design_final_g

design_final_g - EMFFORCE OPS MANUAL 1 Space Systems Product

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EMFFORCE OPS MANUAL 1 Space Systems Product Development-Spring 2003 G Metrology System Design (AA) G.1 Subsystem Outline The purpose of the metrology subsystem is to determine the separation distance and relative orientation of the craft. The data will be used to control the system and stored for analysis of the system performance. The primary purpose of the metrology system is to provide an input for the control algorithm. The data will be used to maintain control of the cluster. This purpose is the main source of the system requirements. Massachusetts Institute of Technology 1 Dept. of Aeronautics and Astronautics
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EMFFORCE OPS MANUAL 2 Space Systems Product Development-Spring 2003 G.2 Requirements The metrology system is required to determine the position and orientation of the vehicles. The metrology system is also required to determine the angular rate of each vehicle. This data will be used to control the system and recorded for analysis. Specifically the metrology system must: Determine the separation distance of the vehicles to within 1cm Determine the bearing angle between vehicles to within 5 degrees Work at a maximum separation distance of 4m Return data at a rate of 1 Hz. Massachusetts Institute of Technology 2 Dept. of Aeronautics and Astronautics
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EMFFORCE OPS MANUAL 3 Space Systems Product Development-Spring 2003 G.3 Current System Design The current metrology system is legacy technology modified to suit our needs. The current design for the metrology system is a hybrid of the system used for project SPHERES and the system utilized by the Electronic Ink Corp. in their Mimio Electronic whiteboard. The design of the receivers is taken directly from SPHERES, since it had proven effective on that project and met our current system requirements. The transmitter is based on the design of the Mimio pen (transmitter). The Mimio transmitter proved to be more effective for location in 2D a plane (where as the SPHERES system was designed to work in 3D space). The original designs have been modified to suit the specific needs of project EMFFORCE, however, it can be assumed that any part of the design which is not explicitly described below is based solely on legacy technology . The metrology system uses triangulation of emitted ultrasonic signals to determine the location of the vehicles. Infrared emitters and receivers facilitate timing of the ultrasonic pulses. Each vehicle will be equipped with three omni-directional ultrasonic receivers, 1 omni-directional ultrasonic transmitter, and an array of infrared transmitters and receivers (to cover 360 degree line of sight). In this document, omni directional is taken to mean that the transmitters emit signals of the same amplitude and phase in all directions in the horizontal plane (360 degrees) and the receivers can sense a signal from any direction in a plane. This is not strictly “omni directional,” but since the test bed operates in 2D, the term is adequate. During one cycle of the sensing system, each vehicle will take turns emitting and
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design_final_g - EMFFORCE OPS MANUAL 1 Space Systems Product

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