Image Acquisition and Processing of Remotely Sensed Data

(ImAP RSD)Dec08-01: Inertial Measurement Unit (IMU)

Team: Luis, Julian, Amar, MattClient: Matthew Nelson - Space Systems and Controls

Lab (SSCL)Advisor: Dr. Basart

Presentation Outline

• Background/History• Requirements Specification• Project Plan• Design• Testing/Verification on IMU system• Project Evaluation

Background/History

ImAP RSD Motivation

• Methods of monitoring crop health over large areas are currently cost and labor intensive– Airplane– Manual Inspection

• ImAP RSD initiated by SSCL HABET program to develop an improved method of monitoring crop health– Automated photography via high-altitude weather balloon

• Accomplished by integrating multiple subsystems including: – Horizon Detection, Inertial Measurement Unit, GPS, Processing, and Camera systems

ImAP RSD Concept Sketch

ImAP System Description• The ImAP RSD system will be mounted as a payload attached to a high-

altitude weather balloon.

• The onboard sensor systems will be used to determine payload flight path and orientation

• This system will capture images at predetermined waypoints using flight prediction software

• Collected field images will be analyzed to extract image intensities and make geometric corrections

• The corrected images will be transferred to a plant pathology team who will interpret the images

Horizon Detection System

• Developed by previous team to determine pitch and roll

• Thermopile System– Compares sky and ground

temperatures to determine horizon

• Image System– Aquires images and uses DSP to

determine horizon

• Completed in Spring of 2008

Requirements Specification

The ISU SSCL requires an Inertial Measurement Unit (IMU) and data logging system for the ImAP RSD project.

Dec08-01 Problem Statement

Block Diagram

Operating Environment

• The payload will operate at altitudes from 20,000 – 30,000+ feet

• The payload will experience temperatures ranging from -40° to 80°C

User Interface

• RCA power jack– 11V

• Serial Port– RS-232

• BCD to primary processor

• Logomatic universal data logger– SD Card

• Post Flight Analysis

System RequirementsFunctional Requirements

• FR01: IMU shall measure balloon oscillation frequency and angular rotation rate to 1.215 degree per second.

• FR02: IMU shall measure linear acceleration to 0.01g for each of the three principle axes.

• FR03: Data logging system shall log at a 100HZ+ rate with 10 bit or greater precision.

• FR04: IMU shall operate over a temperature range of -25˚ C to +85˚ C

Non-functional Requirements• NR01: IMU shall receive power from a 11.1V nominal lithium-ion battery• NR02: IMU shall function for a minimum of 2 hours using a 4 Amp-hour battery • NR03: IMU may measure temperature and voltage levels during flight.

Market Survey: IMU

• Commercial IMUs– SEN-00839 IMU with 2 degrees of freedom for

$99.95– Inertia-Link-2400-SK1 IMU for $2795.00– Military grade IMUs– Buying an IMU would defeat the purpose of a

student project

Deliverables

• Project Plan √• Design Report √• Final Report • Project Poster √• IRP Presentation • IMU √• IMU User Manual √

Project Plan

Work Breakdown Structure: S08Personnel Gyro and

Accelerometer Research

Microcontroller and Flash Memory Research

Gyro and Accelerometer testing

Microcontroller and Flash Memory Testing/Programming

Operational Manual

Documentation, planning & organization

Total Hours

Luis 20 10 20 18 20 30 118

Julian 10 20 10 35 20 20 115

Matt 25 8 20 15 15 30 113

Amardeep 20 10 20 20 25 20 115

Total 75 48 70 88 80 100 461

Work Breakdown Structure: F08Personnel IMU Circuit Board

Design & Testing for Data Acquisition

Gyro and Accelerometer Calibration

System Integration

Operational Manual

Documentation, planning & organization

Total Hours

Luis 30 25 25 25 20 125

Julian 50 7 35 20 20 132

Matt 30 35 15 20 20 120

Amardeep 40 25 10 25 25 125

Total 150 92 85 90 85 502

Resource RequirementsEstimated Hours

Estimated Cost

***Insert Parts list cost

Project Schedule: S08

Project Schedule: F08

Risks

• Unfavorable weather– Continue or cancel mission

• Power Failure– Schedule another flight

Design

Theory of Operation

An accelerometer coupled with a rate gyro can efficiently be used for attitude determination purposes. Rate gyros measure angular rotation rates. By subtracting out known linear accelerations, an accelerometer can be use as a tilt measurement device. These two angles can be combined in an optimal fashion to accurately determine attitude.

Pendulum Model of HABET system

tel ˆnel ˆ2

The HABET balloon and payload system has been modeled as a simple, 2-D rigid pendulum. From this model we can determine angular rates, as well as the normal and tangential components of acceleration that the payload will experience.

Rate Gyro ModelThe equation of motion on the left can be numerically integrated to obtain rotational rates. This model is only for roll/pitch rates.

These rotational rates will help us choose the appropriate rate gyro for our project. We have simulated this model on Simulink. The results follow.

Fig. Model for determining roll/pitch rates.

Rate Gyro Simulink Model

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 10

100

200

300

400

500

600

700

800

900

1000FFT of Gyroscope Rotational Velocity Component

Normalized Frequency

Mag

nitu

de

Results:Roll/pitch rates under 75°/sec.From past data, we have determined that yaw rates typically range from 20°- 50°.FFT results suggest a sampling rate greater than 90Hz.

Conclusion:Rotational rates and sampling rate obtained from math model meet functional requirements. Rate gyro used in this project, MLX90906, measures 300deg/sec, which satisfies both functional requirements and math model.

Rate Gyro Simulink Results

Accelerometer Model

tel ˆnel ˆ2

By assuming a simple pendulum, the acceleration equation reduces to the one boxed in red. This equation measures tangential and normal components of acceleration.

These acceleration values will help us choose the appropriate accelerometer for our project. We have simulated this model on Simulink. The results follow.

Accelerometer Simulink Model

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 10

5

10

15

20

25

30

35

40

45FFT of Normal Accelerometer Component

Normalized Frequency

Mag

nitu

de

Accelerometer Simulink Results

Results:Greatest magnitude of acceleration expected is under 1.5g.FFT results suggest a sampling rate greater than 80Hz.

Conclusion:Acceleration and sampling rate obtained from math model agree with our functional requirements. Accelerometer used in this project, MMA7260Q, measures ±2g’s, which satisfies both functional requirements and math model.

Data Storage Space and

We are required to log for a maximum of 3 hours. A 1 GB SD Card will be used for data storage

Using a baud rate of 19200 symbols/sec, we can log for approximately 28 hrs (maximum) at this rate

Electric schematic

Mechanical CAD of IMU Casing and PCB boards

Power Budget

Device Maximum I [A] Quantity Flight Duration [hr]

Amp-Hours

MMA7260Q Accelerometer

.0008 1 3 .0024

MLX90609 Gyroscope

.02 3 3 .18

ATMega128 .019 1 3 .057

Logomatic .08 1 3 .24

LM78XX Voltage Regulator

.008 1 3 .024

The power budget for the IMU components totals at .5034 Amp-Hours and will be powered by a 4.8 Amp-Hour battery leaving 4.2966 Amp-Hours for other systems.

Software Flow

ADC CONVERSION

(Polling)

FAT FILE SYSTEM

OUT: TEXT FILE

Initialize USART

USART TXC Function

MAIN

ANALOG DATA IN

On Board Computer

USART TXC

Initialize ADC

Initialize SPI

USART TXC

Cycle through 7 inputs via the internal MUX

Is the signal within the appropriate Voltage range?

Store data in internal buffers

No

Yes

Is Buffer full?Send data to

onboard computer

Yes

No

ADCSend Data serially

to the SD card

Is SD card full?

Stop serial Transmission to SD

card

Analog Inputs

(x,y,z,yaw, pitch,roll)

Yes

No

Testing/Verification of IMU system

Rate Gyro Testing/Calibrationnoiseωba*)

0T(T

0V

totV

• Calibration:

• EMI effects: Electromagnetic interference degrades or obstructs the performance of the circuit.

• Output verification using test platform:Encoder test platform Rate gyro angular rate

We compare it by differentiate and angular rate

Accelerometer Testing/Calibration

• Calibration:

• EMI Shielding: Electromagnetic interference degrades or obstructs the performance of the circuit.

• Tilt measurement using test platform:

noiseb*a0

Vtot

V

Test PlatformRotations

Maximum 400deg/s

Test PlatformAccelerations

Accelerometer Tilt Angle Measurements

Project Evaluation

Earned Value AnalysisSpring 2008

Tasks Budgeted Hours Actual Hours BCWS BCWP ACWP

IMU Research 75 72 $750.00 $750.00 $720.00

MCU Research 48 42 $480.00 $455.00 $420.00

Sensor Testing 70 75 $700.00 $684.00 $750.00

Programming/SW Debugging 88 760 $880.00 $810.00 $760.00

Documentation 100 109 $1,000.00 $984.00 $1,090.00

Subtotal $3,810.00 $3,683.00 $3,740.00

Fall 200

Tasks Budgeted Hours Actual Hours BCWS BCWP ACWP

IMU Design 150 173 $1,500.00 $1,430.00 $1,730.00

Testing/Data Acquisition 92 123 $920.00 $850.00 $1,230.00

Sensor Calibration 85 46 $850.00 $810.00 $460.00

System Integration 90 104 $900.00 $850.00 $1,040.00

Operation Manual 85 60 $850.00 $815.00 $820.00

Subtotal $5,020.00 $4,755.00 $5,280.00

Total $8,830.00 $8,438.00 $9,020.00

Earned Value Analysis

Earned Value Analysis

Schedule Variance BCWP-BCWS -$392Behind Schedule

Cost Variance BCWP-ACWP -$582 Over BudgetCost Performance Index BCWP/ACWP 0.935476718Schedule Performance Index BCWP/BCWS 0.955605889

Conclusion/Lessons Learned

• We spent more hours on the project than anticipated.

• The system integration and debugging consumed most of our time.

• We tried to make the system as simple as possible.• The assumptions can be wrong for the same

component made by different supplier and buffers for this should be accounted.

• Ask for expert help sooner.

References• Dynamics of Flight, Stability and Control; B. Etkin, L. Reid. John Wiley and Sons,

1996• Aurzkai et al. ImAP Fall 2007

Appendix

Euler angle rates:

p,q,r are angular rates measured by the rate gyro in the body frame. To transform into the inertial frame, we utilize the transformation matrix, T. We run this through RK4 and produce the desired angles, and thus the payload attitude.

Acceleration on a point b with respect to CM on an arbitrary object.

Tilt Calculations

)sin*1*( gg

VVV offsetout

Vout = Output of Accelerometer

Voffset = 0g offset of Accelerometer

1g = Earths Gravity

= Angle of tilt

gV

VV offsetout

arcsin(

Hardware• 3 MLX90609 1-axis Gyroscope• 1 ADXL330 3-axis Accelerometer• 1 GB SD Card• 1 Atmel Mega 128 Processor• 1 Logomatic SD Data Logger• Various Electrical components (resistors, capacitors, etc)

Hardware:MLX90609: Gyroscope

Requirement: • Measure angular rotation to 300 degrees per second for each of the three principle axes(FR:01). Operational temperature:

-40°-85°C(FR:06).Reasons for choosing this part: • The MLX90609 is a 1 axes gyro that includes a breakout board for

evaluation purposes.• Measures 300 °/s which is not excessive and will not have resolution issues,

but also measures more than the required specifications.• Low Price: $59.95• The selling point of this gyro is the angular rate measurement and the temperature

range.

Rate Gyro MLX90609 ADXRS150 IDG-300

Full Range ± 300 °/s ± 150 °/s ± 500 °/s

Noise Performance 0.03 °/s/√Hz 0.05 °/s/√Hz 0.014 °/s/√Hz

Sensitivity 0.006V/°/s .001 V/°/s 0.002 V/°/s

Temperature Range -40°-85°C -40°-85°C 0°-70°C

Price $ 59.95 $ 69.95 $ 74.95

Hardware:ADXL330 (Accelerometer)

Requirements: • Measures linear acceleration to 0.01g for each of the three principle axes(FR:02). Operational temperature: -40°-

85°C(FR:06).Reasons for choosing this part:• Includes a breakout board which will make the evaluation process easier.• Very low noise density: 280μg/√Hz rms• Very good sensitivity change due to temperature: ± 0.015%/°C• Non-linearity: ±0.3• Low Price: $34.95

Accelerometer ADXL330 LIS3LV02DQ MMA7260Q

Full Scale ± 3.6g ± 2g ± 1.5g

Sensitivity Vs Temperature .015 %/°C .025 %/°C .03 %/°C

Non-Linearity ±0.3% ± 3% ± 1%

Price $34.95 $43.95 $ 39.95

Hardware:Atmel Mega 128 Microprocessor

Microcontroller Atmel mega 128 Pic 18 seriesThroughput 16 Mhz 10Mhz

Flash program memory 128 KBytes N/A

On chip RAM 4 KBytes 512 – 16384 Bytes

Price $100 $129

Requirements: Power and weight

Reasons for choosing the part:light weight price

Hardware:Logomatic Serial SD Data Logger

Requirements:• We needed some system that had the FAT system ready to use. There is a lot of code that has to be written to be able read

anything legible from the SD cardReasons for Choosing this Part:• Automatically logs incoming data from the UART (saves time, and power)• Comes with a lot of FAT16/32 code for free on Sparkfun.com (saves a lot more time)• Has a place holder for the SD card which saves spaces• An alternative was the DosOnChip ($44.95) board which also utilizes a FAT system , but it has really poor documentation

and is unavailable indefinitely.• Price: $59.95