled 3/2–3/15
13
Probe Calibration with Wind Tunnel
• Calibration jet will no longer be used:
▫ Difficult to create and verify the needed top-hat
profile
▫ Cannot quantify uncertainties of the flow
▫ Significant man hours in manufacturing
▫ Material cost is preventative
Overview
Schedule
Mechanical
Electrical
Software
Budget
14
Probe Calibration with Wind Tunnel
• To calibrate the 5-hole probe
within requirements, the
wind tunnel flow must be
known to:
Probe tip
β
▫ V∞ to ±0.56 m/s
▫ α to 3.44°
▫ β to 2.97°
V∞
α
w
u
v
Overview
Schedule
Mechanical
Electrical
Software
Budget
15
Wind Tunnel Test
• Traversed a Pitot-static probe in
X, Y Plane and a Z axis in 15 m/s
and 25 m/s wind
• Visualization of probe traverse
Y isOrigin
Vertical
298mm from
Pitot
Probe
End of Test Section
Y
Origin
165mm
from
base
266 mm
Z Traverse
80 mm
Vertical
Traverse
Z
X
150 mm Horizontal
Traverse
Mounting
Plate
Wind Direction
Overview
Schedule
Mechanical
Electrical
Software
Budget
16
Wind Tunnel Data for Changing X-Position
Viewed from Side
Slope = 0.000254 (m/s)/mm
x=0
x=
mm
20 mm
Y
Wind Direction
Z
X
Overview
Schedule
Mechanical
Electrical
Software
Budget
17
Wind Tunnel Data for Changing Y-Position
y = 160 mm
Viewed from Side
Y
Z
Slope = -0.000374 (m/s)/mm
Wind Direction
X
Overview
Schedule
Mechanical
Electrical
Software
Budget
18
Wind Tunnel Data for Changing Z-Position
Viewed from Top
• Z-position was traversed at
one x, y pair.
▫ Test setup physically
limited by the hole in side
wall of tunnel
• Total of 21 positions at ½’’
increments from wall to
wall in tunnel
Y
X
Z
Wind Direction
Overview
Schedule
Mechanical
Mean Velocity
Standard Deviation
25.07 m/s
0.0487 m/s
Electrical
Software
Budget
19
Wind Tunnel Conclusions
• Velocity gradient is negligible in X,
Y and Z across tunnel.
▫ Significantly less than required 0.56
m/s for 5-Hole Probe Calibration.
▫ No outliers from the standard
deviation
Axis
Average
Velocity (m/s)
Maximum Standard
Deviation (m/s)
X
24.97
0.0684
•
Flow angularity is difficult to test
•
Solution: Test with calibrated 5-Hole Probe
▫
▫
▫
•
Solution: Make assumptions using our probe
▫
▫
•
24.97
0.0767
Z
25.07
0.0487
Overview
Schedule
Mechanical
Electrical
Rotate the probe in X – Axis, parallel to flow
See if raw data is consistent
Offramp: Assume angularity is negligible in α
and β
▫
Y
Only 2 known on campus
RECUV – Recently Damaged
GoJett – On Backorder
Angularity of α = 3.44° and β = 2.97° are very
reasonable with such a small pressure gradient
Software
Budget
20
Mechanical Phase 1
Schedule Overview
Measurement
System Test Phase
Software
Phase 2
Systems
Phase 2
Systems
Phase 1
Electrical
Phase 1
MSR
Hack
Cameras
Software Phase 1
Overview
Schedule
Mechanical
UAV Test
Phase
TRR
Mechanical
Phase 2
Electrical
Final Test
Phase
Cloud Observation
Test Phase
Software
Budget
21
Detailed Schedule Through TRR
•
Switching to wind tunnel
reduced manufacturing man
hours by 4 weeks of work
▫
•
•
•
Electrical complete
Delivery system software is
ahead of schedule
INS microcontroller code
behind schedule
▫
▫
•
~1-2 days of work remain
Due to shipping time and
resources devoted to
pressure transducers
Devoting extra man hours
to catch up
Calibration is still on
schedule to begin 2/10
MSR
TRR
22
Detailed Schedule After TRR
TRR
23
Mechanical Components
Component
Status
Rapid Prototype 5-hole
probe
Completed 1/23/15
Wind Tunnel Calibration
Stand
Expected Completion
2/6/15, on schedule
Integrate Potentiometers,
Assemble Stand
Skywalker X-8 Assembly
Wing assembly complete.
Fuselage assembly
rescheduled.
Integrate UAV probe
mount into fuselage, Glue
fuselage together
Overview
Schedule
Mechanical
Electrical
To Do
Software
Budget
24
5-hole Probe Status
• The 5-hole probe was rapid
prototyped by Protogenic on
1/23/15
▫ Holes are clear and unobstructed
of material
• Next Steps:
4.25 in
▫ Insert stainless steel tubing into
the back of the probe
▫ Connect pressure transducers
▫ Begin probe calibration
• Expected Completion: 2/6/15
Overview
Schedule
Mechanical
Electrical
Software
Budget
25
Wind Tunnel Calibration Stand Status
5-Hole Probe
Roll Potentiometer
Wind Tunnel Base
Turntable Locking
Mechanism (2x)
Yaw Potentiometer
Yaw Plate Sits
Flush With Wind
Tunnel Base
Turntable to Move
Probe in Yaw
• All metal components have
been machined
• Two parts will be 3D printed
by Friday (2/6)
• Potentiometers will be
delivered on 2/3
• Next Steps:
▫ Interface potentiometers w/
Arduino
▫ Assemble stand
▫ Begin probe calibration
• Expected Completion: 2/6/15
Electronics Plate
Overview
Schedule
Mechanical
Electrical
Software
Budget
26
Skywalker X-8 Assembly Status
• Wing assembly is complete
• The fuselage assembly has been
rescheduled until the probe mount is
inserted
▫ UAV probe mount would be easier to
insert before complete assembly
▫ Not critical that assembly is done now
• Next Steps:
▫ Mount probe in Skywalker
▫ Integrate delivery and measurement
system components into UAV
• Expected Completion: 3/20/15
Overview
Schedule
Mechanical
Electrical
Software
Budget
27
Electrical Components
Arduino Due Interfacing with:
Status
Transducers: 5 Differential & 1 Absolute
Complete
Inertial Navigation System
In Progress
Interface with GPS antenna,
error checking logic, integrate
into to final script
Thermistor
In Progress
Error checking logic, integrate
into to final script
Potentiometers
In Progress
Error checking logic, integrate
into to final script
Overview
Schedule
Mechanical
Electrical
To Do
Software
Budget
28
Pressure Transducers
• Transducers soldered to Vectorbord
• Successfully communicating with
Arduino Due
• Arduino code written for calibration
• Arduino code ready for final flight
implementation
• 12-bit resolution voltage written to
SD card text file
• Next Step:
▫ Integrate into final script
▫ Integrate transducers to 5-Hole Probe
Overview
Schedule
Mechanical
Electrical
Software
Budget
29
Inertial Navigation System (INS)
• Received INS pre-soldered to
breakout board
• Communicating with Arduino over
SPI
• Code currently written to collect:
▫ Roll, Pitch, and Yaw
▫ Angular rates
• To do:
▫ GPS interfacing – 2 weeks
▫ Error checking logic
▫ Integrate into final script
• Expected Completion: 2/16/15
Overview
Schedule
Mechanical
Electrical
Software
Budget
30
Software Components
Component
Status
To Do
Autopilot Software
In Progress, On Schedule
Code flight path into Mavlink
Messaging Protocol
Software in the Loop
(SITL)
Setup Complete, Ahead of
Schedule
Run simulation with
multi-phase flight path
Cloud Observation
Algorithm
In Progress, not scheduled
until 2/23
Improve algorithm with
large scale test data,
automate the computation
process
Overview
Schedule
Mechanical
Electrical
Software
Budget
31
Autopilot Software
• Goals:
▫ Dynamically create flight path
around an arbitrary GPS coordinate
▫ Simulate Skywalker in the flight path
with a Software in the Loop
simulation.
▫ Program flight plan onto Pixhawk
Autopilot
Overview
Schedule
Mechanical
Electrical
Software
Budget
32
Autopilot Software
Data
Collection
Location
Flight Path
Waypoints
Reference
Coordinates of
Data
Collection
Cylinder
Matlab Script
to Build
Flight Path
Waypoints
Around
Reference
Coordinate
Completed
Overview
Schedule
Multi-Phased
Flight
Algorithm
SITL
ArduPlane
Simulation
Flight
Path
Error
Flight Plan
Algorithm
uses Aircraft
State to
Progress
through
Multi-Stage
Flight Plan.
Simulation of
Flight Path
Using MultiPhase Flight
Plan
Matab Script
to compare
Expected to
Actual Flight
Path to Meet
Spatial
Resolution
Requirement
In Progress
Mechanical
Electrical
Software
Budget
33
Software in the Loop
Airspeed
Altitude
• Current Functionality:
▫ Take-off and Landing
▫ Commanding of waypoints and
loiter points to a sample aircraft
• Next Steps:
▫ Setup configuration file to define
Skywalker X8
▫ Conduct a full mission simulation
▫ Program code onto Pixhawk
▫ Hardware testing
Overview
Schedule
Mechanical
Electrical
Software
Budget
Roll &
Pitch
34
Cloud Observation System
• Rescheduled to begin on 2/23
▫ Initial camera was only supported in beta with
CDHK firmware hack
 Difficult porting process, low success rates
▫ In the process of finding a replacement camera
 Constrained by resolution and price
Overview
Schedule
Mechanical
Electrical
Software
Budget
35
Budget Update
•
•
•
•
•
Estimated Expenses at time of CDR: $4708.29
Total Expenditures thus far: ~ $4125
Remaining Margin: ~ $875
Notable savings from shipping budget allocation
Additional small purchases have led to an increase in spending
Budgeted
Delivery System
Difference
$
1,265.00
$
1,061.62
$
203.38
Measurement System $
2,562.47
$
2,412.90
$
149.57
Cloud System
$
355.97
$
241.90
$
114.07
Shipping
$
500.00
$
73.10
$
426.90
-
$
319.97
$
-319.97
$
874.61 $
582.90
Additional Expenses
Margin
Overview
Actual
Schedule
$
Mechanical
292
Electrical
Software
Budget
36
Budget Update
Expenses To Date
Cloud System, $241.90
Future Expenditures
Shipping, $73.10
Additional Expenses, $319.97
Measurement
System,
$2,412.90
Replacement Materials,
$100.00
Delivery System,
$1,061.62
Overview
Remaining Funds,
$524.61
Margin,
$874.61
Schedule
Mechanical
Printing, $50.00
Additional Hardware,
$100.00
Electrical
Software
Poster, $100.00
Budget
37
Recap
• Mechanical components are all on schedule
▫ Calibration will still start on schedule on 2/10
• Electrical components are complete except for the INS
microcontroller code and camera firmware hack
▫ INS development is behind schedule but will catch up this week with
Bobby Lacy free of additional tasks
▫ Cloud observation camera firmware hacks will begin 2/23
• Software is on schedule
▫ Software in the loop is set up
▫ Next step is testing flight path in software in the loop setup
• Current margin for the project is $874.61
▫ Projected final margin of $524.61
38
Acknowledgements
• We would like to thank all of the PAB, our
advisor Dr. Gerren, our customer Dr. Diener
from Northrop Grumman, Trudy Schwartz,
Bobby Hodgkinson, Dr. Farnsworth, Matt
Rhode, and James Mack for all their help in
preparation for this MSR.
39
Questions?
40
Back Up Slides
41
Contour Plot of Velocity in X, Y Space
• Gradient scale is within our
uncertainty requirement of
±0.56 m/s
Wind Direction
Y
Z
X
Overview
5-Hole
Probe
Location
Schedule
Mounting
Plate
Mechanical
Electrical
Software
Budget
42
Wind Tunnel Data for Changing X-Position
Viewed from Side
Slope = 0.000293 (m/s)/mm
x=0
x=
mm
20 mm
Y
Wind Direction
Z
X
Overview
Schedule
Mechanical
Electrical
Software
Budget
43
Wind Tunnel Data for Changing Y-Position
y = 160 mm
Viewed from Side
Y
Z
Slope = -0.0012 (m/s)/mm
Wind Direction
X
Overview
Schedule
Mechanical
Electrical
Software
Budget
44
Wind Tunnel Data for Changing Z-Position
Viewed from Top
• Z-position was traversed at
one x, y pair.
▫ Test setup physically
limited by the hole in side
wall of tunnel
• Total of 21 positions at ½’’
increments from wall to
wall in tunnel
Y
X
Z
Wind Direction
Overview
Schedule
Mechanical
Mean Velocity
Standard Deviation
15.04 m/s
0.0833 m/s
Electrical
Software
Budget
45
Contour Plot of 15 m/s in X, Y Space
• Gradient scale is within our
uncertainty requirement of
±0.56 m/s
Y
Z
Wind Direction
X
5-Hole
Probe
Location
Mounting
Plate
46
Detailed Schedule Through TRR with Resources
47
Detailed Schedule From TRR to Spring Break with Resources
48
Detailed Schedule After Spring Break with Resources
49
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
50
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
51
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
52
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
53
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
54
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
55
Wind Tunnel Calibration Stand Drawings
Overview
Schedule
Mechanical
Electrical
Software
Budget
56
Flight Path Creation Algorithm
• Matlab script designed to build waypoints in a local
NED coordinate frame, then transformed to
Geocentric LLA coordinates based on reference
waypoint supplied by user.
• Currently builds flight path tracks to compare to
SITL simulation for flight path accuracy
comparisons.
• Final Version will create dynamic loiter waypoints
for each helix flight stage.
57
Multi-Phased Flight Path
• Multiple stage flight plan
designed to simplify
autopilot control
commands.
• Uses knowledge of aircraft
state to progress through
stages.
• Laws for transition
between stages are under
testing in SITL .
Overview
Schedule
Mechanical
Electrical
Software
Budget
58
Multi-Phased Flight Path
• Stage separation uses
transition between
flight path segments.
• Flight path will
include 4 helix stages
and 3 connector
stages.
Overview
Schedule
Mechanical
Electrical
Software
Budget
59
Multi-Phase Flight Path
Stage 1:
Climbing
Helix
Initiated
Upon
Switch to
Autonomo
us Flight
Stage 2:
Connector
Initiated
When
Aircraft
Achieved
200 m
Climb
Stage 3:
Descending
Helix
Initiated
when
Aircraft is
65 m
Distance
from
Loiter
Waypoint
2
Stage 4:
Connector
Initiated
When
Aircraft
Achieved
200 m
Descent
Stage 5:
Ascending
Helix
Initiated
when
Aircraft is
65 m
Distance
from
Loiter
Waypoint
3
Stage 6:
Connector
Initiated
When
Aircraft
Achieved
200 m
Climb
Stage 6:
Ascending
Helix
Initiated
when
Aircraft is
65 m
Distance
from
Loiter
Waypoint
4
60
Software in the Loop
MavLink
Commands
Flight
Plan
.TXT File with
Waypoint,
Loiter as
MavLink
Commands
MAVLink
Commands Over Serial
Connection
Simulated Motor
and Servo
Location, Aircraft
State
MAVProxy
ArduPlane
JSBSim
Console
& Map
Ground
Control
Station
Autopilot
Platform to
Control UAV
Motor and
Servos
Flight
Dynamics
Model and
Physics
Simulator
Display
UAV in
flight and
report data
61
INS Factory Calibration
• All sensors (accelerometers, gyroscopes,
magnetometers) are calibrated for axis misalignment,
scale factor, and bias at the manufacturer.
▫ Calibration is stored onboard and applied in real time
during operation
• The performance specifications for the IMU and GPS are
validated through ground and air vehicle testing against
high-end fiber optic gyro based INS units at the
manufacturer
62
63
64