1. Virtual Imaging Peripheral for Enhanced Reality Aaron Garrett, Ryan Hannah, Justin Huffaker, Brendon McCool

2. General Constraints  Implementing a Kalman Filter  Requires interfacing with  Accelerometer  Gyroscope  Magnetometer  Camera Process Module  Ultrasonic Module  Fast update rate optimally all sensors ~40 times a second  Clean Packaging, device must be worn

3. Block Diagram

4. -Requires 40 kHz PWM burst from uC -Signal needs to amplified to ~5-10V -Burst length of about 5ms -Requires 40 kHz PWM burst from uC -Signal needs to amplified to ~5-10V -Burst length of about 5ms -Requires Band Pass filter centered at 40 kHz -Voltage Comparator to read incoming pulse -Possible output signal amplification requried -Requires Band Pass filter centered at 40 kHz -Voltage Comparator to read incoming pulse -Possible output signal amplification requried Assuming -Approximate distance is ~2 meters -Speed of Sound ~340 m/s -~0.00588 seconds or ~6 ms flight time -Transmit time of ~16ms -Then max data rate 62.5 samples/sec - 8503 Hz Assuming -Approximate distance is ~2 meters -Speed of Sound ~340 m/s -~0.00588 seconds or ~6 ms flight time -Transmit time of ~16ms -Then max data rate 62.5 samples/sec - 8503 Hz

5. Block Diagram Time stamp Transmit and receive data rate faster then Ultrasonic data rate Time stamp Transmit and receive data rate faster then Ultrasonic data rate

6. Block Diagram -Optimal data rate for camera and processing ~40Hz -Data rate of ~10Hz more likely -Minimize error by increasing angle resolution -Larger pixel resolution the better -Large amount of data being transferred -Increased performance requires buffering -large enough Flash or Sram to buffer data into -Possible uC we found AT91SAM7S64 -ARM7 -Possibly could use an ARM9 more effectively -Optimal data rate for camera and processing ~40Hz -Data rate of ~10Hz more likely -Minimize error by increasing angle resolution -Larger pixel resolution the better -Large amount of data being transferred -Increased performance requires buffering -large enough Flash or Sram to buffer data into -Possible uC we found AT91SAM7S64 -ARM7 -Possibly could use an ARM9 more effectively

7. Block Diagram -Small package to fit on glasses -Accelerometer 3 axis -MMA8452Q -12bit ±2g, ->0.488mg sensitivity -I2C interface 1.5 to 800 Hz data rate -1.95 V to 3.6 V supply voltage -Gyroscope 3 axis -ITG-3200 -16-bit ±2000°/sec -I2C interface -3.9 – 8000 samples/sec -2.1 V to 3.6 V supply voltage -Magnetometer 3 axis -MAG3110 - ±1000 μ T range -0.10 μ T sensitivity -I2C interface -Output data rate up to 80 Hz -1.95 V to 3.6 V supply voltage -Small package to fit on glasses -Accelerometer 3 axis -MMA8452Q -12bit ±2g, ->0.488mg sensitivity -I2C interface 1.5 to 800 Hz data rate -1.95 V to 3.6 V supply voltage -Gyroscope 3 axis -ITG-3200 -16-bit ±2000°/sec -I2C interface -3.9 – 8000 samples/sec -2.1 V to 3.6 V supply voltage -Magnetometer 3 axis -MAG3110 - ±1000 μ T range -0.10 μ T sensitivity -I2C interface -Output data rate up to 80 Hz -1.95 V to 3.6 V supply voltage

8. Block Diagram -Read incoming data -Update Kalman Filter Equation -Accel max ~800 times/sec -Gyro max ~8000 times/sec -Mag max ~80 times/sec -Ultrasonic max ~70 times/sec -Visual max ~40 times/sec -Update graphics -Optimal about ~30 fps -Read incoming data -Update Kalman Filter Equation -Accel max ~800 times/sec -Gyro max ~8000 times/sec -Mag max ~80 times/sec -Ultrasonic max ~70 times/sec -Visual max ~40 times/sec -Update graphics -Optimal about ~30 fps

9. Project-Specific Success Criteria 1. The ability to communicate time stamp data using RF between the base unit and head unit. 2. The ability to display images to the video glasses. 3. The ability to calculate estimate of angle and position of head unit using accelerometer, gyroscope, and compass. 4. An ability to find angle displacement of head relative to IR beacon origin using glasses mounted camera. 5. An ability to find distance from base to head unit using ultrasonic emitter and receiver.