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Helicopter Control Using the Vicon Motion Capture System Georgia Institute of technology Noah Allen kunal amarnani 22 October 2008. Project Overview. Aerospace department Vicon motion capture system Automated helicopter control Current position read by motion capture system

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Helicopter Control Using the Vicon Motion Capture SystemGeorgia Institute of technologyNoah Allenkunalamarnani22 October 2008

project overview
Project Overview
  • Aerospace department
    • Vicon motion capture system
  • Automated helicopter control
    • Current position read by motion capture system
  • Eliminate human error
  • Total implementation cost
    • ~$25,000
technical objectives
Technical Objectives
  • Read raw current location coordinates from motion capture system
  • Compare current location and predefined flight path
  • Calculate necessary flight maneuver
  • Output to helicopter remote control through parallel port
current setup

ViconIQ

Ethernet

Current Setup

Parallel

proposed setup

ViconIQ

Ethernet

Proposed Setup

GaTech Hub

MATLAB

Parallel

remote control
Remote Control
  • Three basic controls
    • Thrust
    • Rudder
    • Trim
throttle rudder switch
Throttle/Rudder Switch
  • Digital switches turned on or off due to position of stick
stock remote setup
Stock Remote Setup
  • Controls wired to inputs on the board.

Throttle Control

Remote Control Circuit Board

5

Rudder Control

4

modified setup
Modified Setup
  • Disconnected controls from board
  • Wired parallel port to the board inputs
  • Wired controls to parallel port cable

Throttle Control

Remote Control Circuit Board

5

5

Parallel Port Cable

Rudder Control

4

4

Parallel Port

proposed setup1

ViconIQ

Ethernet

Proposed Setup

GaTech Hub

MATLAB

Parallel

flight control system

Ethernet

Flight Control System
  • MATLAB implementation
  • Retrieves raw Vicon data
  • Analyzes data and converts it to remote control input

Flight Control System

10010011011101000011111101010010

Function

Parallel

data retrieval

Ethernet

Data Retrieval
  • Utilizes Java command language
  • Queries ViconIQ over TCP/IP
  • Reads buffer stream as single byte strings into array

67000000

01000000

02000000

02000000

Flight Control System

Function

Parallel

data decoding

Ethernet

Data Decoding
  • Data comes in as two byte array
  • Array is segmented and converted to either a double or ASCII characters
  • Data is recorded into a cell structure

Flight Control System

4D

M A R K E R

61

72

6B

65

72

3C

< X >

58

3E

Data Analysis Function

Function

Parallel

data analysis

Ethernet

Data Analysis
  • Implements proportional control flow
  • Examines error between current location and next location
  • Scales output amplitude based on gain and error

System Output

Gain Control

Flight Control System

Flight Path

Data Analysis Function

Function

Parallel

parallel output

Ethernet

Parallel Output
  • MATLAB capable of accessing parallel port directly
  • 8 bit output will control throttle and rudder speed
  • Administrative access

is necessary

Flight Control System

1001110

Data Analysis Function

Parallel Output Function

Function

Parallel

parallel port
Parallel Port
  • D0-D7 are data lines (bi-directional)
  • C0-C3 are control lines (out)
  • S3-S7 are status lines(in)
  • Pins 18-25 are ground
parallel port output
Parallel Port Output
  • MATLAB capable of accessing parallel port directly.
  • Writing out 8 bits.
  • 8 bits will control which switch is turned on or off
demonstration plan
Demonstration Plan
  • Output current location of helicopter using MATLAB GUI
  • Control helicopter using MATLAB program
  • Fly a predetermined data path with minimum error
problems or issues
Problems or Issues
  • Discovering which switches on the control board control what level of output.
  • Matching ViconIQ system real-time output protocol
remaining tasks
Remaining Tasks
  • Current position value decoding (Oct. 24th)
  • Current position MATLAB GUI (Oct. 24th)
  • Parallel port voltage map (Oct. 26th)
  • Proportional control system coding (Oct. 26th)
  • Control of helicopter from computer. (Oct. 29th)
  • Control system to maneuver helicopter (Nov. 12th)
budget
Budget
  • Total Equimpent Cost = $0.
  • Total Labor Cost = $10,000
current status
Current Status
  • Complete Remote Control Modification
  • Tested Parallel port output from MATLAB
  • Written MATLAB code for marker decoding
  • Analyzing data packets from emulator so that value decoding can be solved