Senior Design Project Attitude Estimation Device RIT Attitude Estimation Device - CDR05011:© Critical Design Review May 13, 2005 A fully functional prototype of a low cost accelerometer based inertial navigation system.

Team: Project Leader Robert Wible Mechanical Engineer Designer Brandon Roth Mechanical Engineer Simulations Erin Long Mechanical Engineer Lead Engineer Royce Abel Mechanical Engineer RIT Attitude Estimation Device - CDR05011:© Team Mentor Dr. Wayne Walter Special Thanks Professor Wellin Dave Hathaway SMT Labs at CIMS National Instruments Project Sponsor Dr. Agamemnon Crassidis

Quarter 1 Schedule RIT Attitude Estimation Device - CDR05011:©

Quarter 2 Schedule RIT Attitude Estimation Device - CDR05011:©

Overview Background & Theory Design Objectives Challenges Faced FEA Board Layout LabVIEW Final BOM Final Outcome Comments and Questions RIT Attitude Estimation Device - CDR05011:©

Background RIT Attitude Estimation Device - CDR05011:© Above: Photo of Internals of a Gimballed Inertial Platform INS Mechanism. © GEC Marconi Left: Internals of the RLG System. © GEC Marconi

Navigation in a Non-Flat Plane RIT Attitude Estimation Device - CDR05011:©

Major Needs Working Prototype to acquire all data Board & Test Stand – Reusable and Modifiable RIT Attitude Estimation Device - CDR05011:©

Needs Assessment Electrical Critical Design PWM GyroPAK3 6” Diameter 180 deg arc of accels Voltage Regulated +- 2 g Accels Strong Enough to Withstand 10 gees 13 Accelerometers Minimize Noise Economical Mechanical Critical Design Support the circuit board while allowing it free rotation about a single axis Be movable and transportable Level or adjustable Must not deflect in any direction due to forces or moments placed on it Economical Must be able to machine or purchase within the given time frame Cannot include complex parts Must allow easy access to the circuit board A fully functional prototype of a low cost accelerometer based inertial navigation system, which outputs the pitch angle RIT Attitude Estimation Device - CDR05011:©

Desired Outcomes Mobility/Interchangeability Minimized Noise Sampling Ability Mounting for Grad Research Nav Robot Accelerometer output to match Simulation RIT Attitude Estimation Device - CDR05011:©

Key Requirements & Critical Parameters Accuracy of devices Withstand gees for test flight Mounting Capability Leveling Capability (non-flat surface) Signal Filter 1° Resolution of Actual Pitch RIT Attitude Estimation Device - CDR05011:©

Major Design Challenges Board Design Noise Reduction Accuracy Accelerometer Placement – SMT Labs! Test Stand Wire Interference Leveling Capability Truth Model – Potentiometer … Optical Enc. RIT Attitude Estimation Device - CDR05011:©

Final Board Layout RIT Attitude Estimation Device - CDR05011:©

Final Board Layout RIT Attitude Estimation Device - CDR05011:©

Final Design Overall RIT Attitude Estimation Device - CDR05011:©

LabVIEW Data Acquisition RIT Attitude Estimation Device - CDR05011:©

Electrical Part List ManufacturerFunctionQuantity Unit Cost Shipping Cost TaxPart #SupplierComments Analog DevicesAccelerometer15$12.50$12.26$16.48ADXL202JEAnalog Devices2 axis, 2 g (shippi GyroPAK3Rate Gyro2$99.00$3.67$ AO-Navi+-200 o /sec 40 Hz PCB123Custom PC Board2$159.50$15.00$0.00n/aPCB123.com Panasonic-ECGResistor (1 MOhm)40$0.11$5.00$0.00P1.00MCACT-NDdigikey.com1/4 W, 1% metal film ON Electronics5V, 1A Voltage Reg.1$0.53$3.22$0.00MC7805ACTOS-NDdigikey.com GyroPAK3Wiring1$10.00$3.67$ AO-Navi GyroPAK3Mounting Kit1$9.50$3.67$ AO-Navi YageoResistor (249 KOhm)20$0.54$3.22$ XBK-NDdigikey.com1/4W, 1% metal film Panasonic-ECGCapacitor (.1uF)30$0.41$3.22$0.00P4923-NDdigikey.comceramic, mono, 50V, 10% JSTConn Header ZH10$0.13$3.22$ NDdigikey.comtop 4 pos 1.5mm JSTConn Housing ZH10$0.05$3.22$ NDdigikey.com4 pos 1.5mm Wht JSTConn Header PHD10$0.43$3.22$ NDdigikey.comtop 16 pos 2mm JSTConn Housing PHD10$0.24$3.22$ NDdigikey.com16 pos 2mm JSTCrimps100$0.04$3.22$ NDdigikey.com JSTCrimps100$0.02$3.22$ NDdigikey.com US DigitalEncoder1$57.00$5.00$0.00H1-720-Iusdigital.com US Digital5-Pin Connector1$7.00$5.00$0.00CA FTusdigital.com RIT Attitude Estimation Device - CDR05011:©

Mechanical Part List ManufacturerFunctionQuantity Unit Cost Shipping CostTaxPart #SupplierComments RITBearings2$0.00 RITDonated usHollow Shaft1$9.00$0.00 -Lowe'scost estimate usBase1$27.00$0.00 -Lowe'scost estimate usRubber Washers8$2.00$0.00 Lowe'scost estimate usLevel1$10.00$0.00 Lowe'scost estimate us Bearing Stand Plate 1$14.00$0.00 -Lowe'scost estimate RITPCB Support Plate1$0.00 -RITDonated RIT Bearing Stand Bolts 6$0.00 -RITDonated RITSpacers4$0.00 -RITDonated RITSupport Plate Bolts4$0.00 -RITDonated RIT Attitude Estimation Device - CDR05011:©

Total Cost TOTAL COST: $ RIT Attitude Estimation Device - CDR05011:©

Desired Outcome RIT Attitude Estimation Device - CDR05011:©

Actual Outcome RIT Attitude Estimation Device - CDR05011:©

Question & Comments? RIT Attitude Estimation Device - CDR05011:©

Board Strength: Properties Tensile strength: PSI 380 MPa Young’s Mod: PSI 24 GPa Poisson’s Ratio: RIT Attitude Estimation Device - CDR05011:©

Board Strength: FEA RIT Attitude Estimation Device - CDR05011:©

Board Deflection: FEA RIT Attitude Estimation Device - CDR05011:©

Mechanical Test Stand Design: Concepts Concept 1: Non-Symmetric Concept 2: Symmetric Concept 3: Free Standing RIT Attitude Estimation Device05011:©

Concept 1 RIT Attitude Estimation Device05011:©

Concept 2 RIT Attitude Estimation Device05011:©

Concept 3 RIT Attitude Estimation Device05011:©

Concept 1: Preliminary Design RIT Attitude Estimation Device05011:©

Concept Feasibility Chart RIT Attitude Estimation Device05011:©

Accelerometer Arc - Schematic RIT Attitude Estimation Device05011:©

Simulations RIT Attitude Estimation Device05011:©