GPS Vehicle Tracking/Payload Release GPS Vehicle Tracking/Payload Release System For Small UAVSystem For Small UAV

Project Team 02009Project Team 02009

Project SummaryProject Summary

►Motivation for the ProjectMotivation for the Project

►Objectives:Objectives: Accurate Tracking of a UAVAccurate Tracking of a UAV Wireless Data TransmissionWireless Data Transmission Autonomous Function : Drop a PayloadAutonomous Function : Drop a Payload

Project RequirementsProject Requirements

► Incorporate GPS technology onto a UAV; RIT Heavy Lift Plane.Incorporate GPS technology onto a UAV; RIT Heavy Lift Plane.► Utilize 2-way wireless data transfer.Utilize 2-way wireless data transfer.► Graphical position tracking program on base computer.Graphical position tracking program on base computer.► Coordinates for payload drop site selectable at base Coordinates for payload drop site selectable at base

computer.computer.► Design a reliable payload retaining/release system.Design a reliable payload retaining/release system.► Confirm payload delivery, required target accuracy: 100ft.Confirm payload delivery, required target accuracy: 100ft.► Collect data remotely from the aircraft. Collect data remotely from the aircraft. ► System range: 500 ft.System range: 500 ft.► Weight and volume capacity on board: 17 lbs., 300cc.Weight and volume capacity on board: 17 lbs., 300cc.► Budget: $2000Budget: $2000

Design ProcessDesign Process

► Brainstorming/Concept Development Phase Brainstorming/Concept Development Phase Example: retaining/releasing the payloadExample: retaining/releasing the payload

► Concept 1 : Clamp Concept 1 : Clamp

► Concept 2 : Sliding PinConcept 2 : Sliding Pin

Design ProcessDesign Process

► Feasibility AssessmentFeasibility Assessment Questions test feasibility of each concept.Questions test feasibility of each concept.

► Example: Example: Is the release system strong enough to Is the release system strong enough to reliably retain the payload during flight?reliably retain the payload during flight?

Rank the concepts relative to each otherRank the concepts relative to each other► Concept 1:Concept 1: Clasp – rank 2Clasp – rank 2► Concept 2 : Pin – rank 3Concept 2 : Pin – rank 3

Plot the rank for each idea with respect to each Plot the rank for each idea with respect to each feasibility question on a radar chart.feasibility question on a radar chart.

The concept with the most area on the plot is the The concept with the most area on the plot is the best.best.

Design ProcessDesign Process

►Concept 2 is the best choice.Concept 2 is the best choice.

Radar Chart - Payload Release

0 0.5

1 1.5

2 2.5

3 Q1

Q2

Q3

Q4 Concept 1 Concept 2

Payload Fin Payload Retainer

System Housing / Mount

Release System ComponentsRelease System Components

Features of Release MechanismFeatures of Release Mechanism

►Very simple, Few partsVery simple, Few parts►Easy to manufactureEasy to manufacture►Will be easy to mount to the Heavy Will be easy to mount to the Heavy

Lift Plane with minimal modifications Lift Plane with minimal modifications to the planeto the plane

►System requires little force from System requires little force from actuating mechanismactuating mechanism

Payload Mold ConstructionPayload Mold Construction

POSITIVE MOLDFINISHED PAYLOAD SHELL

PayloadPayload

► The payload will be The payload will be made out of a made out of a carbon-fiber shell carbon-fiber shell and filled with shock and filled with shock absorbing foam for absorbing foam for electronics.electronics.

DRAG CALCULATIONSDRAG CALCULATIONS

► Assume ideal flow for simplified calculationsAssume ideal flow for simplified calculations► The total incompressible drag coefficient:The total incompressible drag coefficient:

ParameterParameter Aero Aero TeamTeam

Senior Senior TeamTeam

CFDCFD

CCLL 1.2881.288 1.2871.287 1.0731.073

CCDD 0.0720.072 0.07850.0785 0.1440.144

DD 1.5 (lb)1.5 (lb) 1.69 (lb)1.69 (lb) 3.965 3.965 (lb)(lb)

LL 27.7 (lb)27.7 (lb) 27.7 (lb)27.7 (lb) 29.58 29.58 (lb)(lb)

eAR

CCC LDPD **

2

i ref

wetifiiDP S

SCKC

**

refS

bAR

2

Payload AnalysisPayload Analysis

►FEAFEA The payload is modeled using properties The payload is modeled using properties

of aluminum.of aluminum.

The force of impact is applied to a flat The force of impact is applied to a flat on the nose of the payload. on the nose of the payload.

The areas of highest stress will be The areas of highest stress will be reinforced with extra carbon fiber.reinforced with extra carbon fiber.

Payload FEAPayload FEA

Payload ComponentsPayload Components

► Camera electronicsCamera electronics CameraCamera TransmitterTransmitter BatteryBattery

Video transmissionVideo transmission

►Considerations for designConsiderations for design Light weight Light weight Size Size

►Minimize drag Minimize drag Range of transmitter – 500 ftRange of transmitter – 500 ft Robust configurationRobust configuration Power consumptionPower consumption CostCost

►All parts donated by Dr. Arney, CISAll parts donated by Dr. Arney, CIS

ParachuteParachute► Design parameters for the parachuteDesign parameters for the parachute

Minimize chute diameter and impact load.Minimize chute diameter and impact load. AssumptionsAssumptions

► CCd d of 0.8of 0.8

► Payload weight of 2lbs.Payload weight of 2lbs.

► Design ChoiceDesign Choice Chute DiameterChute Diameter

► 31 in.31 in. Descent VelocityDescent Velocity

► 21 ft/s21 ft/s Resulting LoadingResulting Loading

► 5.2 lbs.5.2 lbs.► 2.5 G’s2.5 G’s

0

5

10

15

20

25

10 12 14 16 18 20 22 24 26Velocity (ft/s)

Surface Area(ft^2)

Impact Force (lbs)

Optimization of Parachute Surface Area vs. Impact Load

Electronic Control System

GPS

Pin 5

Pin 4

GPSAntenna

3.3VDC

Microcontroller

P0.2

P0.3

DI

DO

3.6VDC

P2.0

Relay +12V Battery-

Solenoid

P0.0

P1.0

P0.1

P1.1

DI

RTS

DO

CTS

Xstream Wireless Modem

9VDC

Pin 4

Pin 5

Pin 3

Pin 9

Modem Antenna

Thermo Couple

AIN0

Arming Switch

Air temperature from on-board thermocouple

Base Station Control Screen-using LabView 6.1

UAV Velocity and Altitude from GPS

Live video from on-board camera

Intensity graph of UAV current position (from GPS module)

User defined drop coordinates

Payload status light

Current UAV position

Input Channels

From GPS

-Latitude (1 Hz)

-Longitude (1 Hz)

-Elevation (1 Hz)

-Heading (1 Hz)

From Camera Transmitter:

-Live video feed (30 Hz)

Various On-Board Sensors:

-Temperature (1 Hz)

-Payload Status (1 Hz)

Output Channels

From Labview:

-Drop coordinate,

Latitude

-Drop coordinate,

Longitude

Drop Coordinate Calculations Let:

td = time from payload release to parachute deployment Vlat = velocity in the lateral direction Vlong = velocity in the longitudinal direction VUAV = velocity of UAV = heading in degrees from due north Assume:

- Lateral and longitudinal velocities are equal to zero once parachute is fully deployed.

- Elevation is always high enough for parachute to fully deploy. - Neglect air resistance before parachute deployment.

Therefore: motion of payload before parachute deployment is all that must be considered when calculating release point. Coordinate Definition:

The UAV velocity along with current heading is given by the GPS module.

Vlat = VUAV cos Vlong = VUAV sin dlong = Vlong td = VUAV td cos dlat = Vlat td = VUAV td sin

.

VMAV

Vlong

X

Vlat

Y

ConclusionConclusion

► The Design meets the requirements of the The Design meets the requirements of the project.project.

► All components will be bought, borrowed, or All components will be bought, borrowed, or built next quarter. built next quarter.

► The design’s concepts achieve the goal of The design’s concepts achieve the goal of advancing MAV technology.advancing MAV technology.

► This system is a platform for further This system is a platform for further development.development.