precision tracking system design process

System Design Process

[email protected]

713-302-6548

Team Email:

[email protected]

Due Date: 12/7/2016

Justin West Daniel Medcraft John Gutkowski

808-747-1811 832-993-4565

Author: ___________________ X________________ __/__/____

Reviewer: _________________ X________________ __/__/____

Delivery: 7 DEC 2016, ________

[email protected]

[email protected]

12 7 2016

12 3 2016

4:00 PM

mailto:[email protected]



Justin

Typewritten Text

Precision Tracking

Justin

Typewritten Text

Janine Suvak

System Design Process 2 | P a g e

Table of Contents 1. Executive Summary .................................................................................................... 5

2. Problem Statement ...................................................................................................... 6

3. Concept of Operation .................................................................................................. 7

4. Functional Requirements ............................................................................................ 8

4.1 Power ..................................................................................................................... 8

4.2 Communication ...................................................................................................... 8

4.3 Hardware ............................................................................................................... 8

4.4 Software ................................................................................................................. 8

5. Conceptual Block Diagram .......................................................................................... 9

6. Performance Specifications ....................................................................................... 10

6.1 Power ................................................................................................................... 10

6.2 Hardware ............................................................................................................. 10

7. Technology Survey .................................................................................................... 11

7.1 Microcontroller ..................................................................................................... 11

7.2 GPS Transceiver .................................................................................................. 11

7.3 Magnetometer Sensor.......................................................................................... 12

8. Functional Block Diagram ......................................................................................... 13

8.1 Overall Functional Block Diagram ........................................................................ 13

8.2 Microcontroller Pins ............................................................................................. 14

8.3 Voltage Regulation ............................................................................................... 15

8.4 Stepper Motor and Driver Interface ...................................................................... 15

8.5 Venus GPS Sensor Block Diagram ...................................................................... 16

8.6 HMC5883 Magnetometer Functional Block Diagram ........................................... 17

8.7 Ethernet ............................................................................................................... 18

9. Sensor Characterization ............................................................................................ 19

9.1 Venus GPS Sensor .............................................................................................. 19

9.2 HMC5883 Magnetometer Sensor ........................................................................ 19

9.3 Big Easy Motor Driver .......................................................................................... 20

9.4 Stepper Motor ...................................................................................................... 21

10. Communications Interfaces/Protocols ..................................................................... 22


10.1 STANAG UDP .................................................................................................... 22

10.2 Communication- UART Protocol ........................................................................ 23

10.3 Communication- NMEA SKYTRAQ Binary Messaging Format .......................... 23

10.4 Communication- I2C Protocol ............................................................................ 24

11. Deliverables ............................................................................................................ 26

11.1 Hardware ........................................................................................................... 27

11.2 Software ............................................................................................................. 28

11.3 Documentation ................................................................................................... 29

12. Milestones ............................................................................................................... 32

12.1 Hardware ........................................................................................................... 33

12.2 Software ............................................................................................................. 33

12.3 Documentation ................................................................................................... 35

13. Gantt Chart .............................................................................................................. 37

14. Costing .................................................................................................................... 40

14.1 Costing Summary .............................................................................................. 40

14.2 Direct Costs ....................................................................................................... 40

17.3 Total Direct Costs .............................................................................................. 41

14.4 Indirect Costs ..................................................................................................... 41

14.5 Profit................................................................................................................... 42

14.6 Total Project Costs ............................................................................................. 42

14.7 Cost Timeline ..................................................................................................... 43

14.8 Time Sequence of Money .................................................................................. 43

15. Test Matrix .............................................................................................................. 44

15.1 Power ................................................................................................................. 44

15.2 Voltage Regulator .............................................................................................. 44

15.3 Communication to GPS...................................................................................... 45

15.4 Communication to Magnetometer ...................................................................... 45

15.5 Receive UDP Packets ........................................................................................ 45

15.6 Tracking Algorithm ............................................................................................. 45

15.7 Stepper Motor .................................................................................................... 45

15.8 Enclosure ........................................................................................................... 46

16. Technical Merit ........................................................................................................ 47


16.1 Technical Challenge........................................................................................... 47

16.2 System Integration ............................................................................................. 47

16.3 System Testing .................................................................................................. 48

16.4 Theoretical Analysis and Simulation .................................................................. 48

16.5 Hardware Design ............................................................................................... 48

16.6 Software Design ................................................................................................. 48

16.7 Enclosure Design ............................................................................................... 48

16.8 Further Documentation ...................................................................................... 48

17. Appendix ................................................................................................................. 49

Table of Figures ......................................................................................................... 49

Tables of Tables ........................................................................................................ 51

Table of Abbreviations ............................................................................................... 52

20. Notes ....................................................................................................................... 53


1. Executive Summary

Martin UAV has tasked Precision Tracking to create an autonomous tracking station for their VBAT Unmanned Aerial System (UAS). Precision Tracking’s VBAT Tracking Station will orientate an existing antenna in the direction of the VBAT maintaining a strong and reliable connection throughout its flight. This System Design Process document will detail the planning and project management processes as well as the preliminary design of the VBAT Tracking Station that Precision Tracking will design, develop, and deliver.

The hardware will consist of the components listed below:

Printed Circuit Board with Intelligence Capabilities

Global Positioning System (GPS) Module

Magnetometer Module

Stepper Motor Driver Module

Stepper Motor / Rotary Mechanics

The software will consist of the following parts:

NATO Standardization Agreement 4586 (STANAG) User Datagram

Protocol (UDP) Communications

Tracking Algorithm

Magnetometer Inter Integrated Circuit (I2C) Communications

GPS Universal Asynchronous Receive and Transmit (UART)

Communications

Stepper Motor Configuration and Control


Figure 2.1- Existing Tracking System

2. Problem Statement

The Martin UAV VBAT is a gas powered, Vertical Takeoff / Landing (VTOL) UAS.

The VBAT carries the necessary avionics onboard to interpret the sensors it carries as

well as the commands given to it by the Pilot in Command (PIC) from the Ground

Control Station(GCS). The VBAT transmits data back to the PIC that is interpreted by

the GCS in order for the PIC to understand how it responded to those commands as

well as to monitor its current condition during a mission or flight. This data that is being

transferred between the PIC and the VBAT is known as Command and Control Signals

(C2). C2 is transferred over the 2.4 GHz frequency band between the omnidirectional

antenna on the aircraft and the antenna at the GCS. In order to extend the range of the

aircraft, Martin UAV implemented a directional antenna on the GCS side of the

connection that will project the C2 signals to the VBAT. The VBAT’s power plant (gas

engine) along with its overall design gives it a range capability that extends out well

beyond the range of the omnidirectional antennas. Figure 2.1 shows the setup

explained above of the current UAV tracking station used by Martin UAV.

“The directional antenna has a range that will allow the VBAT to

utilize more of its own range capabilities, however due to the parameters of

the directional beam of the antenna, it must point at the VBAT with a

certain degree of accuracy and precision.”


Figure 3.1- Antenna Rotation Axis

3. Concept of Operation

The VBAT Tracking Station will receive and read STANAG 4586 UDP packets

from a Wave Relay Quad Radio Router (QRR) to determine the UTC time stamp,

longitude, and latitude of the VBAT. Sensor peripherals, which consist of a

Magnetometer and a GPS, along with the STANAG 4586 UDP data are utilized in our

tracking algorithm within the intelligence of our device. When the algorithm receives all

the information from the given sensors it will determine the heading to the VBAT. The

heading of the device will be rotated until it matches the calculated heading to the VBAT

using a motorized rotary assembly.


4. Functional Requirements

4.1 Power This device will be used in standard flight tests performed by Martin UAV,

which means it must integrate with the field power supply that is available. The antenna mast will have a power supply available and the device will interface with this using a weatherproof connector selected by Martin UAV. The power will have to be regulated and managed to power all sensors, as well as any motors within the device being developed.

4.2 Communication The VBAT will report positioning information using the STANAG 4586

(Edition 3) Standard Interfaces of UAV Control Systems for NATO UAV Interoperability UDP Protocol. The messages must be received over Ethernet from the Wave Relay QRR and will be utilized by the device for receiving C2 from the VBAT to be utilized in the tracking implementation.

4.3 Hardware The device must be capable of rotating a 5.5 lb. parabolic dish and allow it

to mount using existing U-brackets. The interface with the parabolic dish will be a 1” diameter tube that will allow the brackets to mount easily. The minimum rotation speed must be able to move the antenna at a rate that will successfully track a VBAT during flight. In addition to these features, the device must be contained within an enclosure that will protect it from light rain, dust and during transportation to and from a standard Martin UAV flight test operation. All mechanical drawings and manufacturing documents must be provided to Martin UAV for the final design of the hardware.

4.4 Software The device will only use information from onboard peripheral sensors in

conjunction with data from the STANAG 4586 UDP messages in order to

calculate the correct heading to the VBAT. Using this calculated heading the

device must be able to decide how to orient to that heading and manipulate

hardware to accomplish that task. The final code must be delivered to Martin

UAV in the form of source code.


Figure 5.1- Conceptual Diagram

5. Conceptual Block Diagram

The VBAT Tracking Station will be integrated with the existing Martin UAV VBAT UAS. On the right side of the diagram, Figure 5.1, the Ground Control Station is shown connected to the Wave Relay Quad Radio Router along with the input of radio frequency (RF) signals from the antenna. The QRR is connected to our device from one of its own Ethernet ports to an RJ45 Ethernet port on our device. This information will then be passed along to the TM4C12949NPDT micro controller. On the bottom of the diagram, the Magnetometer as well as the GPS are connected to the micro controller via UART and I2C respectively. Using these three inputs the intelligence will calculate a heading to the VBAT utilizing an algorithm developed by our team. The calculated heading will be used in making a decision on how and where to direct the antenna. The micro controller will then configure the Stepper Motor Driver via GPIO pins and signal it to move the appropriate amount and at the appropriate speed. The Stepper Motor Driver uses 3.3V from our board for logic and then it also takes 12V in directly to power the motors.


6. Performance Specifications

6.1 Power The field power supply will be 12V DC and it will be provided to the

antenna mast using a cable and connector chosen by Martin UAV. This will be the only power source required.

6.2 Hardware The mechanical assembly responsible for rotating the antenna must be

able to reliably mount to the existing Martin UAV Sky Mast antenna mast. Suitable mounting will secure the device to the mast and be used for testing throughout a standard flight test session. The tube must allow a 5.5lb parabolic dish antenna to mount using U-brackets in a way that it will reliably operate throughout a standard flight testing session. The next hardware performance specification is for the device enclosure. It must protect the device from light rain and dust as well as protect the device from damage during transportation to and from the R&D facilities and Test sites.

The mechanical assembly responsible for rotating the antenna must have a minimum rotation speed that can successfully track a VBAT flying an orbit at 6 miles going 50kts. It must also have a cord wrapping solution that does not interrupt the signal with the VBAT for more than 30 seconds at a time.


Table 7.1- Microcontroller Technology Survey

7. Technology Survey

A technology survey has been conducted to evaluate the different choices of hardware and software components for this project. There are a number of major components that were specific to this project where there was a limited choice of suitable components. The Planetary Gearbox with NEMA 17 Stepper Motor was a very limited choice with no real other options available. The project required such a slow turn rate with low current but high max permissible torque that there was only one compatible option. The other components for the project allowed for more debate and research before selection. This technology survey guided Precision Tracking to the most suitable and cost effective parts to complete the project successfully.

7.1 Microcontroller The microcontroller in this project is one of the most important

components. The microcontroller is required to support multiple different

communication protocols. It needed to complete a tracking algorithm as fast as

possible. Table 7.1 demonstrates the comparison between two microcontrollers

that were considered.

The TM4C129NCPDT microcontroller was chosen for the project. The built-in Ethernet peripherals greatly out way the disadvantage of no SPI interfaces. It removes the need of finding and learning how to use an Ethernet controller outside of the microcontroller.

7.2 GPS Transceiver The longitude and latitude of the device being created needed to be found

for the tracking algorithm. It is a one time reading that should remain the same, so update rate was not an issue. The major quality that was considered was the accuracy of the item. Below in table 7.2, the survey of multiple GPS sensors is displayed.


Table 7.2- GPS Sensor Technology Survey

Table 7.3- Magnetometer Sensor Technology Survey

Precision Tracking selected the SkyTraq Venus638FLPx GPS Sensor.

This sensor works perfectly with the project due to the accuracy and lower than average cold start time. Added bonuses of the Venus sensor are that it has built in jamming detection, which is very useful for the customer since this system will be used in military installations. Another bonus feature is the SMA connection for the connection of any antenna that the customer or Precision Tracking would prefer to use.

7.3 Magnetometer Sensor The magnetometer is another important component of the tracking project.

The magnetometer needs to have a fast update rate since it will be the main error checking device in the movement of the motor. The magnetometer will also need to be extremely accurate since the heading will be used in the tracking algorithm to move the antenna to the correct spot to track the VBAT UAV. Below in Table 7.3, the technology survey for a magnetometer is displayed.

Precision Tracking selected the Honeywell HMC5883L magnetometer. This magnetometer has a fast update rate with low cost and low noise interference. The small size will be easy to attach it to the tube and will not cause any physical interference during rotation. The 1-2 degree accuracy is above average, and a high accuracy is required with the precision of the algorithm being of the highest priority. The low cost of the device is an added bonus from the choice; therefore it is functional and cost effective.


Figure 8.1- Overall Functional Block Diagram

8. Functional Block Diagram

8.1 Overall Functional Block Diagram

Figure 8.1 shows the diagram in its entirety for reference when discussing

more detailed portions. Any boxes within the darker green field will be integrated

into the printed circuit board (PCB) design either by direct soldering or header

connection. Any boxes outside the board will be connected to the PCB through

edge connectors or modules by wires.


Figure 8.2- Microcontroller Pins

Figure 8.3- JTAG and RESET Interfaces

8.2 Microcontroller Pins The first section detailed is the micro controller independent of any

subsystems as well as its programming interface and reset interface. Figure 8.2

shows the TM4C1294NCPDT and the pins utilized to interface with sensors and

connectors.

Figure 8.3 shows the pins used to interface with a JTAG header connection that is used for programming and debugging. It also illustrates the button used for resetting the device.


Figure 8.4- Voltage Regulation

8.3 Voltage Regulation The power provided in the field to our device will be 12V DC. This

ultimately starts at a small field generator but it is conditioned/regulated down to

12V DC at the antenna mast external to our device. Martin UAV has selected a

connector to interface with on our enclosure, so that is where the power will start

from in our device (12V). This connector will be wired to our board inside the

enclosure by screw terminal edge connectors. These connectors will the run the

power through a 3.3V/2A voltage regulator. This will be the main signal to our

modules for logic and power. The motor driver will have a direct connection to the

12V due to its power requirement to be able to have enough torque.

8.4 Stepper Motor and Driver Interface The device is ultimately designed to manipulate the rotation of a tube that

an antenna is mounted to. The way this is accomplished is using a stepper motor

with a planetary gearbox. This type of motor has several inputs depending on

how many phases it has. This specific motor has 2 phases which means 4

connections (positive and negative). These phase connections will be connected

to the Big Easy Motor driver which translates Pulse with Modulated signals along

with some digital logic for setting configurations in order to specify a position to

turn to. Figure 8.5 shows how GPIO pins and a single PWM module pin from the

microcontroller are routed to a header and then to the driver module. It also

shows how that driver is connected to the motor our team selected.


Figure 8.5- Stepper Motor and Driver

8.5 Venus GPS Sensor Block Diagram The Venus GPS module will be connected in a similar fashion as the Big

Easy Driver. It will utilize header pins that are designed into the layout of the PCB

to connect to traces that lead to the necessary pins on the microcontroller. Figure

8.6 shows how these connections are made, it is important to note the correct

configuration of UART pins where RXTX and TXRX. This module has a built

in SMA connector to be used to connect to an external patch antenna. This will

allow us to put the antenna outside of the enclosure in order to protect the device

and get the best signal possible at the same time.


Figure 8.6- Venus GPS Sensor Block Diagram

Figure 8.7- HMC5883 Magnetometer Block Diagram

8.6 HMC5883 Magnetometer Functional Block Diagram The magnetometer will be connected in the same way as the power

connector on the enclosure. It will have to be positioned in a place that will

mitigate noise as well as turn with the antenna. This means we will be wiring it

into screw terminal edge connectors. These will then be routed to the proper I2C

communication pins as well as to power. All of this can be seen in Figure 8.7, a

closer look at the FBD.


Figure 8.8- RJ45 Ethernet Port

We decided to use two of the 2 position screw terminals that are being

used in other functions on the board to reduce the BOM and make it easier to

manufacture down the road.

8.7 Ethernet The last subsection of our Functional Block Diagram is the Ethernet RJ45

port. The TM4c1294NCPDT has a built-in Ethernet controller, so the only circuitry

we need to add is the RJ45 port for the cable to connect to. Figure 8.8 shows the

pin connections as well as the magnetics box in between the actual port and the

micro controller. The magnetics device is representative of a component that will

associate the ground of the device we are developing to the device on the other

end of the Ethernet cable. This is important to have in order for the port to relay

data correctly. The Ethernet module within the microcontroller also provides for

LED’s to be connected to default signals like ready and activity on the Ethernet

line.


Figure 9.1- Venus GPS Sensor

9. Sensor Characterization

9.1 Venus GPS Sensor The Venus GPS Sensor was chosen for this project. This GPS sensor has

a SMA connection on it which will allow for an external antenna. This project requires current position data so that the tracking algorithm will work correctly.

This sensor has one of the best accuracy readings in the market at 2.5 meter accuracy. The sensor also has jamming detection and mitigation built in. It also contains built in filters to help with the accuracy and have less noise affect the position acquisition. This sensor transmits its data in a special format that is free to use called NMEA or SkyTraq Binary. This format packages the data more efficiently and is easy to decode once received. The formatting of the data is displayed and discussed in the communications section of this document. This sensor has a long cold start of 29 seconds which delays this system but it also has an adjustable rate of transmission up to 115200 bits per second which can help make up a small amount of the lost time.

9.2 HMC5883 Magnetometer Sensor The HMC5883 magnetometer sensor was chosen for this project. This

magnetometer is necessary to the project so that the algorithm for tracking the VBAT UAV will work correctly. The heading received from the magnetometer is one of the main self-checking parts of the project.


Figure 9.2- HMC5883 Magnetometer Sensor Module

Figure 9.3- Big Easy Motor Driver

For this project, a whole module away from the custom designed PCB is

necessary. This module will obtain the heading of our system and transmit it

through I2C to the TM4C129 microcontroller on the PCB. This magnetometer has

accuracy within 1-2 degrees, which reports μT on the XYZ plane. Since the

magnetometer is very important to the project for the purpose of error checking

movement, the fastest update rate is necessary.

9.3 Big Easy Motor Driver The stepper motor driver selected is the SparkFun Big Easy Motor Driver.

It takes in several digital signals that configure it to step in a certain direction and how far in that direction. It takes up to 30V input Voltage, which is well within our power supply. The motor we are using is rated to 0.8A per phase and the Big Easy Driver is rated for up to 2A/Phase. This driver is essential for translating our intelligence decisions into an actual physical movement that can be accurately controlled. In addition to it meeting all of our functional specifications, the board files are available from SparkFun. This will allow us to integrate the layout into our PCB if desired.


Figure 9.4- Stepper Motor

9.4 Stepper Motor The stepper motor our team selected is the NEMA 14 19:1 Planetary

Gearbox Stepper motor. It takes in 12V DC and operates at about .8A/Phase. Its holding torque is about 2.8N/cm which translates to be about 25lbs/inch. This amount of torque along with our power specifications means this motor is a good match for our device. It weighs about 0.7 lbs. and comes in a reasonably sized package. The step angle is 0.094 degrees. Our aircraft will be moving at a maximum of 0.2 degrees a second which complies with our functionality requirements. The Big Easy Driver also allows for micro stepping, enabling us to increase the resolution of this motor.


Figure 10.1- STANAG UDP

10. Communications Interfaces/Protocols

10.1 STANAG UDP The STANAG 4586 (3rd Ed.) document defines all messages that are sent

and how they are sent between NATO drones. The protocol is explicitly described and diagramed along with everything that is going into it. The messages exchanged in this format over this protocol will contain positioning data of the VBAT as well as other portions of data that could be used by our device. These messages will be piped from the Wave Relay Quad Radio Router via Ethernet. The message we are particularly interested in is Message #4000. This message contains latitude, longitude and the heading of the aircraft as well as a UTC time stamp. This will be extremely useful when trying to calculate the heading to the aircraft. The data is well defined in this document, from ranges and units to data types and other parameters.


Figure 10.2- Sample NMEA Message Format

10.2 Communication- UART Protocol UART is a serial communication protocol between two devices. This

protocol will have designated master and slave devices. The master device will request and send data to the slave devices. The slave devices will acknowledge the request, respond and then send the data that was requested. UART communication in our system will utilize the TX and RX pins on both the microcontroller and the Venus GPS sensor. The data transmitted from the slave, the Venus GPS Sensor, will be sent sequentially through first in, first out (FIFO), to the master, TM4C129 microcontroller. The clock rates of both the slave and master devices will need to be the same so that data is not lost during transmission. To help with error checking, a parity bit can be generated by the sender, master, to the receiver, slave. The parity bit will not save the data stream if the clock rates are different though. If the receiver does not see a stop bit at the end of a message, the message will be scrapped and data will be lost.

The Venus GPS Sensor transmits the data acquired by the sensor to the

TM4C129 microcontroller in the SkyTRAQ format. The SkyTRAQ data format is displayed in the next section of this document. The data transmitted by the GPS sensor will be sent over the UART communication protocol in the SkyTRAQ format, and then deciphered by the microcontroller.

10.3 Communication- NMEA SKYTRAQ Binary Messaging Format

Figure 10.2 shows the format that the NMEA data will be in when it is transmitted from the GPS sensor to the microcontroller using UART. The structure of the data is sent in an almost hexadecimal format. Below the structure is the example message sent from the GPS to the microcontroller. The numbers below the example message correspond to another chart that will decode the formatting into useful positional data.


Figure 10.3- Formatting Chart for NMEA Messages

Above in figure 10.3, the deformation chart is shown. This chart shows what

each number below the example message in figure 10.3 means. The main data

that this project is concerned with is numbers 10-13 of the message. Those

numbers correspond to the latitude and longitude of the device.

10.4 Communication- I2C Protocol The Inter-Integrated Circuit Protocol will be used in this project so that the

TM4C129 microcontroller can interface with the HMC5883 Magnetometer Sensor. The microcontroller will act as the master and the magnetometer will act as a slave to the microcontroller. The two devices will be connected along the same SDA pins and the same SCL pins. The data transfer rate between the magnetometer and the TM4C129 microcontroller will be 400 kHz, the fastest rate available for the HMC magnetometer.

The communication will begin with the master writing to the slave with a 7 bit address of the slave. Then the read or write bit will follow next, and then the acknowledge bit. After those bits are received by the slave, the data will be transmitted followed by another acknowledgment bit. The slave device will write the output of the magnetometer in gauss to the microcontroller (master). When there is an interrupt in the use of I2C, like when the microcontroller receives a message from the magnetometer, the clock line will be held low so that the interrupts will be able to move to the next command. Once the transmission of data is complete, and an acknowledgement is sent that it is complete, there will


be a stop sequence. That stop sequence will have an ending message along with the stop bits. The microcontroller will wait for the next interrupt with the newest message from the magnetometer.


Figure 11.1- Deliverable Timeline

11. Deliverables

Precision Tracking has developed a set of deliverables that will be provided to

our sponsor and advisor, this will ensure that a fully functional product will be developed

that meets the goals of both parties. The deliverables provide a value of purpose to the

sponsor and advisor as they update them on the progress of Precision Tracking. The

deliverable timeline created by Precision Tracking is displayed in figure 11.1.

Legend

Hardware: Daniel Medcraft Software: John Gutkowski

Project Manager: Justin West


The deliverables are listed in chronological order and are each divided into

hardware, software, and documentation along with indication of who is responsible for

those deliverables. In the section below each deliverable will be broken down with a

description and what section it falls under in the project.

11.1 Hardware 11/13/2016- Alpha Schematic- Daniel Medcraft

The Alpha Schematic is a 2D diagram illustrating all the necessary components

and circuity of the circuit board. The diagram will be presented to the project’s

sponsor and advisor in the form of an oral presentation given in the Collaboration

Room of the Product Innovation Cellar in Thompson Hall. The diagram will also

be given to the sponsor and advisors in the form of a PDF for personal reference.

This diagram will insure that the connections and interfaces between the

components are correct before proceeding to the Alpha Layout.

12/11/2016- Alpha PCB Layout- Daniel Medcraft

The Alpha PCB Layout is where the schematic described above is converted into

a printed circuit board design. The layout will contain all of the components that

are detailed in the Precision Tracking Alpha Schematic. The Layout will be

designed in Altium and delivered to the sponsor in the file type of .pcbdoc along

with a PDF of the different layers involved in the PCB layout.

1/9/2017- ALPHA Enclosure- Daniel Medcraft

The Alpha Enclosure will be Precision Tracking’s preliminary design for the

enclosure that will house the prototype. The enclosure will be prefabricated but

changes will be made to modify the enclosure for Precision Tracking’s needs.

These changes will be provided to the sponsor and the advisor in a PDF format.

2/18/2017- Beta Schematic- Daniel Medcraft

The Beta Schematic is a 2D diagram illustrating all the necessary components

and circuity of the circuit board. The diagram will be updated and improved

based on tests and recommendations based on the Alpha Schematic and the

Alpha PCB Layout. The diagram will be presented to the project’s sponsor and

advisor in the form of an oral presentation given in the Collaboration Room of the

Product Innovation Cellar in Thompson Hall. The diagram will also be given to

the sponsor and advisors in the form of a PDF for personal reference. This

diagram will insure that the connections and interfaces between the components

are correct before proceeding to the Alpha Layout.


3/11/2016- Beta PCB Layout- Daniel Medcraft

The Beta PCB Layout is where the schematic described above is converted into

a printed circuit board. The Beta PCB layout will contain all of the components

that are detailed in the Precision Tracking Alpha schematic as well as any

additions that were made to their Bill of Materials and Beta Schematic. The

Layout will be designed in Altium and delivered to the sponsor in the file type of

.pcbdoc along with a PDF of the different layers involved in the PCB layout.

3/24/2017-Final PCB Schematic-Daniel Medcraft

The Final Schematic is the third passing of designing the UAV tracking Station.

The Final Schematic will be designed in Altium, which will include the

microcontroller, motor driver, magnetometer, GPS, stepper motor, and all the

supplementary circuity that will required to implement the system. The Final

Schematic will resolve issues that were presented in the BETA Schematic. The

Final Schematic will be delivered to the sponsor by email in the file type of

.schdoc along with a PDF form.

4/1/2017- Final Enclosure- Daniel Medcraft

The Enclosure is where Precision Tracking will demonstrate how the device will

be protected by a pre-fabricated enclosure. This enclosure will be delivered in

design PDF file to the sponsors email.

4/6/2017- Final PCB Layout- Daniel Medcraft

The Final PCB Layout is where the schematic described above is converted into

a printed circuit board. The Final PCB layout will contain all of the components

that are detailed in the Precision Tracking Beta schematic as well as any

additions that were made to their Bill of Materials and Final Schematic. The

Layout will be designed in Altium and delivered to the sponsor in the file type of

.pcbdoc along with a PDF of the different layers involved in the PCB layout.

11.2 Software 12/25/2016- Story Board- John Gutkowski

The Story Board is a tool that will aid Precision Tracking in developing the

software for the UAV tracking system. The purpose of the Story Board is to

demonstrate the movement the process that the code will be implemented in.

The Story Board will be delivered to the sponsor in an email in PDF format.

3/1/2017- Alpha Code- John Gutkowski

The Alpha Code will contain all of the communication code between the

Microcontroller, GPS, Magnetometer, Ethernet port, Motor Driver, and Stepper

Motor. The Alpha Code will be delivered by email in the file type of .c to the

sponsor.


4/1/2017- Beta Code- John Gutkowski

The Beta Code will contain all of the communication code between the



sponsor.

4/20/2017- Final Code- John Gutkowski

The Final Code will contain all of the communication code between the



sponsor.

11.3 Documentation 11/18/2016-TAT Meetings (Weekly) Justin West

Technical Assistance Team (TAT) Meetings will occur on a weekly basis

throughout the project at a time to be determined at a later date. The meetings

will consist of updates on the project’s progress, demonstrations of milestones

and deliverables as well as issues that arise, and the fielding of any questions

from the project sponsor, project advisor and any other TAT members in

attendance. The meetings will take place in the Collaboration Room of the

Product Innovation Cellar in Thompson Hall. Zoom meeting coordination will be

communicated with the project sponsor well in advance.

12/7/2016- System Design Process- Justin West

The System Design Process Document will be written by the entire team and be

delivered in a soft copy form to the Project Sponsor, Project Advisor and Dr.

Morgan (Capstone I) Instructor. The document will discuss the project

management and planning aspects of the project in detail as well as, but not

limited to, the preliminary design steps from problem statement to functional

block diagram.

1/19/2017- ALPHA Test Plan/Report- Justin West

The Alpha Test Plan/Report will be the first iteration of the document detailing

how the final prototype will be tested in order to determine if it has met the

functional requirements and their accompanying performance metrics. The Test

Plan will detail the specific tests (required equipment, procedure, expected

results) and the report will be the outline for recording the results of the test and

what they mean. This will be delivered in a soft copy form to the project sponsor

as well as the project advisor and any TAT members that are willing to review it.

This deliverable is for review and feedback from advisors as well as the customer

so the final version may be adjusted for any additions or revision brought by the

feedback.


2/1/2017- ICUAS First Draft- Justin West

The ICUAS First Draft is a document that will be written for a conference in Miami

pertaining to UAV related projects occurring around the United States. This will

be delivered to the sponsors email in a PDF format.

2/12/2017- ICUAS Final Draft- Justin West

The ICUAS Final Draft is a document that will be written for a conference in

Miami pertaining to UAV related projects occurring around the United States.

This will be delivered to the sponsors email in a PDF format. The final draft will

be submitted for review by the ICUAS Conference and they will notify us if it

selected.

3/1/2017- CDR- Justin West

Critical Design Review is a presentation given by Precision Tracking that

indicates the progress of the UAV Tracking Station. It is presented to the team’s

peers, advisors, and sponsors to demonstrate the understanding of the project.

The presentation will be provided to the sponsor via video or audience

attendance.

3/20/2016-Final Test Plan/Report- Justin West

The Precision Tracking Test Plan will involve a detailed plan on how to test the

PCB board to validate that the PCB meets the functional requirements outlined in

the document. Various test will be performed to test each requirement is met.

The test plan will be presented to the sponsor in PDF form.

4/20/2017- Final Documentation Package- Justin West

The Final Document will illustrate the UAV Tracking Station in its entirety. Every

design element will be detailed and laid out so that the system is clearly laid out.

This document will be emailed to the sponsor in a PDF format.

5/1/2017- Final Demo- Justin West

The Final Demo is where Precision Tracking will demonstrate the UAV Tracking

Station and how its functions meet the functional requirements that are listed

above. This deliverable will be delivered over a video feed or in person.

5/1/2017- Final Presentation- Justin West

The final presentation will be a detailed formal review of every aspect of the

project. This will include PCB Final Design, Software Storyboard, Final Code,

Final Test Results and any necessary documentation deliverables. Each aspect

will be reviewed and discussed by the TAT as well as any customer

representation and ESET faculty representation that is necessary.


5/10/2017- Close Out- Justin West- Justin West

During Close out Precision Tracking will provide and improve on the

documentation previously written throughout the project. These improvements

may but are not limited to recommendations given to the group during their final

demo and final presentation. These changes and addition to documentation will

be provided to the sponsor and advisors in a PDF format over email.


Figure 12.1- Milestones Timeline

12. Milestones

Milestones are valued by the contractor and the timeline that is displayed in

Figure 12.1 will be Precision Tracking’s time table to ensure that appropriate progress is

being made on the UAV Tracking Station.


12.1 Hardware 11/8/2016- Alpha Schematic Approval- Daniel Medcraft

The alpha schematic approval signifies the completion of the first step in the

Alpha PCB design. Alpha Schematic approval will consist of a formal review and

any required changes from the review to be made in the design. Upon the

completion of these requirements, the design can move forward to Layout.

12/15/2016- Alpha PCB Order- Daniel Medcraft

The Alpha PCB order signifies the completed design of the Alpha PCB. Ordering

the PCB is a critical step in beginning to test the functionality of hardware and

software on the device.

1/19/2017- Alpha Enclosure- Daniel Medcraft

The Alpha Enclosure will be the preliminary housing for the UAV Tracking

Station. The enclosure will be durable and protect the device from light rain and

dust.

2/25/2017- Beta PCB Order- Daniel Medcraft

The Beta PCB order signifies the completed design of the Beta PCB. Ordering

the PCB is a critical step in beginning to test the functionality of hardware and

software on the updated device.

4/1/2017 Final Enclosure- Daniel Medcraft

The Final Enclosure will be the permanent housing for the UAV Tracking Station.

The enclosure will be durable and protect the device from light rain and dust.

4/6/2017- Final PCB Layout- Daniel Medcraft

The Final PCB Layout signifies the completed design of the PCB for the UAV

Tracking Station. Ordering the PCB is a critical step in completing the final

prototype.

12.2 Software 11/20/2016 Convert Lat./Long. Deg./Sec. to Decimal Degree Format Code –

John Gutkowski

Converting the Latitude and Longitude of the Degree per Second to Decimal

Degree Code is pivotal as the decimal to degree format is the preferred input for

the Tracking Algorithm. This conversion is necessary for the GPS to provide the

correct base location to the algorithm.


11/29/2016- Calculate heading from two LAT/LONG sets CODE-

John Gutkowski

Calculating the heading from two Latitude and Longitude sets of code signifies

that the tracking algorithm can calculate the difference between the two distance

measurements. This simulates that the algorithm can calculate the difference in

angle between the UAV and the antenna position.

12/19/2016- PCB Test Code Snippets- John Gutkowski

PCB Test Code Snippets will be used to validate that the PCB can communicate

modules and components can appropriately communicate with the embedded

microcontroller.

12/25/2016- Story Board- John Gutkowski

The completion of the storyboard will provide a road map to the design and

implementation of the Software portion of the project.

1/3/2017- Receive and Use Magnetometer Data over I2C- John Gutkowski

Demonstrating that we can successfully receive and utilize the correct

magnetometer data consistently, is a step forward in implementing the software.

Designing the code in small portions based on functionality and combining them

into larger functions until the code is added together as one will be how we move

forward with software design.

1/12/2017- Receive and Use GPS Data over UART- John Gutkowski

Demonstrating that we can successfully receive and utilize the correct GPS data

consistently, is a step forward in implementing the software. Designing the code

in small portions based on functionality and combining them into larger functions

until the code is added together as one will be how we move forward with

software design.

1/21/2017- Combine Algorithm and Sensor Data Code- John Gutkowski

The successful combination of the Tracking Algorithm code as well as the sensor

communication and data utilization will be the first major functionality of the

software to be completed.

1/30/2017- UDP Packet Test- John Gutkowski

Receiving the Hardware in the Loop (HiL) Station will allow us to test the GCS

and see what the STANAG UDP packets actually look like coming into our RJ45

port. This will give us a way forward to implementing how we will receive these

packets and utilize the data inside them.


2/8/2017- Receive and Parse Packets- John Gutkowski

After testing and deciding on how to implement this process in the storyboard, it

will be implemented in a function in code that will later be combined into the

project code as a whole.

3/1/2017- Alpha Code- John Gutkowski

Alpha Code will be the first iteration of the total combined code that will function

as one with all functionalities developed previously.

4/1/2017- BETA Code- John Gutkowski

Beta Code will be the second iteration of the total combined code that will

function as one with all functionalities developed previously.

4/1/2017- Final Code- John Gutkowski

Final Code will be the last iteration of the total combined code that will function as

one with all functionalities developed previously.

12.3 Documentation 12/7/2016- System Design Process- Justin West

The completion of the SDP (described in deliverables section) signifies the end of

the planning process of the project and is considered a partial freeze on

conceptual and functional deign aspects. This will be the major starting point for

design implementation of the project.

12/24/2016-Receive HiL Station from Martin UAV- Justin West

Receiving the “Hardware in the Loop” station from Martin UAV will allow us to

make significant test and design steps regarding communications with the

STANAG UDP Protocol. This will be a significant milestone due to the

development that will follow receiving this setup. The HiL station will consist of a

GCS software to be installed on a laptop as well two beagle bone black devices

to connect to.

1/19/2017- Alpha Test Plan/Report- Justin West

The ALPHA iteration of the Test Plan and Test Report will be the first point that

we will get feedback on how we will be conducting our Test of the device as well

as how we plan on reporting the results of the test.

2/12/2017- ICUS Final Draft- Justin West

The Final Draft of the ICUAS conference paper will signify the completion of that

requirement for our technical merit matrix. When this milestone is reached, we

will wait to see if our submission is selected for publication or presentation.


3/1/2017- CDR- Justin West

The Critical Design Review will signify a completion of one of the requirements

for successfully completing the Capstone II course. This will be a major point of

review and feedback for that point in our project’s progression.

3/20/2017- Final Test Plan/Report- Justin West

The Final Test Plan/Report will signify the completion of a major deliverable and

a solidified plan for testing the prototype when it is completed.

4/20/2017- Final Documentation Package- Justin West

Completing the Final Documentation Package will signify the delivery of a major

deliverable as well as the finalized version of the prototype.

5/1/2017- Final Demo- Justin West

Final Demo completion and approval will signify the start of the closeout

procedures for the project.

5/2/2017- Final Presentation- Justin West

Completion of the Final presentation according to our timeline will signify that the

project has been completed and delivered completely.


Figure 13.1- Whole Gantt chart

13. Gantt Chart

The Gantt charts shown in figures 13.1-13.3 are a graphical timeline showing the

duration of Precision Tracking’s project. The Gantt chart has been broken down into five

phases which show each phase’s activities and the duration of each activity. Each

activity and phase has been color coded for the reader. The research, design,

development and documentation start at the middle of August and finish in the middle of

March.


Figure 13.2- Gantt chart 1-40


Figure 13.3- Gantt chart 40-75

Figure 13.4- Gantt Chart 75-97


Table 14.1- Labor Costs

Table 14.2- Part Costs

14. Costing

14.1 Costing Summary The costing that is shown in this section will breakdown the costs involved

with the development and production of the UAV tracking system. The section is

broken down into four different costing categories: direct, indirect, profit, cost

timeline, and a time sequence of money. These sections will breakdown and

justify the cost of each phase and process of the project in tables and graphical

form.

14.2 Direct Costs The direct costs involved in this project include labor, parts, and

development costs.

The hourly wage was calculated by taking a base rate of $30 per hour and

adjusting that rate based on the individual member’s job title for the project. The

benefits and the insurance of the members was generated by calculating 25% of

the individual’s project earnings.

Table 14.2 displays the direct costs for Precision Tracking’s UAV Tracking

Station. As there are three different members and the scope of the project it was

advised that each member to receive their own parts. This allows each member

to work on the project and achieve a working prototype. There will also be nine


Table 14.3- Development Costs

Table 14.4- Total Direct Costs

Table 14.5- Total Indirect Costs

different PCB’s made and the Alpha boards will be populated by the team

members, while the other PCB’s will be populated by external companies.

Table 14.3 shows the costs for the software and equipment needed for the

development of the project.

17.3 Total Direct Costs

Table 14.4 shows that the total direct costs for the project will be

$60,359.76.

14.4 Indirect Costs Indirect costs include the overhead used for the project along with the

general and administrative work that will be involved during the production of the

UAV tracking station. The costs displayed below will show the cost of the facility

as well as the utilities used at the facility. General and administrative work will

include the charges that any staff members charge to the project regarding

administrative work. The cost can also include shipping and transaction fees

involved in the development.


Table 14.6- Total Direct and Indirect Costs

Table 14.7- Profit

Table 14.8- Total Project Costs

Overhead for the project was estimated as 45% of the total direct costs.

General and Administrative costs were calculated as 10% of the total direct costs

which brought the total indirect costs to $33,197.87. This cost maintains the

facility and staff are covered for the duration of the project.

The total direct and indirect cost show the overall amount that the project

costs to produce. These statistics will be used in calculating the profit margin for

the project.

14.5 Profit

Precision Tracking profit is calculated above and was determined as 15%

of the Direct and Indirect cost calculated in the above tables. This generated a

total profit of $9,959.36.

14.6 Total Project Costs

The total project costs are calculated by adding together the direct cost,

indirect cost, and profit of the Precision Tracking project. The total cost of the

project will be $107,591.27.


Table 14.9- Cost Timeline

Figure 14.1- Time Sequence of Money

14.7 Cost Timeline The cost timeline shows when all the cost will be expensed during the

project. The cost timeline is broken down weekly and displays all the cost

pertaining to the project with a running total of the project.

14.8 Time Sequence of Money The time sequence of money shows the information from the cost timeline

in graphical format.

Figure 14.1 shows how the cost of the project is spread out through the

duration of the project. The duration of the project is divided by weeks and the

total is displayed in US dollars.

$0.00

$20,000.00

$40,000.00

$60,000.00

$80,000.00

$100,000.00

$120,000.00

1 2 3 4 5 6 7 8 9 10 11 12 13

CO

ST (

DO

LLA

RS)

TIME (WEEKS)

Project Total

Project Total


Table 15.1- Test Matrix

15. Test Matrix

The functional requirements established by Precision Tracking and Martin

UAV displayed in section 6 pertaining to the UAV Tracking station will need to be

validated. This validation process will be performed by producing and executing a

variety of tests on Precision Tracking’s UAV tracking station. The test matrix in table

15.1 shows the tests that will be performed by Precision Tracking so that the functional

requirements can be validated.

15.1 Power The power test will determine if the device is receiving 12V DC from the

power supply that is provided by Martin UAV. This input voltage is important as it

will be directly applied to the stepper motor as well as to the voltage regulator.

The supplied power will be measured by a multimeter so that Precision Tracking

can get an accurate measurement.

15.2 Voltage Regulator The voltage regulator will be tested by Precision Tracking to ensure that

the appropriate voltage is applied to the microcontroller. This test will be


performed with a multimeter as it will provide Precision Tracking with an accurate

voltage reading.

15.3 Communication to GPS Ensuring that the GPS can communicate with the microcontroller that is

embedded on the board is the first step in calculating the UAV position. The GPS

will provide the microcontroller with the stations position. This communication will

be tested by compiling test code in the development stage as well as testing that

the GPS module and microcontroller are receiving and sending information over

UART.

15.4 Communication to Magnetometer The magnetometer will provide the microcontroller with the position of the

antenna as it rotates according to the UAV’s path. The magnetometer is essential

in updating the microcontroller with the updated movements of the antenna.

Precision Tracking will test communication to this device by compiling test code

and testing that the microcontroller and magnetometer are sending and receiving

information over an I2C protocol.

15.5 Receive UDP Packets Precision Tracking will be broadcasted UDP packets from a Martin UAV’s

ground control station, these packets contain the longitude and latitude of the

UAV. The information will be included in the algorithm that is embedded in the

microcontroller. Precision Tracking will simulate the UDP packets by

implementing a hardware in the loop station. This station emulates the ground

control station allowing Precision Tracking to provide the microcontroller

controlled data that can be reviewed and recorded.

15.6 Tracking Algorithm The tracking algorithm will calculate the position of the UAV as well as the

number of steps needed to rotate the antenna to the appropriate location. The

algorithm peripherals will be tested in phases (explained above) once all the

peripherals can be inputted into the microcontroller the algorithm can be tested.

Precision Tracking will input all the information provided by the peripherals and

observe how the algorithm processes the information.

15.7 Stepper Motor Precision Tracking will provide testing on the stepping motor as it will be

integral in rotating the antenna to the appropriate position. The stepper motor will

be tested by examining the algorithm and observing the number of steps that are

taken compared to what is calculated by the code. This will allow Precision

Tracking to confirm that the stepper motor is receiving the correct signal from the

microcontroller.


15.8 Enclosure The device created by Precision tracking will be enclosed in a

manufactured box. To ensure that the enclosure can protect the device from light

rain and dusty environments. Precision Tracking will expose the box to these

conditions and see how it affects the enclosure.


Table 16.1- Technical Merit Matrix

16. Technical Merit

Precision Tracking has defined its technical merit of the UAV Tracking Station by developing a Technical Merit Matrix. The Technical Merit Matrix, shown in Table 16.1, provides an assessment of the different categories of the design and development of the UAV Tracking Station. Precision Tracking has valued each category and valued the project with having a technical merit of 1.3, this exceeds the satisfactory weight of 1.0.

16.1 Technical Challenge Precision Tracking’s technical challenge exists as continued meetings with

advisors and sponsors reiterate the challenges of creating the UAV Tracking

Station. Our Tracking Station involves hardware, software, and a variety of

testing. Precision Tracking accepts the technical challenge and is determined to

produce a fully functional prototype.

16.2 System Integration The various sensors located inside the tracking device and the STANAG

UDP packets provided to the device will need to integrate with the Micro-

controller for proper functionality of the Tracking Station.


16.3 System Testing Testing will be an ongoing process throughout the development of the

UAV Tracking Station as each piece of hardware built and software compiled will

need to be tested for operational functionality. The test will allow modifications to

be incorporated before the system is fully integrated.

16.4 Theoretical Analysis and Simulation Precision Tracking will simulate the amount of magnetic field that is being

created when the stepper motor is operational, and how this magnetic field

affects the magnetometer.

16.5 Hardware Design Hardware design for the UAV Tracking Station is creating a PCB that

connects all the sensors communication protocols to the microcontroller and

providing appropriate power to the components used in the design.

16.6 Software Design Precision Tracking will develop code that allows the Magnetometer, GPS,

and Motor Driver to communicate with the microcontroller. A code will also be

written to receive these peripherals and input them into an algorithm that will

calculate the heading of the VBAT as well as the number of steps needed to

rotate the antenna to align with that heading.

16.7 Enclosure Design Precision Tracking will be modifying an enclosure so that the prototype will

be protected from light rain and dusty environments.

16.8 Further Documentation The ICUAS paper will be submitted by Precision Tracking in February and

if approved will be entered into a conference held in May.


17. Appendix

Table of Figures Figure 2.1- Existing Tracking System…………………………………………….………..….6 Figure 3.1- Antenna Rotation Axis …………………………………………………….………7 Figure 5.1 Conceptual Diagram…………………………………………………….…............9 Figure 8.1 Overall Functional Block Diagram…………..…………………………….……..13 Figure 8.2 Microcontroller Pins……………………………………………..………..…..…...14 Figure 8.3 JTAG and RESET Interfaces………………………………..………….………..14 Figure 8.4 Voltage Regulation………………………………………………..……….………15 Figure 8.5 Stepper Motor and Driver………………...…………………………..………..….16 Figure 8.6 Venus GPS Sensor Block Diagram……………………………..…….…….…..17 Figure 8.7 HMC5883 Magnetometer Block Diagram………………...…………..………...17 Figure 8.8 RJ45 Ethernet Port………………………………………………………………...18 Figure 9.1 Venus GPS Sensor…………………………………………..……….……….…..19 Figure 9.2 HMC5883 Magnetometer Sensor Module……………..……………….….……20 Figure 9.3 Big Easy Motor Driver……………………..……………………………….……...20 Figure 9.4 Stepper Motor…………………………………………..……………….………....21 Figure 10.1 STANAG UDP…………………………………………………………….….…..22 Figure 10.2 Sample NMEA Message Format……………………………………….……....23 Figure 10.3 Formatting Chart for NEMA Messages………………………………….……..24 Figure 11.1 Deliverable Timeline………………………………………………………….….26 Figure 12.1 Milestone Timeline………………………………………………………….……32


Figure 13.1 Whole Gantt Chart……………………………………………………………….37 Figure 13.2 Gantt Chart 1-40………………………………………………………………….38 Figure 13.3 Gantt Chart 40-75………………………………………………………………..39 Figure 13.4 Gantt Chart 75-97…………………………………………………………..……39 Figure 14.1 Time Sequence of Money……………………………………………………….43


Tables of Tables

Table 7.1 Microcontroller Technology…………………………….…..…………….……….11

Table 7.2 GPS Sensor Technology Survey………………………………..………………...12

Table 7.3 Magnetometer Sensor Technology Survey………….….………...……………..12

Table 14.1 Labor Costs…………………………………………………….………………….40

Table 14.2 Part Costs………………………………………………………………………….40

Table 14.3 Development of Cost……………………………………………………………..41

Table 14.4 Total Direct Costs…………………………………………………………………41

Table 14.5 Total Indirect Costs……………………………………………………………….41

Table 14.6 Total Direct and Indirect Costs…………………………………………………...42

Table 14.7 Profit………………………………………………………………………………..42

Table 14.8 Total Project Costs………………………………………………………………..42

Table 14.9 Cost Timeline……………………………………………………………………...43

Table 15.1 Test Matrix…………………………………………………………………………44

Table 16.1 Technical Merit Matrix…………………………………….………………………47


Table of Abbreviations

C2- Command and Control signals

GCS- Ground Control Station

GPS- Global Positioning System

HiL- Hardware in the Loop

I2C- Inter- Integrated Circuit

NATO- North Atlantic Treaty Organization

PIC- Pilot in Command

QRR- Quad Radio Router

RF – Radio Frequency

STANAG- NATO Standardization Agreement

UART- Universal Asynchronous Receiver/Transmitter

UAS- Unmanned Aerial System

UAV- Unmanned Aerial Vehicle

UDP- User Datagram Protocol

VTOL- Vertical Takeoff/Landing


20. Notes

precision tracking system design process

Documents