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Flight Computer Design and State Estimation Techniques by Liam O'Sullivan

This document outlines the Flight Computer (FC) design implemented on the Gumstix Overo Fire, detailing both hardware and software architectures. It explores state estimation methodologies, focusing on indirect measurement of 15 states using a Vicon motion capture system. Key insights include the estimation of attitude through Kalman Filters and the necessity for filtering accelerometer data to improve accuracy. Acceptance testing outcomes highlight the challenges faced, such as operating system overhead and the complexities in visual control design.

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Flight Computer Design and State Estimation Techniques by Liam O'Sullivan

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  1. Flight Computer (FC) Liam O’Sullivan - 06308627

  2. Flight Computer

  3. FC Design (Hardware) • Implemented on the Gumstix Overo Fire Overo Fire

  4. FC Design (Software Architecture) Use this text format... FC Software Architecture

  5. FC Acceptance Testing

  6. State Estimation (SE) Liam O’Sullivan - 06308627

  7. State Estimation

  8. SE Design 15 states to be measured * indirect measurement

  9. SE Design (Position and Velocity) Vicon motion capture system • External motion capture system • Measures object translation and rotation with sub mm accuracy • 200Hz update rate • Ethernet connection (via GCS) • Located at the ARCAA building Vicon IR camera

  10. SE Design (Attitude) Attitude estimated by 3 Kalman Filters (KF) • 1 KF for each Euler angle • IMU rate data (Time Update) • IMU acc data (Measurement Update) • Compass data (Ψ Measurement Update)

  11. SE Design (Attitude) • Example: Estimating φ via KF

  12. SE Testing Outcomes (Attitude) • IMU mounting error in both φ (-1.4°) and θ (-1.2°)

  13. SE Testing Outcomes (Attitude) • Accelerometer low pass filtering

  14. SE Acceptance Testing

  15. Lessons Learnt Flight computer • Too much operating system overhead State estimation • Accelerometer data needs filtering • Ψ requires KF bound checking • Difficult to design visual control within a year (without a platform)

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