Avionics Systems IRP Presentation, Spring 2009

– Problem Statement
Current UAV technology is not capable of launching vertically using a rail launch system into the atmosphere. As such, current UAV’s are not suitable for use for urban operations as they must be launched away from the urban setting due to obstacles. This presents problems for certain missions that could be assisted by UAV technology.

– Need Statement
The Iowa State LM Challenge Team has been asked to design an unmanned autonomous aerial vehicle to take off from a vertical or near-vertical pneumatic launch system within the confines of an urban environment. This vehicle will be used to fly low altitude reconnaissance missions and will be retrieved using a standard belly landing outside the target environment.

– Expected to perform in an urban setting, necessitating special considerations for Line of Sight and obstacles.
– Aircraft is designed to use a vertical pneumatic launch system to avoid obstacles presented by urban areas. C
– Choice of optics was driven by a need to protect the sensitive electronics from damage upon launch, during flight, and upon landing.

– Avionics package capable of autonomous navigation of aircraft using user-defined flightplan
– Camera system capable of 6” target resolution at 100’
– Operational range of 1 mile for video transmission
– Components integrated for a pneumatically-assisted vertically-launched aircraft

Adam Jacobs
Mike Plummer
Ronald Teo
Dan Stone
Rob Gaul
Totals
First Semester Second Semester Total
124 234 358
126
103
128
95
576
225
218
163
145
985
351
321
291
240
1561

– Be capable of autonomously navigating an aircraft using preprogrammed waypoint navigation
– Support communication with a ground station to display telemetry and position data

– Complexity and time constraints promoted purchase of a commercial autopilot system
– Immense G-loads during launch saturate sensors ( > 20 G )
– Maintaining vertical orientation throughout launch phase
– Integrating into custom aircraft

– Ground Station software
– Sensors to aid in launch
– Error handling
– Size and weight
– Power consumption
– Available technical support
– Customization capabilities
– Ability to handle additional sensors
– RC override

These three products satisfy the functional requirements of our system and were deemed as finalists for selection based on their relative merits along with our final selection
– Procerus Kestral
– High power consumption
– Cloudcap Piccolo
– Large, heavy, and power hungry
– O Navi Phoenix/AX
– No ground station or onboard software included

Autopilot Selected Model
MicroPilot 2128
– Support for additional sensors increases our chances of safe and reliable launch and recovery
– MicroPilot has demonstrated excellent service and support
– HORIZON software provides excellent ground station as well as easy configuration of autopilot
– RC override provides us with the option for manual launch.

– 9Xtend-PKG OEM
– Plug-and-play for basic operation with other 9Xtend modems
– Very lightweight
– Demonstrated compatibility with our autopilot

– Shall provide real-time video to ground station
– Shall operate in an urban environment
– Shall be capable of resolving a 6 inch target from an altitude of 100 feet
– Shall be a fixed-position camera
– Shall be designed to enable a modular payload system

– CMOS Cameras
– Small, lightweight
– Low quality
– Industrial “Box” Cameras
– High quality image, cheap
– Heavy, large
– Pan-Tilt-Zoom Cameras
– Flexible, high quality image
– Heavy, large, expensive

– Exceeds resolution requirements
– Demonstrated ability to perform in UAV’s
– Varifocal auto-iris lens used
– NTSC video output
– Relatively low-cost, easy to replace

Image of a round 6 inch target (highlighted in red) from a distance of 100 feet

– Must be robust in environments with RF interference
– Must not interfere with other aircraft systems
– Direct line-of-sight (LOS) often not possible in an urban environment, reducing transmission range
– FCC regulations limit RF transmissions for civilians (maximum of 1 Watt)
– A transmitter of 1 Watt requires a Technician Class radio license to operate

– Due to obstructions in an urban environment, weather conditions, and altitude, it can be difficult to maintain signal contact
– Other EM sources present in the area further degrade and interfere with the signal
– Interference is offset by increased transmission power
– To complement transmitter power we utilize a directional antenna to increase reception range

– Chosen for maximum allowable power and small size
– Demonstrated ability to work in UAV’s
– Accepts video data in composite NTSC format
– Readily compatible with our camera
– Utilizes a 12V power source, simplifying onboard power requirements

– Receiver is subject to less restrictive size, weight, and power limitations
– Must operate in the 2.4GHz band to receive video signal from selected video transmitter
– Easy output to the display was also a consideration

– Chosen for portability and compatibility with our transmitter
– Includes rechargeable battery – simplifies testing
– Supports reception on 8 channels to avoid signal conflicts
– Provides output in standard composite video format

– Major Onboard System Power Requirements
Component
Video Camera
Current Rating
180 mA
Voltage Rating
12 Vdc
Video Transmitter 500 mA
Autopilot Core 160 mA @ 6.5 Vdc
12 Vdc
4.2 – 27 Vdc
Radio Modem 730 mA 4.75 – 5 Vdc
Voltage Level
12 Vdc
5 Vdc
Total Estimated
Current
680 mA
817 mA
Total Estimated
Power
8.16 W
4.085 W

– Murata Power Solutions TMP-5/5-12/1-Q12-C
– Provides +5 and ± 12 V outputs
– Can supply up to 25 Watts
– Small and lightweight compared to alternatives

– Size and weight
– Relative positions of components
– Proximity of antennas, RC control, and transmitters
– Extreme stresses of launch phase
– Modularity

– Xtend-PKG
– Plug-and-play operation with our ground station
– Demonstrated compatibility with our ground station software
– Same vendor and model as onboard radio modem
– Size and weight less of an issue at ground station

– Requirements
– Ability to communicate with and control autopilot
– Ability to display real-time video feed
– Mobile

– Components
– Driven by onboard component selection
– Laptop Computer
– Able to run HORIZON software package
– Able to interface with Xtend-PKG radio modem
– Portable Television
– Able to interface with LawMate RX-2480B video receiver
– Able to accept input from video storage device

– HORIZON Software Package
– Satisfies communication, control and telemetry display requirements
– Designed by autopilot manufacturer for use with our chosen autopilot system, ensuring compatibility and reliability

Project Requirements:
Avionics Endurance:
Radio Modem Transmission Range:
Video Transmission Range:
Endurance – 2 hours is a desired max,
1 hour minimum
Range – Desired to be >= 1 mile
-1400 mAh battery
-Using NiMH for testing for safety concerns; LiPo would yield higher power capacity
- Tested endurance = 45 minutes
-Range tests have demonstrated reliable communication to a minimum of 0.44 miles within an urban environment.
-Further range necessitates more powerful transmitter
-Range tests confirm reliable reception to a minimum of 0.33 miles

– Integration
– Autopilot configuration to aircraft, configuration of sensors, integrating RC control with autopilot
– Test
– FCC & FAA regulations
– Time frame, lack of trained pilot on avionics team
– Safety and legal issues prevent testing in target environment

– Autopilot
– Successful test of endurance
– Successful test of communication system
– Successful test of operation and sensor functionality
– Configured Yaw and Pitch PID loops

150
100
50
0
-50
-100
-150
Autopilot Sensor Data
Pitch (deg)
Speed (kts)
Altitude (ft)

Continual, increasing downward pitch. Maximum travel of pitch: 83 degrees
Increasing downward pitch with correction. Maximum travel of pitch: 20 degrees
Overcompensation leading to upward pitch. Maximum travel of pitch: 24 degrees

– Video System
– Successful test of endurance
– Successful test of range
– Successful test of quality
– Successful flight test of video system

– Problem Statement
The launch team requires an accelerometer capable of recording acceleration data to test and analyze operation of the launch system. A customized system capable of withstanding and measuring high acceleration is needed. The system also needs to be able to fit into a confined cylindrical tube.

– Test Done
– Successfully tested hardware
– Successfully validated accelerometer readings
– Test Issues
– SPI communication between BS2 and accelerometer is not exact

– Remanufacture PCB to support additional hardware

– Further testing and configuration of autopilot
– Finish calibrating PID loops
– Rework wiring and layout to save weight and space
– Develop flight plans for specific missions and test for reliability

Physical Characteristics
Weight
Dimensions (L x W x H)
Power Requirements
Supply Voltage
Separate supplies for main and servo power
Functional Capabilities
Includes Ground Station software
Max # of Waypoints
In-flight waypoint modification possible
GPS Update Rate
Number of servos
Sensors
Airspeed
Altimeter
3-axis Rate Gyro/Accelerometers (IMU)
Accelerometer Saturation Point
GPS
Data Collection
Allows user-defined telemetry
Customization
User-definable error handlers
User-definable PID loops
Autopilot can be loaded with custom program
MicroPilot
28 g
100 mm x 40 mm x 15 mm
140 mA @ 6.5 Volts
4.2 – 26 V
Yes
Yes
1000
Yes
1 Hz
24
Yes, up to 500 kph
Yes, up to 12000 MSL
Yes
2 G
Yes
Yes – max 100
Yes – loss of GPS Signal, loss of RC Signal, loss of Datalink, low battery
Yes – max 16
Yes – with XTENDER SDK (separate)

Physical Characteristics
Weight
Dimensions (L x W x H)
Power Requirements
Supply Voltage
Separate supplies for main and servo power
Functional Capabilities
Includes Ground Station software
Max # of Waypoints
In-flight waypoint modification possible
GPS Update Rate
Number of servos
Sensors
Airspeed
Altimeter
3-axis Rate Gyro/Accelerometers (IMU)
Accelerometer Saturation Point
GPS
Data Collection
Allows user-defined telemetry
Customization
User-definable error handlers
User-definable PID loops
Autopilot can be loaded with custom program
Yes
100
Yes
1 Hz
12
Procerus Kestral
16.65 g
52.65 mm x 34.92 mm x ? mm
500 mA
3.3V and 5V
Yes
Yes, up to 130 m/s
Yes, up to 11200 MSL
Yes
10 G
Yes
Unspecified
Yes, Loss of Datalink, Loss of GPS, Low Battery, Imminent
Collision, Loss of RC Signal
Unspecified
Yes, Developer’s Kit available for $5000 for one year license

Physical Characteristics Cloudcap Piccolo
Weight 109 grams
Dimensions (L x W x H)
Power Requirements
Supply Voltage
130.1 mm x 59.4 mm x 19.1 mm
5 Watts ( ~ 400 mA @ 12V )
4.8 – 24 Volts
No Separate supplies for main and servo power
Functional Capabilities
Includes Ground Station software
Max # of Waypoints
In-flight waypoint modification possible
GPS Update Rate
Number of servos
Sensors
Yes, basic
100
Yes
4 Hz
6
Airspeed
Altimeter
3-axis Rate Gyro/Accelerometers (IMU)
Accelerometer Saturation Point
GPS
Yes
Yes
Yes
2 G, 10G with external sensor package
Yes
Data Collection
Allows user-defined telemetry
Customization
User-definable error handlers
User-definable PID loops
Autopilot can be loaded with custom program
Unspecified
Yes
Unspecified
Yes

Physical Characteristics
Weight
Dimensions (L x W x H)
Power Requirements
Supply Voltage
Separate supplies for main and servo power
Functional Capabilities
Includes Ground Station software
Max # of Waypoints
In-flight waypoint modification possible
GPS Update Rate
Number of servos
Sensors
Airspeed
Altimeter
3-axis Rate Gyro/Accelerometers (IMU)
Accelerometer Saturation Point
GPS
Data Collection
Allows user-defined telemetry
Customization
User-definable error handlers
User-definable PID loops
Autopilot can be loaded with custom program
O Navi Phoenix AX
45 grams
88.14 mm x 40.13 mm x 19 mm
84 mA @ 12V
7.2-24 Volts
No
No
Unspecified
Unspecified
1 Hz
6
No
Yes
Yes
10 G
Yes
Unspecified
Unspecified
Unspecified
Yes, REQUIRED

• Specifications
– Power: 180mA @ 12VDC
– Effective pixels (NTSC): 768(H) x 494 (V)
– Weight: 137 grams
– Size: 31mm(W) x 31mm(H) x 55mm(L)

• Specifications
– Power: 500mA at 12VDC
– Output: 1W RF power
– Weight: 30 grams
– Size: 26 x 50 x 13mm

• Specifications
– Power: 800mA at 5V
– Battery life: ~3.5 hrs.
– Weight: 135 grams
– 110 x 70 x 20mm

• Selection
– Murata Power Solutions
– TMP-5/5-12/1-Q12-C
• +5Vdc @ 5A
• +12Vdc @ 1A
• 3.04 x 2.04 x 0.55 in, 170 grams

• Initial Research
– Xtend-PKG
• 900MHz
• Power Supply 7-28V
• Max Current 900mA
• Outdoor LOS Range 14 mi.
• 2.75 x 5.5 x 1.13 in, 200 grams
– Physical size too large for our fuselage
– Can be used for ground station

• Selection
– 9Xtend-PKG OEM
• 900 MHz
• Power Supply 4.75-5.5Vdc
• Max Current 730 mA
• Outdoor LOS Range 14 mi.
• 1.44 x 2.38 x 0.02 in, 18 grams

REPORT DISCLAIMER NOTICE
DISCLAIMER: This document was developed as a part of the requirements of a multidisciplinary engineering course at Iowa State University, Ames, Iowa. This document does not constitute a professional engineering design or a professional land surveying document. Although the information is intended to be accurate, the associated students, faculty, and Iowa State University make no claims, promises, or guarantees about the accuracy, completeness, quality, or adequacy of the information. The user of this document shall ensure that any such use does not violate any laws with regard to professional licensing and certification requirements. This use includes any work resulting from this student-prepared document that is required to be under the responsible charge of a licensed engineer or surveyor. This document is copyrighted by the students who produced this document and the associated faculty advisors. No part may be reproduced without the written permission of the course coordinator.
Images within this presentation were obtained via the courtesy of their respective owners, listed below:
Lockheed Martin Corporation
MicroPilot
Genwac/Watec
RangeVideo
Murata Power Systems
Digi Intl.