1. Inertial Measurement Unit

2. Project Advisor: Dr. Basart Client: Matt Nelson Team Members (491): Matt Ulrich Luis Garcia Amardeep Jawandha Julian Currie Team Members (492): Matt Clausman Jesse Griggs Christina McCourt Andy Schulte Shobhit Vaish

3. Project Description Our overall goal is to develop a product that accurately detects movement of the ImAP system. It will measure and record six degrees of movement. The entire ImAP system will be used to collect crop health data.

4. Problem Statement Currently, the ImAP system does not have a way to store the all the information of it’s movements over long period of time. This data would be extremely useful for post-flight analysis.

5. System Description The image capturing system will be mounted as a payload attached to a high-altitude weather balloon. This system will be developed to capture images at predetermined waypoints. There is a GPS receiver, a transmitter with a modulator that sends the GPS coordinates to the ground station, an onboard computer for controlling the flight, the horizon detection system, and a camera system that is on a gimbaled platform. After the images are collected, image analysis software is used to extract the image intensities, and make geometric corrections. The final images will be transferred to the plant pathology team who will interpret the images. Data acquired using on-board orientation, light, humidity, pressure, and temperature sensors will be used to better understand atmospheric conditions during the flight

6. Concept Sketch

7. System Block Diagram

8. User Interface Description The user will launch the ImAP system into the air where it will be anchored to the ground. At that point, the system will be behave independently of the user. After flight, the user can connect the IMU system to a computer and view data via a USB connection.

9. Functional Requirements  FR01: IMU shall measure balloon oscillation frequency and angular rotation rate to one degree per second.  FR02: IMU shall measure to 0.01g for each of the three principle axes.  FR03: Data logging system shall be able to log at a 100 Hz rate with 10 bit or greater precision.  FR04: IMU shall receive power from a 11.1 V nominal lithium-ion battery  FR05: IMU shall function for a minimum of 2 hours using a 4 Amp-hour battery pack  FR06: IMU shall operate over a temperature range of -40˚ C to +85˚ C

10. Non-Functional Requirements  Microcontroller may monitor current and voltage levels during flight

11. Work Breakdown  Spring 2008 Personnel Gyro and Accelerometer Research Microcontrolle r and Flash Memory Research Gyro and Accelerometer testing Microcontrolle r and Flash Memory Testing Operational Manual Documentatio n, planning & organization Total Hours Luis 301050183040178 Julian 103015702025170 Matt 25855153530168 Amardeep 301045202530160 Total 9558165123110125676

12. Work Breakdown  Fall 2008 Personnel IMU Circuit Board Design & Testing for Data Acquisition Gyro and Accelerometer Calibration System Integration Operational Manual Documentation, planning & organization Total Hours Luis 5035 2535180 Julian 6017552035187 Matt 4045352035175 Amardeep 4045302540180 Total 19014215590145722

13. Budget  Spring 2008  Fall 2008 ItemCost Parts and materials Rate Gyro $ 65.00 Accelerometer$ 45.00 Four Atmel Mega 128 Microprocessors$ 36.60 Subtotal$ 146.60 Student labor $10/Hr$ 6760.00 Total$ 6906.6 ItemCost Parts and materials Two circuit boards $ 140.00 Three rate gyros$ 195.00 Three rate gyros$ 135.00 Five Atmel Microprocessors$ 45.75 Ten Flash Memory Chips $ 49.14 Passive Circuit Board Components$ 30.00 Two USB cables$ 16.00 Subtotal$ 610.89 Student labor $10/Hr$ 7220.00 Total$ 7830.89

14. Spring 2008 Schedule

15. Fall 2008 Schedule