Team Burgundy Project Objective: Design a prototype device capable - - PowerPoint PPT Presentation

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Team Burgundy Project Objective: Design a prototype device capable - - PowerPoint PPT Presentation

Sep 08, 2022 405 likes •644 views

Team Burgundy Project Objective: Design a prototype device capable of orientation and localization Members: Jeremy Peterson, Ilankir Matungulu, Kofi Aninakwa, Nick Sullivan Sponsor: MIT Lincoln Laboratory Team Burgundy 1

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SLIDE 1

Team Burgundy

  • Project Objective:

– Design a prototype device capable of orientation and localization

  • Members:

– Jeremy Peterson, Ilankir Matungulu, Kofi Aninakwa, Nick Sullivan

  • Sponsor:

– MIT Lincoln Laboratory

Team Burgundy 1

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SLIDE 2

Presentation Outline

  • Introduction
  • Hardware
  • Programming & Software Manipulation
  • What we accomplished

Team Burgundy 2

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SLIDE 3

Which Building Is This?

Team Burgundy 3

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SLIDE 4

Which Street Is This?

Team Burgundy 4

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SLIDE 5

What Is He Jumping Over?

Team Burgundy 5

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SLIDE 6

Motivation

Team Burgundy 6

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SLIDE 7

System Implementation

Team Burgundy 7

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SLIDE 8

Presentation Outline

  • Introduction
  • Hardware
  • Programming & Software Manipulation
  • What we accomplished

Team Burgundy 8

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SLIDE 9

Uberboard

Team Burgundy 9

  • Made system portable
  • Attached GPS and IMU

to this board.

  • Debugged with LEDs
  • Provided common timer
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SLIDE 10

IMU

Team Burgundy 10

  • Attached with shifter
  • Filter data from system
  • Fast buad rate
  • Accelerometers/

Gyroscopes

  • 6‐Degrees of Freedom
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SLIDE 11

GPS

Team Burgundy 11

  • Provided macro‐scale

localization

  • Had tracker to detect

when GPS data is valid

  • Combine points to

provide heading

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SLIDE 12

Magnetometer

  • Provided orientation
  • Interfaced through

arduino board

  • Magnetic north does

not equal true north

  • Had to be abandoned

Team Burgundy 12

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SLIDE 13

Presentation Outline

  • Introduction
  • Hardware
  • Programming & Software Manipulation
  • What we accomplished

Team Burgundy 13

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SLIDE 14

Technical Challenges Overcome

29/10/10;18:30:51.770;42.4062;-71.1204;NULL;NULL;N;W;0.00 29/10/10;18:30:52.349;42.4061;-71.1203;NULL;NULL;N;W;0.77 29/10/10;18:30:53.000;42.406;-71.1203;NULL;NULL;N;W;0.08 29/10/10;18:30:54.000;42.406;-71.1203;NULL;NULL;N;W;0.14 29/10/10;18:30:55.000;42.406;-71.1203;NULL;NULL;N;W;0.15 29/10/10;18:30:56.000;42.406;-71.1202;NULL;NULL;N;W;0.67 29/10/10;18:30:57.000;42.406;-71.1202;NULL;NULL;N;W;1.67 29/10/10;18:30:58.000;42.406;-71.1203;NULL;NULL;N;W;2.34 29/10/10;18:30:59.000;42.406;-71.1203;NULL;NULL;N;W;2.89 29/10/10;18:31:00.000;42.4061;-71.1203;NULL;NULL;N;W;2.30 29/10/10;18:31:01.000;42.4061;-71.1202;NULL;NULL;N;W;2.18 29/10/10;18:31:02.000;42.4061;-71.1202;NULL;NULL;N;W;3.07 29/10/10;18:31:03.000;42.4061;-71.1202;NULL;NULL;N;W;1.87 29/10/10;18:31:04.000;42.4061;-71.1202;NULL;NULL;N;W;1.99 29/10/10;18:31:05.000;42.4062;-71.1203;NULL;NULL;N;W;1.78 29/10/10;18:31:06.000;42.4062;-71.1203;NULL;NULL;N;W;1.40 29/10/10;18:31:07.000;42.4062;-71.1202;NULL;NULL;N;W;2.43 29/10/10;18:31:08.000;42.4062;-71.1202;NULL;NULL;N;W;2.13 29/10/10;18:31:09.000;42.4062;-71.1202;NULL;NULL;N;W;2.25 29/10/10;18:31:10.000;42.4062;-71.1202;NULL;NULL;N;W;2.50 29/10/10;18:31:11.000;42.4062;-71.1202;NULL;NULL;N;W;2.66 29/10/10;18:31:12.000;42.4062;-71.1202;NULL;NULL;N;W;2.64 29/10/10;18:31:13.000;42.4062;-71.1202;NULL;NULL;N;W;2.66 29/10/10;18:31:14.000;42.4063;-71.1201;NULL;NULL;N;W;2.81 29/10/10;18:31:15.000;42.4063;-71.1201;NULL;NULL;N;W;2.15

GPS data uploaded to Google Maps

Team Burgundy 14

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SLIDE 15

Technical Challenges Overcome

  • Wrote data from

sensors to SD card on uberboard

  • Used common timer on

uberboard to provide timing data

  • Set to obtain and store

multiple sensor data simultaneously

  • Fixed SD card writing

issues

Wrote code to uberboard

Team Burgundy 15

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SLIDE 16

Fusion Algorithm/Filtering

IMU data manipulation

Team Burgundy 16

  • IMU data:

A 463 483 480 344 323 504 512Z A 460 483 480 344 323 504 512Z A 463 480 480 344 327 504 512Z

  • Filtered using a 1‐

Dimensional filter

  • Helps smooth out noisy

data

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SLIDE 17

Fusion Algorithm/Filtering

  • Implemented in Matlab
  • Combines GPS/IMU

data

  • Quaternions used for

rotations

  • Kalman filter used for

linear motion

Prototype

Team Burgundy 17

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SLIDE 18

Presentation Outline

  • Introduction
  • Hardware
  • Software
  • What we accomplished

Team Burgundy 18

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SLIDE 19

What We Accomplished

  • Created working circuit
  • Collected data
  • Parsed data
  • Filtered data
  • Tested and developed

prototypes

Team Burgundy 19

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SLIDE 20

If There Was More Time

  • Develop

multidimensional Kalman filter

  • Purchase more accurate

GPS

  • Purchase more accurate

IMU

  • Perform more sensor

tests

Team Burgundy 20

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SLIDE 21

Thank you!!

Team Burgundy 21

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SLIDE 22

GPS Testing Extras

  • Hyper‐accurate GPS

UTC start UTC end Duration X Y Z X_er Y_er Z_er Lat Long Alt 19:32:50 19:39:25 0:06:35 The quality of the GPS data from the rover or nearby CORS sites was too noisy and below minimum standards to attain a meaningful solution. To avoid this unexpected inconvenience the user may want to re‐observe at a different hour of the day and for a longer period of time. 19:42:40 21:43:40 2:01:00 1526516.039 ‐4462666.322 4279172.527 1.188 0.187 0.597 42.4081447 ‐71.116046 ‐20.593078 17:53:30 18:10:40 0:17:10 1526335.795 ‐4462879.769 4279066.747 0.012 0.024 0.02 42.4065696 ‐71.118957 14.1196941 18:14:45 18:30:50 0:16:05 1526304.015 ‐4462803.14 4279157.064 0.017 0.026 0.026 42.4076726 ‐71.119021 13.8992263 18:37:40 18:53:40 0:16:00 1526253.329 ‐4462719.647 4279246.404 0.016 0.031 0.033 42.4088456 ‐71.119275 3.70963246 20:14:05 20:29:40 0:15:35After the single baseline analysis, fewer than 3 useable reference stations remain. Aborting. 20:32:15 20:46:35 0:14:20 The quality of the GPS data from the rover or nearby CORS sites was too noisy and below minimum standards to attain a meaningful solution. To avoid this unexpected inconvenience the user may want to re‐observe at a different hour of the day and for a longer period of time.

Test with GPS

Team Burgundy 22

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SLIDE 23

Data Extras

  • Timed GPS:

<108326> $GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,* 7C <108554> $GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,* 76 <108802> $GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,* 78 <109008> $GPRMC,000056.037,V,,,,,,,291006,,*24

  • Magnetometer rotation

test:

x=0235, y=0030, z=‐536 x=0231, y=0025, z=‐531 x=0232, y=0009, z=‐525 x=0227, y=‐002, z=‐526 x=0217, y=‐009, z=‐530 x=0222, y=‐021, z=‐532

  • 3‐Dof IMU data:

x = 499 y = 519 z = 923 x = 496 y = 521 z = 924 x = 497 y = 524 z = 931 x = 493 y = 526 z = 929

Examples of sensor tests

Team Burgundy 23