project “ redeye ”
DESCRIPTION
Project “ RedEye ”. University of Central Florida College of Electrical Engineering and Computer Science Senior Design Fall 2011. Group 8 David Morrow Ricardo Rodriguez Shane Theobald Nick Bauer. Motivation. Wanted to gain experience in many different engineering disciplines C# - GUI - PowerPoint PPT PresentationTRANSCRIPT
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Project “RedEye”
University of Central FloridaCollege of Electrical Engineering and Computer Science
Senior Design Fall 2011
Group 8David Morrow
Ricardo RodriguezShane Theobald
Nick Bauer
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Wanted to gain experience in many different engineering disciplines◦ C# - GUI◦ Optics – Laser Range Finder◦ Wireless Communication◦ Controlling Peripheral Devices via Microcontroller
Motivation
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Goals Calculate the GPS coordinates of a user
specified target using the following components.◦ Wireless Camera◦ Laser Rangefinder◦ Digital Compass◦ GPS Module
Minimize◦ Cost◦ Weight◦ Power Consumption
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Target Specs◦ 50m minimum distance◦ 1000m maximum distance◦ 10m x 10m minimum target size
Accuracy◦ Rangefinder distance within ±10m◦ Self GPS coordinates within 5m radius of true
location◦ Compass heading within ±1° of true heading◦ Final target GPS coordinates within 50m radius of
true location
Project Specifications
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Block Diagram
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Operational Flow Chart
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Methods of Laser Rangefinding◦ Triangulation
Easiest method both conceptually and design Based on geometry Increasingly less accurate as range increases
◦ Interferometry Most accurate method of laser rangefinding Can measure small distances on order of
wavelengths◦ Time-of-flight
Can measure very large distances with great accuracy
This is the approach that we will implement
Rangefinder Subsystem
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Time-of-Flight Rangefinder
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Photodetector HV Power Supply Front End Amplifier (Transimpedance Amp) NIR optical filter Receiver Lens
Receiver Module Components
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Pros◦ Highly Sensitive Photodetectors◦ Make use of avalanche multiplication for
increased gain◦ High Speed◦ Designed for rangefinder applications◦ Allows for larger maximum range detection
Cons◦ Require HV reverse bias to get maximum gain◦ Exhibit higher dark current than alternatives◦ Small active area makes alignment difficult
Avalanche Photodiode (Detector)
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APD Design Characteristics
Peak Spectral Response Cost and Availability Minimum Dark Current Required Bias Voltage
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Pacific Silicon AD230-9 Enhanced for NIR detection at 900nm
Low noise equivalent power = 10fW/√Hz TO-52 Package allows for easy mounting
Spectral Response at M = 100
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HV Power Supply—EMCO A025P Proportional Input/Output Voltage 250VDC when full 5V input applied Low peak-to-peak ripple (<1%) Maximum Output Current 4mA Low turn on voltage of 0.7V
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Converts photocurrent into voltage High Slew Rate at 290V/µs Low Input Noise Voltage 7nV/√HZ FREE—Sampled
Transimpedance AmplifierTI OPA656
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Receiver System Schematic
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Optical Bandpass Filter
860 870 880 890 900 910 920 930 940 9500
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Wavelenth in nm
Tran
smis
sion
Filter Specs◦ 2 in X 2in X .1in◦ CWL 905.9nm◦ BBW 54.0nm◦ Peak transmission
79%
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Receiver Prototype Overview
Receiver Electronics
Lens Tube Assembly
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Power Received
Prec =Ptx e(-αRtx) ρ e(- αRrx) Arx Topt
πRrx2
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Threshold Detection
Prevent False Alarms◦ Capture as much energy as possible◦ Keep noise floor low◦ Set threshold
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Output Power—Need high power laser diode to meet maximum range criterion
Pulsewidth—Must have short pulsewidth to have high axial (range) resolution (V x τp)
Wavelength—Transmitter near peak responsivity of photodetector.
Beam Divergence—low divergence angle to ensure maximum energy on target
Laser Transmitter Design Parameters
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Laser Diode Options
HA!
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Laser Diode SPL-PL-90_3
◦ TO-18 Package◦ Divergence 9 x 25 gradient degrees◦ Minimum Rise/Fall time 1ns◦ Threshold Current 0.75A◦ Peak wavelength 905nm◦ Power output 75W◦ Peak Current 40A◦ Typical Voltage 9V◦ Pulsewidth 5-100ns
5.9mm
5mm
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Pros◦ Very small in size at 1”x2.5”◦ Produces fixed pulsewidth at 15ns◦ Can produce up to 50A diode drive current◦ Diode mounts easily to CCA. (Radial or Axial
options) Cons
◦ Also requires high voltage source◦ 33ns propagation delay◦ Difficult T-zero capture
Diode Driver CCAIXYS PCO 7110-50-15
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Supply Current◦ Ips = (Cpfn + Cfet + Cstray) * Vin * f◦ Ips = (4000pF + 120pF + 430pF) *195V *1Hz
=0.9µA Output Current
◦ Directly dependent on HV supply (195V is max)
Diode Driver continued
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JP1 Connection
Diode Driver Continued
Pin 1 GroundPin 2 15V @ 1mA (support power)Pin 3 GroundPin 4 Gate (Trigger) 5VPin 5 Ground
Pin 10 HV in (0 - 195V @ Ips)
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Laser Transmitter Diagram
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Transmitter Prototype Overview
Transmitter Electronics
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High Voltage◦ Diode Driver Board – 195Vmax◦ Avalanche Photodiode – 240V
15V◦ Diode Driver Board
10-13V◦ Camera System
±5V◦ Comparator◦ Op Amps
5V◦ High Voltage Power Supply
3.3V◦ Microprocessor◦ TDC
Voltage Requirements
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Power Supply Overview
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TDC: ACAM GP2-G590 Creates a digital value for the laser pulses
time of flight from the transmitter to the receiver.◦ 2 channels with 50 ps rms resolution◦ Measurement from 3.5ns to 1.8ms◦ Fire pulse generator◦ I/O voltage 1.8v – 5.5v◦ Core voltage 1.8 – 3.6v◦ 4 wire SPI interface◦ QFN 32 Package 5mm
5mm
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Microcontroller◦ Programming Language: C◦ Development Environment: Arduino Uno IDE◦ Handles data collection and peripheral control
GUI◦ Programming Language: C#◦ Development Environment: MS Visual Studio◦ Receives user input and displays relevant
information
Software Design
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Embedded Overview
MCUXBee TDC
Pan & Tilt
GPS Compass
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MCU: ATmega328Clock Speed
Core SizeI/O Pins
Package SizeMemory
UART/I2C/SPI/PMWOperating Voltage
Price
16 MHz8 bit14DIP 2832 kB2 / 1 / 2 / 61.8 – 5.5V$6.27
• Mounted on Arduino development board• Arduino Uno development environment compatibility
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• C Programming language• Allows for flexible troubleshooting • Large support community• SPI, I2C, & Serial libraries
IDE: Arduino Uno
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GPS: EM-406A SiRF III
Input VoltageInput Current
Baud RateC/A code
Comm. ProtocolAccuracy
Price
4.5 – 6.5V 44 mA48001.023 MHzUART; RS-2325m WAAS$59.95
5cm
5cm
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Compass: HMC6352
Input VoltageInput Current
Field RangeResolution
Comm. ProtocolWeight
Price
2.7 – 3V2 – 10mA0.1 gauss0.5 degreesI2C0.14 grams$34.95
• Two axis digital compass• Provides heading in degrees
from magnetic north
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100ft radial distance Omni-directional link Low Power Consumption
Wireless Comm: Overview
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Wireless Comm: XBee Series 2
Input VoltageRX/TX Current
Transmit PowerTX SensitivityRF Data Rate
Baud RateFrequency Band
Indoor RangeOutdoor Range
ProtocolAntenna
Price
2.8 – 3.6V40 mA2 mW (+3 dBm)-98 dBm250 Kbps1200 – 1 Mbps2.4 GHz133ft400ftZigbee (802.15.4)Whip (dipole)$25.95 (X2)
3cm
3cm
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Servos: Hitec HS-485HBOperating Voltage
Operating Speed (6V)Stall Torque
Operating AngleCurrent Drain (6V)
Motor TypeWeight
Price
4.8 – 6V.18 sec/600
83.3 oz/in450
8.8 mA / 180 mA3 Pole Ferrite1.59 oz$16.99
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Pan & Tilt: Hitec SPT200Weight (w/o servos)
Tilt SwingMax. Payload
Price
5.5 oz135o
2 lbs$45.99
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Schematic Overview
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1/3” Sony CCD microboard camera◦ NTSC format◦ 510x492 pixels
900MHz Tx/Rx combo
Camera and Tx/Rx
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GUI Functional Flow Diagram
Open GUI
Connect to XBee
and Video
Poll GPS
Poll Compass
Display Info
User Input
Move Camera
Fire Laser
no yes
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GUI - UML Diagram
PositionalData
- double CompassHeading
- double latitude
- string LatitudeHeading
- double longitude
- string LongitudeHeading
RangeFinder
+ PositionalData Info
+ int distance
- PollGPS()- PollCompass()
- PollLaser()
- DisplayData()
Target
+ PositionalData targetData
+ RangeFinder rangefinderData
- CalculateGPS()- DisplayData()
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GUI – Prototype Layout
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Given:◦ Self GPS Coordinates
Latitude (N/S ddmm.mmmm) Longitude (E/W ddmm.mmmm)
◦ Distance to target (m)◦ Heading clockwise from magnetic north (deg)
Calculate:◦ Target GPS Coordinates
Latitude (N/S ddmm.mmmm) Longitude (E/W ddmm.mmmm)
Target GPS Algorithm
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Spherical Law of Cosines
◦ Self GPS coordinates (lat1, lon1)◦ Distance to target (d)◦ Heading (Θ)◦ Radius of the earth (R)◦ Target GPS coordinates (lat2, lon2)
[ ]lat2 = sin-1[ sin(lat1)*cos(d/R) + cos(lat1)*sin(d/R)*cos(Θ) ]
lon2 = lon1 + tan-12 cos(lat1)*sin(d/R)*sin(Θ) cos(d/R) - sin(lat1)*sin(lat2)
Target GPS Algorithm – cont.
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Budget
Quantity Part Name Cost Total2 Laser Diode OSRAM SPL PL 90_3 $55.00 $110.001 Diode Driver IXYS PCO 7110-50-15 $207.20 $207.201 APD Pacific Silicon AD230-9 TO52-S1 $92.53 $92.531 Optical Band Pass Filter $30.00 $30.001 Laser Diode Collimation Tube $15.00 $15.001 Receiver Extension Tube $140.00 $140.001 Receiver Lens $34.00 $34.002 HV Power Supply EMCO A025 $65.78 $131.561 Op-Amp TI OPA656 $0.00 $0.001 Assorted Resistors/Capacitors $10.00 $10.00
Rangefinder Components
Subsystem Cost Analysis BudgetLaser System $770.29 $850.00Time to Digital Conversion $35.00 $50.00Camera System $0.00 $100.00Compass Module $35.00 $50.00GPS Module $79.99 $100.00Wireless System $50.00 $100.00Microcontroller $31.27 $50.00Power System $0.00 $25.00Mounting Fixture and Servo Motors $0.00 $100.00PCB Construction $0.00 $75.00
TOTALS: $1,001.55 $1,500.00
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Responsibility Matrix – Phase 1PHASE 1 - Components 21%GPS 38%
Microcontroller Communication 4-Sep X 25%Data Manipulation in GUI 4-Sep X 50%
Compass 38%Microcontroller Communication 11-Sep X 25%Data Manipulation in GUI 11-Sep X 50%
Camera 17%Wireless Communication 18-Sep X 0%Video in GUI 18-Sep X 50%Optics 18-Sep X 0%
Servos 5%Microcontroller Communication 25-Sep X 10%Hardware Setup 25-Sep X 0%
Wireless System 25%Microcontroller Interface 30-Sep X 50%GUI Interface 30-Sep X 0%
Power System 0%Hardware Setup 30-Sep X X X X 0%
Laser Tx 28%Hardware Setup 11-Sep X X 25%Optics 11-Sep X X 60%Calibration 11-Sep X X 0%
Laser Rx 42%Hardware Setup 25-Sep X X 25%Optics 25-Sep X X 100%Calibration 25-Sep X X 0%
Time to Digital 0%Microcontroller Communication 2-Oct X 0%Calibration 2-Oct X X 0%
David NickRicardo Shane
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Responsibility Matrix – Phase 2 & 3PHASE 2 - System Integration 4%GUI 13%
Target GPS Algorithm 9-Oct X 50%Live Video 16-Oct X X 0%Servo Control 23-Oct X X 0%Laser Control 30-Oct X X X 0%
Housing 0%Camera, Laser Tx/Rx Alignment 16-Oct X X X 0%Properly mounted components 23-Oct X X X X 0%Compact Design 30-Oct X X X X 0%
PCB 0%Designed 16-Oct X X X X 0%Manufactured 30-Oct X X X X 0%
PHASE 3 - Testing 0%Testing 0%
Rangefinder 13-Nov X X 0%GPS 6-Nov X X 0%Compass 6-Nov X X 0%Servo Control 6-Nov X X 0%Algorithm 6-Nov X 0%GUI 13-Nov X 0%
David NickRicardo Shane
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Progress - PrototypingDate Phase 1 Phase 2 Phase 3
29-Aug 5% 0% 0%5-Sep 10% 0% 0%
12-Sep 16% 0% 0%19-Sep 21% 4% 0%26-Sep 0% 0% 0%3-Oct 100% 0% 0%10-Oct 100% 0% 0%17-Oct 100% 0% 0%24-Oct 100% 0% 0%31-Oct 100% 0% 0%7-Nov 100% 100% 0%14-Nov 100% 100% 0%21-Nov 100% 100% 0%28-Nov 100% 100% 0%5-Dec 100% 100% 100%
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Progress – Overall
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Environmental conditions Laser transmitter and receiver alignment Divergence t0 Timing Cost
◦ Replacing broken parts
Potential Problems
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QUESTIONS?