Project BLISS Boundary Layer In-Situ Sensing System - PowerPoint Presentation

Slide1

Project BLISSBoundary Layer In-Situ Sensing System

Kyle CorkeyDevan CoronaGrant DavisNathaniel Keyek-Franssen

CustomerDr. Suzanna DienerNorthrop GrummanFaculty AdvisorDr. Donna Gerren

Robert LacyJohn SchenderleinRowan SlossDalton Smith

Team

1Slide2

Outline

Project OverviewMajor Changes and Status UpdateTest ReadinessDelivery SystemMeasurement SystemCloud Observation SystemBudget Update

2Slide3

Project Deliverables

3-Dimensional U-, V-, W- inertial wind vector data inside the measurement cylinderCloud base altitude and cloud footprint data above the measurement cylinder

Measurement Cylinder3Slide4

Levels of Success

4Delivery System

Measurement SystemCloud Observation SystemLevel 3:Execute flight plan following points spaced no more than 30 meters apart spanning the defined airspace in the 15 minute time limit with Measurement System onboard and collecting data Level 3:Deliver U-, V-, W- inertial wind velocity vector field

with temporal and spatial location for each measurement accurate to 1 m/s with a resolution of 0.1 m/s.Level 3:Deliver time-stamped cloud footprint images and cloud base altitude measurements at 1/4 Hz during the 15 minute test period.Slide5

Concept of Operations

100 m

200 m

Legend

Within Project Scope

NG model wind vector

Physical

W

ind

Vector

Wind Vector

of in-situ data

100 m

2

00 m

100 m

2

00 m

100 m

2

00 m

2

00 m

Airspace Test

Volume Subject

To Modeling

Northrop Grumman Wind Model Results

In-Situ Relative Wind Velocity Data Collection and Cloud Imaging

Inertial Wind from In-Situ Data and Cloud Base Altitude

Wind Vector and Cloud Data Used to Verify Northrop Grumman Model

5

100 mSlide6

Functional Block Diagram

Aircraft State & Wind

Pressure InertialU-,V-,W-Wind Vector Field

Post Processing AlgorithmNorthrop Grumman Wind Model

Delivery System

Pixhawk Flight Controller

Motor

GPS

Antenna

Electrical Power System

Power Module

Speed Controller

14.8V

Manual

Commands

5V

GPS Coordinates

Elevon

Servos

Serial Command

PWM

PWM

Measurement System

Pressure Transducers

Inertial Navigation System

Arduino Due

SD Card

Relative

Wind

Electrical Power System

5-Hole Probe

Thermistor

Aircraft State & Wind

Pressure

SPI

9V

Analog Voltage

Air

Pressure

Analog

The

M

easurement

System is packaged

in the

D

elivery

S

ystem

6

14.8VSlide7

Functional Block Diagram Continued

Vertical Camera

Internal SD Card

Cloud Observation System

Northrop Grumman Wind Model

Computer with Post Processing Algorithm

Vertical Camera

Battery

Internal SD Card

Left and Right

.RAW Images

Cloud Base Altitude

& Footprint

.RAW Image

.RAW Image

Power

Power

X

Cloud Base

Camera Field

of View

Camera Field

of View

Battery

7Slide8

Critical Project Elements

8

CPERequirementMotivationObtaining a COA4.1.1UAV cannot legally fly without a COADetermining Flight Path and maintaining it in flight1.1.1.1, 3.1To meet required spatial and temporal measurement resolutionRapid Prototyping 5-hole probe1.2Used to measure windCalibrated 5-hole probe1.2.3Need to geometrically calibrate the probe to accurately measure windAircraft State Knowledge

1.2.2Needed to convert relative wind to inertial windWind Post Processing Algorithm1.2.1Needed to convert relative wind to inertial wind.Cloud Observation Algorithm2.2.2Deliver cloud data within required error boundsSlide9

9

MSR

TRRDetailed Schedule up to TRRCalibration fell behind schedule due to issues with electrical and mechanical designHowever reducing the number of data points allowed us to get back on track and collect all necessary data

Only calibration algorithm remains and will be completed this weekAssembling the UAV was moved forward due to extra resources availableSlide10

10

TRR

UAV testing also moved forward Early flight testing allows for margin due to inclement weather and resources neededAllows for more resource allocation to Cloud Observation SystemSlide11

11

Detailed Test Schedule

All tests have built in margin due to unforeseen errors and availability of facilities and resourcesThis is especially true with all flight related tests. Each flight test below should only take 1 day.TRRSlide12

Delivery System

Test Overview

12

Purpose:

To transport the Measurement System through the measurement cylinder within the required 30 meter spatial resolution and 15 minute time limit

Status:

UAV is flight ready. Ground tests have been accomplished and flight tests can now commence.

Complete

In Progress

Scheduled in FutureSlide13

Manual Flight Test

13

Purpose:To validate that power consumption is adequate for flight time. Building block for autonomous flightRequirement:

3.1 – Delivery system must fly for 15 minutesMethod:Collect Power Consumption Data during climb and descent.Facilities:Table Mountain, Pilot James MackExpected Results:Power consumption during flight is similar to predicted. Verify battery will last for >20 minutes during data collection. Aircraft is shown to be airworthy.Impact:Aircraft is ready for autonomous flight testing.Slide14

Manual Flight Test Procedure

Procedures:Setup ground control station (GCS) in open area close to launch and landing sites.

Perform ground testing of control response prior to launch.With pilot ok, launch aircraft.Pilot performs helix climb and descent at flight velocities.Instruct pilot to land aircraft.14Slide15

Autonomous Flight Test

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Purpose:Validate autopilot control of aircraft during ascent and descent during loiter.Requirement:

3.1 – Delivery system must fly for 15 minutesMethod:Record ascent and descent rates during autonomous flight.Facilities:Table Mountain, Pilot James MackExpected Results:Ascent and descent rates within 1 m/s of expected 1.66 m/s. Impact:

Aircraft is ready for flight plan testing.Slide16

Autonomous Flight Test Procedure

Procedures:Setup GCS in open area close to launch and landing sites.Perform ground testing of control

response prior to launch.Load box pattern and loiter waypoint to Pixhawk.With pilot ok, launch aircraft.Instruct pilot to transition to autonomous flightAfter flight path completion, instruct pilot to land aircraft.

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Flight Path

Flight Path Test

17Purpose:Validate ability

to fly data collection flight path.Requirement:3.1 – Delivery system must fly measurement system to all measurement locations in the 15 minute requirementMethod:Command modified data collection flight path and record path and compare to SITL flight plan.Facilities:Table Mountain, Pilot James Mack

Expected Results:Vertical velocity as a function of time differs by no more than 1 m/s from SITL flight path, loiter radius remains constant.Impact:Aircraft is ready for data collection.Slide18

Flight Path Test Procedure

Procedures:Setup GCS in open area close to launch and landing sites.

Perform ground testing of control response prior to launch.Load modified flight path.Run through preflight checklist.With pilot ok, launch aircraft.Instruct pilot to transition to autonomous flightAfter flight path Completion, instruct pilot to land aircraft.

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Measurement

System Test Overview

19

Purpose:

Verify the Measurement System will satisfy the 1 m/s accuracy of inertial wind measurements

Status:

INS test and calibration will be completed this week. Verification of calibration and flight testing with the measurement system is scheduled for next week. Everything is on schedule.

Complete

In Progress

Scheduled in FutureSlide20

Calibration of 5-hole probe

20

Purpose:Calibrate probe by creating matrix of reference pressure coefficientsRequirement:1.2.3 – Probe must be calibrated to determine relative wind

Method:Collect 5 hole pressure data at a 90° span of yaw and 180° span of roll anglesFacilities:ITLL Wind TunnelExpected Results:Total pressure measured by probe is within 20% of the wind tunnel total pressureImpact:Probe can now determine U-,V-,W- wind velocitySlide21

Calibration data collection

21

Procedures:

Set probe to -45°

yaw angle and zero roll Set wind tunnel to 25 m/s. Take data from BLISS Arduino and wind tunnel at the same time

Roll the probe

5

°

Set

wind tunnel to 25 m/s. Take data from BLISS

Arduino

and wind tunnel at the same time

Repeat

steps 3 and 4 until a roll angle of

180

°

is reached

Set

roll back to

0

°

.

Move yaw angle

5

°

Repeat

steps 2-6. Positive

45

°

is

the final yaw angle

Animation of probe moving in tunnel

Roll

YawSlide22

Calibration of 5-hole probe

Analytical prediction of pressure on the probe developed to give a baseline prediction of pressuresAssumes ideal flow around an ideal two dimensional cylinderComparison shows a similar trend between analytical and wind tunnel data. The trend shown by the data is less pronounced, possibly due to:Ideal 2D flow assumption vs. real 3D viscous flow Imperfect geometry of the probe tip

Angles beyond 30° are not shown because analytical prediction breaks down due to flow separationAnalytical solution becomes less accurate approaching 30° due to small flow separation22

52

134Probe tipSlide23

Calibration of 5-hole Probe

23

Pressure data meets expectation when rolling the probe at a fixed yaw anglePlotted data at 20° yaw, where flow has not separated from the probe tipPort 5 remains unchanged because its orientation relative to flow is fixed during rollPressure on ports 1-4 varies as the ports are exposed to more or less of the flow

5213

4Probe tipSlide24

Verification of Calibration

24

Purpose:Verify flow velocity components measured by probe match expected results from a known flow.Requirement:

1.2.3 – Probe must be calibrated to determine relative windMethod:Following Calibration Data Collection Procedure, Set probe at various yaw/roll orientations, measure pressuresFacilities:ITLL Wind TunnelExpected Results:Pressure data will correspond to orientation within 3.0° in alpha and 3.5° in beta

Impact:Probe can now determine U-,V-,W- wind velocity, ready for testing

β

V

∞

u

v

w

Probe tip

αSlide25

Purpose:

Verify the INS is

outputting values corresponding to known orientationRequirement:1.2.2 – Record necessary aircraft state dataMethod:Mount INS in moving vehicle, measure Euler angles, angular rates, GPS position and velocity in known orientationsExpected Results:GPS will display the route and velocity the car drives. The Euler angles will match up to output from potentiometers.Impact:INS is now ready for flight testingINS Test25Slide26

INS Test

26

Procedures:

Drive to the corner of Jay Road and Highway 119 and pull overVerify that GPS is functioningVerify Euler angles under static conditionsDrive down Highway 119 to Niwot on cruise controlVerify GPS position and velocity agree with route and speedometerRepeat routeVerify Euler angles correspond to readings from potentiometer accounting for elevation change in the roadSlide27

UAV Interface and Flight Testing

27

Purpose:Verify measurement system components measure expected values when UAV fliesRequirement:1.2 – 1 m/s accuracy in U-,V-,W- wind velocities

Method:Following the Manual Flight Test Procedure, fly delivery system with 5-hole probe/transducers, thermistor and INS collecting dataExpected Results:Measurement system reports wind data consistent with ground based weather station. Impact:Delivery and Measurement Systems are ready for final data collectionSlide28

Cloud Observation System Test Overview

28

Purpose:

Verify the COS can measure cloud base altitude within 10% error as defined by REQ. 2.2.3

Status:

All parts machined, cameras hacked; Small scale testing expected completion 3/13

Complete

In Progress

Scheduled in FutureSlide29

COS

Small Scale Testing

29PicturePurpose:Verify the COS meets 10% error requirement on ¼ scale testRequirement:2.2.3 – Less than 10% error for clouds up to 2 kmMethod:Set up system on angle

to view points on buildings that are up to 0.25 km away.Expected Results:Measurements will be within 10% error requirementImpact:Algorithms can be improved without special access to University facilities until results verified on a small scaleSlide30

COS

Small Scale Testing

30Camera Mount

Procedures:

Level and align COS brackets, tilt each same amount until building in view

Run imaging scripts on both cameras, run for 3 min

Process image sets

Compare COS measurements to actual measurementsSlide31

COS

Final Configuration Testing

31Purpose:Verify the COS meets 10% error requirement on a full scale testRequirement:2.2.3 – Less than 10% error for clouds up to 2 kmMethod:Measure cloud base altitude from top of Duane Physics, compare results with CU ATOC Ceilometer

Facilities: Roof of Duane Physics Building Expected Results:COS altitude measurements are within 10% of ATOC ceilometer measurementsImpact:COS is verified to measure cloud base altitude, ready for final data collectionSlide32

COS

Final Configuration Testing

32

Procedures:

Test on a day with cumulous clouds

Setup COS on roof of physics building, align mounts and level

Start imaging scripts, run for 3 min

Process image sets

Compare COS measurements ceilometer dataSlide33

COS

Final Configuration Testing

33

up to 2km40m

Compute distance measurement with COS

COS measurements expected to be within 10% of ceilometer reading

ATOC

Ceilometer

Bliss COSSlide34

Budget Update

34

BudgetedActualUnder(Over)Delivery System $ 1,265.00 $ 1,061.62 $ 203.38

Measurement System $ 2,562.47 $ 2,412.90 $ 149.57 Cloud System

$ 355.97 $ 241.90 $ 114.07

Shipping

$

500.00

$ 73.10

$ 426.90

Additional Expenses

-

$

491.47

$

-491.47

Margin

$

292

$

711.90

$ 419

Estimated Expenses at time of CDR: $4708.29

Total Expenditures thus far: ~ $4300

Remaining Margin: ~ $700

Notable savings from shipping budget allocation

Many unexpected small purchases have led to considerable additional spendingSlide35

Budget Update

35

Future ExpendituresExpenses To DateSlide36

Summary

Delivery System status:Ground tests have been completed.UAV is flight ready and can begin tests when James Mack is available and weather is good.Measurement System status:All calibration data has been taken. Algorithm for the data sets is in progress and on schedule.

INS test to be completed this week.Cloud Observation System status:Cameras have been hacked and the mounts have been assembled.Final distancing algorithm is in progress and the CU ATOC ceilometer validation test is scheduled in 3 weeks.The margin in the budget is currently at $712 and a final planned margin is $46236Slide37

Acknowledgements

We would like to thank all of the PAB, our advisor Dr. Gerren, our customer Dr. Diener from Northrop Grumman, Trudy Schwartz, Bobby Hodgkinson, Matt Rhode, James Mack, and Gabe LoDolce for all their help in preparation for this TRR.

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Questions

?

38Slide39

Back Up Slides

39Slide40

Motivation

Northrop Grumman Atmospheric Boundary Layer Model VerificationBoundary layer inertial wind data, cloud base altitude used in verification Boundary Layer Wind Model Applications:Airborne pollution monitoringPrediction of forest fire advances

Facilitating soldiers in battle40Slide41

Experimental

Setup

100 m

2

00 m

≤ 30 m

BLISS Measurement

and Delivery System

Data points –

Spaced at most 30m radially in 3D space

Legend

Physical Wind Velocity

V

ector

F

ield (u-,v-,w-)

Cloud observations

constrained to

the measurement cylinder’s vertical projection

Atmospheric clouds located high above test volume

In-Situ relative wind velocity data collection

Cloud

O

bservation

S

ystem stereovision

c

ameras

41Slide42

Levels of Success

42Level 1:Certified to operate

in an airspace defined as a cylinder with a 100 meter radius and 200 meter height above ground level.Level 2:Executes flight plan following points spaced no more than 30 meters apart spanning the defined airspace in the 15 minute time limit. Level 3:Execute level 2 flight plan with Measurement System onboard and collecting data Delivery SystemMotivation: The measurement system needs to be transported through the measurement cylinder to meet special and temporal requirements. Slide43

Levels of Success

43Level 1:Wind measurement system collects relative wind data with

resolution of 0.1 meter/second. Level 2:Post-process the relative wind data from a ground test to compute the U, V, W inertial wind velocity vector components.Measurement SystemMotivation: Provide Northrop Grumman with data precise enough to verify a boundary layer wind model.

Level 3:Deliver U-, V-, W- inertial wind velocity vector field with temporal and spatial location for each measurement accurate to 1 m/s with a resolution of 0.1 m/s.Slide44

Levels of Success

44Level 1:I

mage the cloud footprint above a 100 meter radius cylinder at 1/4 Hz for a 15 minute period. Level 2:System is tested in full scale to take distance measurement with less than 10% error up to 2kmLevel 3:Deliver time-stamped cloud footprint images and cloud base altitude measurements at 1/4 Hz during the 15 minute test period.Cloud Observation SystemMotivation: Provide Northrop Grumman with cloud observation data to correlate with wind vector field measurements.Slide45

Resource Allocation

45Slide46

Ground Testing

Preliminary and preflight ground testing conducted to assure aircraft response to manual and autopilot control.

Will test elevon directional response to control input and prop rotational direction.Ground testing ensures readiness for flight testing.46Slide47

Ground Test Procedure

Arm Aircraft Control Surfaces in Manual ModeInput Roll Command and Record Elevon ResponseInput Pitch Command and Record Elevon Response.Switch to ALTCTL ModePitch Aircraft and Record Elevon Deflection. Note: Deflection will be opposite motion to restore aircraft to level flight.

Roll Aircraft and Record Elevon Deflection.47Slide48

Range Test

Conducted to verify maximum radio range is greater than the maximum distance BLISS DS will travel from the ground station.Will be conducted on Kittredge Field.Range test prepares for flight readiness.

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Range Test Procedure

Setup GCS on North East Corner of Kittredge Field.Disconnect Motor from ESC.Arm Aircraft.Have Test Assistant Carry Aircraft Away From GCS while inputting RC control to elevons every 5 seconds.When Test Assistant is unable to observe RC input return to GCS.If Link is Lost from GCS to Aircraft at Any Point, Measure that Distance as Max Range.

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Preflight Checklist

****** Airframe ******☐ ☐ Ensure fuselage is fully assembled, screws tightened, comm antenna bends forward☐ ☐ Check Prop For Damage and Loose Bolts****** Auto-Pilot ******☐ ☐ Turn on Aircraft and start Qgroundcontrol☐ ☐ Connect Aircraft to Qgroundcontrol

☐ ☐ Verify Battery Level Acceptable for Flight☐ ☐ Ensure Data and Comm Link☐ ☐ Ensure Correct Airframe Configuration☐ ☐ Ensure RC Remote calibrated and assigned correctly☐ ☐ Ensure Sensors are connected and calibrated☐ ☐ Verify Mission Waypoints☐ ☐ Save Mission Waypoints and Gains☐ ☐ Verify GPS Lock☐ ☐ Verify Manual Controls☐ ☐ Check pitot port by blowing into it and seeing the airspeed response 50****** Prelaunch *********☐ ☐ If using Autonomous Takeoff ensure waypoint reachable and loiter waypoint exists

☐ ☐ Arm Control Surfaces☐ ☐ Recheck control surface deflections in manual and ALTCTL☐ ☐ Load vehicle on catapult☐ ☐ Enter Manual Mode

☐ ☐ Signal ready to backup pilot; if autonomous launch, pilot will switch to Auto Mode; clear for launch****** Pre-Autonomous Flight Checks ******

☐ ☐ 15 s after liftoff, verify Flying mode

☐ ☐ Verify that aircraft heading displays correctly and that GPS is locked

☐ ☐ Track first autonomous waypoint (usually home loiter)

☐ ☐ Inform pilot of expected autonomous behavior

☐ ☐ Direct pilot to desired handoff flight path and authorize handoff to autonomous flightSlide51

Flight Plan Simulation

Skywalker X8 has been implemented into Software in the Loop (SITL)4 Helix Flight Path can be completed without stalling51

VariableMax Value in SITLFlight Time12.5 MinutesPitch Angle11°Roll Angle

31°Slide52

Autopilot Flight Plan Design

52

Switch to Autopilot ControlEnter Ascending Helix 1Complete

Ascending Helix 1Enter Descending Helix 1Slide53

INS Test Stand Drawing

53Slide54

Wind Tunnel Calibration Stand Drawings

54Slide55

Wind Tunnel Calibration Stand Drawings

55Slide56

Wind Tunnel Calibration Stand Drawings

56Slide57

Wind Tunnel Calibration Stand Drawings

57Slide58

Wind Tunnel Calibration Stand Drawings

58Slide59

Wind Tunnel Calibration Stand Drawings

59Slide60

Wind Tunnel Calibration Stand Drawings

60Slide61

Measurement System Test - completed

Wind tunnel characterization test completed and data presented in MSRElectrical component verification completed:Bench top testing of pressure transducersWind tunnel testing of incorporated transducers, probe, and tubingCalibration stand function testing completed:

Stand fit with wind tunnel baseProbe range of motionData verification of integrated system61Slide62

Port orientation to the flow

62

ψ

Flow

Lower Pressure

Higher Pressure

5

2

1

3

4

Probe tip

5-hole probeSlide63

Purpose of Calibration

Calibration is necessary to determine the unknowns of the flowAngularityTotal PressureCalibration creates a dataset for comparison to determine unknownsThe five pressures measured on the probe are unique to a certain total pressure and angularity

Trend fitting matches the 5 pressures to the most similar form the calibration set to determine unknowns63Slide64

Measurement System: Pitot Tubes –Calibration

The 5 pressure readings from the probe (one from each port) can be related to the orientation of the probe through non-dimensional coefficientsTo do this:Independent non-dimensional coefficients are calculated as a function of the 5 recorded pressure values from the probe

dependent non-dimensional coefficients are calculated as functions of total pressure and static pressure. Coefficients are stored in a matrix.During testing, the independent coefficients act as look-up tables, which allow determination of orientation, total pressure and static pressure.64

Dependent coefficients

Independent coefficientsSlide65

Angularity Test

At zero yaw angle, rolling the probe would show if there is an angularity in the wind tunnel

The trend shown is not consistent with an angularity, but can be attributed to imperfect mounting of the probe65Slide66

INS Factory Calibration

All sensors (accelerometers, gyroscopes, magnetometers) are calibrated for axis misalignment, scale factor, and bias at the manufacturer. Calibration is stored onboard and applied in real time during operationThe performance specifications for the IMU and GPS are validated through ground and air vehicle testing against high-end fiber optic gyro based INS units at the manufacturer

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