Special Purpose Autonomous Rendezvous Control System

1
Special Purpose Autonomous Rendezvous Control
System
Nava David Travis Dunlop Neil Jones Piotr
Wenderski
2
Special Purpose Autonomous Rendezvous Control
System

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

3
Special Purpose Autonomous Rendezvous Control
System

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

4

• Components
• - Novatel Superstar II GPS Engine

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

- Wi-Sys 3910 Active Antenna

• Development phase
• Testing with the loaned Smart Antenna
• Developed an IO interface
• Data conversion hex to binary

5

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

The Next Steps

• Troubleshooting the GPS card
• Find the possible source of error in the
  connection between the antenna and the card
• Consider purchasing a smart antenna
• Interface with the tracking unit
• Collecting messages to a log file
• Output position, velocity, and time information

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• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

• Images captured with 2 MPixel Camera
• All pixels but the desired colours are removed
• Image is collimated into bands 20 pixels wide

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• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

The Next Steps

• Based on previous distances selected the proper
  colour sequence to look for, given different
  size squares
• Write the distance to a file, centered on the
  target
• Improve the angle algorithm

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• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

• Control Program
• Switch from GPS to Visual system
• Formatting the input data
• - Input types - Output data
• - x, y, and z - distance, r
• - UTC - angles ? and ?
• PID Controller

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• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

The Next Steps

• Signal to power converter
• - Design and create the necessary circuit
• Interface the converter to the parallel port
• Test and calibrate the PID controller

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• 2 parts, frame and motor system
• Frame needs to be string to support equipment
• Frame
• - 24 cube (3/4 square aluminium tubing)
• - ¼ thick aluminium plate
• Design
• - welding and use of inserts
• - combination of 2 triangular and a solid
  block brackets

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

11

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

The Next Steps

• Motor system construction
• Redesign the wheel bracket
• choose between 2 designs

12

• Introduction
• GPS System
• Visual System
• Tracking and Control
• Mobility Unit

Questions? Comments?