high resolution amr compass honeywell dr. andy peczalski professor beth stadler pat albersman jeff...
TRANSCRIPT
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High Resolution AMR Compass
Honeywell
Dr. Andy PeczalskiProfessor Beth StadlerPat AlbersmanJeff AymondDan BeckvallMarcus EllsonPatrick Hermans
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Agenda
Honeywell
•Introduction/Abstract – Marcus E•MATLAB Simulations – Marcus E•Software – Pat H•Hardware – Jeff A•Testing – Pat A•Results – Dan B
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Abstract
Honeywell
This project’s purpose is to improve the accuracy of a digital compass by
using multiple compass IC’s.
These will work together to collectively improve the accuracy of the overall
system.
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Abstract
Honeywell
One benchmark is to try to increase the accuracy of the system by the
number of sensors used.
Increased precision and repeatability is also desired.
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Abstract
Honeywell
Customized hardware is necessary to implement the multiple sensor system.
Customized software to manage the implementation is also necessary.
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MATLAB
Honeywell
• Used to simulate single and multiple sensors before our hardware was complete
• Provided a vehicle to test the performance of our heading calculation algorithms
• 1702 lines of MATLAB simulations
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Sensor Placement
• The placement of the sensors must create a system accurate across 360 degrees
• Each individual bridge of each sensor can be simulated independently in MATLAB
• Multiple arrangements can be simulated to determine the best implementation
Honeywell
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Orientation Simulations
• Single IC Senor Output Wave Form:
Honeywell
• Data Appears Evenly Spaced• ICs at: 0, 36, 72, 108, 144, 180, 216, 252, 288, 324 Degrees
0 50 100 150 200 250 300 350 400-600
-400
-200
0
200
400
600ICs Binary Outputs
B Field Angle
ICs B
inary
Outp
uts
0 50 100 150 200 250 300 350 400-600
-400
-200
0
200
400
600ICs Binary Outputs
B Field Angle
ICs B
inary
Outp
uts
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Orientation Simulations
• Single IC Senor Output Wave Form:
Honeywell
• Data Evenly Spaced• ICs at: 0, 9, 18, 27, 36, 45, 54, 63, 72, 81 Degrees
0 50 100 150 200 250 300 350 400-600
-400
-200
0
200
400
600ICs Binary Outputs
B Field Angle
ICs B
inary
Outp
uts
0 50 100 150 200 250 300 350 400-600
-400
-200
0
200
400
600ICs Binary Outputs
B Field Angle
ICs B
inary
Outp
uts
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Software
Honeywell
Three software realms involved with this project:
MATLABC
VB
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C
• Written in MPLab – Version 8.0
• CCS complier– Version 4
• Run on PIC 18f4550• 1326 Lines of C
– 2532 Lines of Assembly
Honeywell
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Sensor Communication
• Sensor Commands– Heading
• Adjusted voltages• Raw voltages
– Calibrate– Re-address– Number of Summed measurements
Honeywell
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Serial Communication
• Allows Compass to display results • Very helpful in debugging• Allows for VB to control sensor• Easy to implement in CCS• 115200 Baud allowable from the 20Mhz
crystal
Honeywell
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Honeywell
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Honeywell
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Weighted Averaging
Honeywell
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Honeywell
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VB
• Provides an end-user interface• Synchronizes the compass and the rotation
table• Allows for automated data acquisition• Provides a repeatable test benching system• Requires a third board to handle adjusted
ground on PMC• 4733 Lines
Honeywell
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Honeywell
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Honeywell
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Honeywell
Personal Computer(VB)
PIC18F4520(C)
PMC Controller
Rot. Table
Sensors
Serial Serial
I2C
Parallel
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Final Hardware
Honeywell
• Abstract• Initial Design• Problems with Initial Design• Changes Made• Proposed Final Design
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Abstract
• One compass, two boards– Main Board
• Microcontroller
– Daughter Board• Sensors
Honeywell
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Initial Design
Honeywell
Main Board
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Main Board
• Essentially a controller board– Microcontroller– RS-232 Communication– I2C Communication– Interfacing
• Daughter Board• Front Panel
Honeywell
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Initial Design
Honeywell
Daughter Board
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Daughter Board
• Three functional systems– Sensor array– Power MUX– Laser
Honeywell
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• Constraint: One of the dimensions must be less than 3.5” – Opening of zero-gauss chamber is 3.5” in diameter
Honeywell3.492”
3.132”
Daughter BoardDimensions
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• Constraint: One of the dimensions must be less than 3.5” – Opening of gauss-free chamber is 3.5” in diameter
Honeywell
3.132”
0.73”
The Daughter Board meets size requirements
Daughter BoardDimensions
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Honeywell
GroundData
Clock
Power
Feedback Networks
Decoupling Capacitor
LED
Daughter BoardHMC6352
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Honeywell
Daughter BoardI2C Bus
Data
Clock
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• Design challenge:– Need to assign unique address to each sensor– Each sensor is factory installed with address 0x42– In order to change addresses, a command must be
sent to a sensor on the bus– This command message contains:
– How to change address of individual sensor if every sensor is receiving the command?
Honeywell
Daughter BoardPower MUX
Start Address [Ack] Command [Ack] Stop
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• Solution: Need to isolate communication to individual sensor
• How?– Burn-in Socket
– Use a network of jumpers– Multiplex I2C to each sensor– Multiplex power to each sensor
Honeywell
Daughter BoardPower MUX
Photo taken from http://www.locknest.com/newsite/products/qfn/index.htm
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• We chose to multiplex power– Advantages
• Saves power• Simplifies troubleshooting
– Disadvantages• Signal loss through MUX• Other unknowns…
Honeywell
Daughter BoardPower MUX
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Problems with Initial Design• Problems
– Main Board• None
– Daughter Board• I2C bus
– When powered off, the sensors interfere with I2C bus– 5V data signal is pulled down to 2.5V– Therefore communication will not work
– Problems not related to design• Sensor 3 will not communicate• Will not hinder project; algorithm will still work• Slight loss of sensitivity at sensor 3’s axes of sensitivity (27°
and 117 °)
Honeywell
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Changes to Initial Design
• I2C bus fix– Remove MUX and feed power to all sensors
– Cut I2C traces– Add jumpers to I2C vias and address them one by one– Connect all jumpers to I2C bus
Honeywell
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Changes to Initial Design
• Other changes– No laser mount
• Laser mounted directly to plexi-glass case• Saves cost ($25)
Honeywell
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Changes to Initial Design
• Other changes– Main Board Layout
Honeywell
Before After
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Proposed Final Design
• Due to I2C bus issues, our current design does not work
• Two options1. Power all sensors and use burn-in or jumpers
socket to isolate sensors2. Multiplex I2C bus
Honeywell
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Proposed Final Design
• Option 1: Power all sensors and use socket/jumpers
• Advantages– No MUX needed
• Reduces surface area of board• Reduces signal loss of MUX
– Sleep mode on sensors• Save power• I2C bus has not been tested in this mode
Honeywell
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Proposed Final Design
• Option 1: Power all sensors and use socket/jumpers
• Disadvantages– Sockets can be expensive– Footprint of HMC6352 is not common
• Hard to find socket
– No disadvantages if we add jumpers
Honeywell
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Proposed Final Design
• Option 2: Multiplex I2C bus
• Advantages– No need for a socket– Sleep mode to save power (not tested)
• Disadvantages– Side effects of multiplexing I2C unknown
Honeywell
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Testing
Honeywell
Prototype Final
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Test Setup
Honeywell
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Accuracy
Honeywell
Precision
RepeatabilityCompare
Compare
ß field
Compare
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Prototype Testing
Honeywell
•Given one sensor
•CCS compiler
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Final Testing
Honeywell
Elements of Final testing
•Pretesting (zero gauss values)
•Pretesting (offsets)
•Testing (accuracy, precision, repeatability)
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Pre-testing (zero gauss)
1. Place sensors in the zero gauss chamber2. Rotate 360 deg. while taking readings3. Analyze data and get zero gauss values
Honeywell
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Pre-testing (offsets)
1. Place sensors in artificial magnetic field2. Run VB script that finds sensor locations
• Finds zero gauss value of each chip• Works using relativity• Bang bang control
3. Analyze data and find chip placements 4. Hardcode this to software
Honeywell
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Honeywell
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Honeywell
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Accuracy
Test Procedure1. Determine the B field
• Find the zero crossing on each axis• B field should be 90 degrees from zero crossing• Average the 20 axes results
2. Take measurement 3. Compare result to actual4. Rotate to different position5. Repeat steps 2-5
Honeywell
23 deg
113 deg
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Results
Honeywell
Results Comprise of:
•Determining Specs
•Comparison of Specs to Controls
•Ways to improve
•Future for Nanowires?
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Results: Specs - Repeatability
• Comprised of 5 readings taken at 0, 90, 180,270
• Our Product: Min = +- 0.015 Max = +-0.089• Control: Min = +- 0.033 Max = +-0.051• Honeywell = +- 0.030 Max = +- 0.120
Honeywell
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Results: Specs - Precision
Honeywell
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Results: Specs - Accuracy
Honeywell
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How Can We Improve
• Currently using arcTan(x/y) to compute heading– This assumes we have X and Y which need to be
90 degrees apart– In practice this is not true, we found this is
actually only within +-8 degrees
• Use different algorithms, better weighting• More Sensors
Honeywell
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Future For Nanowires?
• Nanowires are inherently less accurate• Means greater room for improvement• Small enough to use more than 10 bridges• Weighting should have more of an effect• Will have completely different obstacles • All in all, from the results of this feasibility test
they look very promising
Honeywell
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Conclusion
Honeywell
•Questions/ Comments?
•Demo Upstairs?