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
Presentation Outline • Introduction • Hardware • Programming & Software Manipulation • What we accomplished Team Burgundy 2
Which Building Is This? Team Burgundy 3
Which Street Is This? Team Burgundy 4
What Is He Jumping Over? Team Burgundy 5
Motivation Team Burgundy 6
System Implementation Team Burgundy 7
Presentation Outline • Introduction • Hardware • Programming & Software Manipulation • What we accomplished Team Burgundy 8
Uberboard • Made system portable • Attached GPS and IMU to this board. • Debugged with LEDs • Provided common timer Team Burgundy 9
IMU • Attached with shifter • Filter data from system • Fast buad rate • Accelerometers/ Gyroscopes • 6 ‐ Degrees of Freedom Team Burgundy 10
GPS • Provided macro ‐ scale localization • Had tracker to detect when GPS data is valid • Combine points to provide heading Team Burgundy 11
Magnetometer • Provided orientation • Interfaced through arduino board • Magnetic north does not equal true north • Had to be abandoned Team Burgundy 12
Presentation Outline • Introduction • Hardware • Programming & Software Manipulation • What we accomplished Team Burgundy 13
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
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
Fusion Algorithm/Filtering • 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 IMU data manipulation Team Burgundy 16
Fusion Algorithm/Filtering • Implemented in Matlab • Combines GPS/IMU data • Quaternions used for rotations • Kalman filter used for linear motion Prototype Team Burgundy 17
Presentation Outline • Introduction • Hardware • Software • What we accomplished Team Burgundy 18
What We Accomplished • Created working circuit • Collected data • Parsed data • Filtered data • Tested and developed prototypes Team Burgundy 19
If There Was More Time • Develop multidimensional Kalman filter • Purchase more accurate GPS • Purchase more accurate IMU • Perform more sensor tests Team Burgundy 20
Thank you!! Team Burgundy 21
GPS Testing Extras • Hyper ‐ accurate GPS UTC start UTC end Duration X Y Z X_er Y_er Z_er Lat Long Alt 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 19:32:50 19:39:25 0:06:35 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. 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 20:32:15 20:46:35 0:14:20 the day and for a longer period of time. Test with GPS Team Burgundy 22
Data Extras • Timed GPS: • 3 ‐ Dof IMU data: <108326> x = 499 y = 519 z = 923 $GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,* x = 496 y = 521 z = 924 7C <108554> x = 497 y = 524 z = 931 $GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,* x = 493 y = 526 z = 929 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 Examples of sensor tests Team Burgundy 23
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