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An Embedded Linux Platform to collect, analyze and store critical data for navigation
of an autonomous vehicle
By Sonia Thakur
James M.Conrad
Presenter: Bin Huang
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Autonomous Underwater Vehicle (AUV)
• Gather oceanographic dataand strategic military data
A Hydroid Remus AUV
• AUV community major concerns underwater navigationfor autonomous vehicle
• Implement a Global PositioningSystem (GPS) unit
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Global Positioning System (GPS)
• What could GPS unit do?Provide very precise and inexpensive measurements of
geodetic coordinates
• Disadvantage of GPS unitRadio signals cannot penetrate beneath the ocean’s surface
• AUV community found a solutionUse inertial measurement unit integrated with GPS to produce navigation
information
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What is Linux?
• Multi-tasking, multi-user, multi-processor operating system
• Unix-like
• Developed by Linus Torvalds,University of Helsinki, in 1991
• Support ARM,X86, Alpha, SuperH, PowerPC and SPARC
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Linux Kernel
• Memory managementBuild up a virtual addressing space
• File systemsThe kernel builds a structured file system on hardware
• Process managementThe kernel creates and destroy processHandle input and output connectionThe scheduler controls how process share the CPU
• Device control
• Networking
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Time to implement our hardware system…
• External ADC
• RS-232 Interfacing
• A single board computer
• Accelerometer
System resources:
• GPS Receiver
• Analog Compass
• Thermistor
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TS-7200 Single board computer
• ARM9 ArchitectureBased on 32-bit RISC architectureSupports Linux operating system
• Support a compact Flash card (CF Card)
• Runs on a 200Mhz ARM9 processor
• Support USB and Ethernet ports
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Max197 External ADC
• An optional 8 channel ADC
• Convert an analog signal to 12-bit digital output
• Integrated in TS-7200
• Each channel is independently software programmable
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SiRF star III based EM402 GPS Receiver
• Self-contained GPS unit with a passive antenna
• 4800 baud serial data bus
• To provide the absolute positioning of any object
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RS-232 Interfacing
• Support efficient data communication at low baud rates <20kps
• Exchanging data by reading from or writing to a file
• Single-ended serial communication protocol
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ADXL311EB Accelerometer board
• Used along with gyroscopes, which measure the angular acceleration of a rigid body
• By integrating the output of the accelerometer, the velocity of the system is obtained
• Measure the linear acceleration of a rigid body along a single axis
• Dual axis accelerometer
20
1tan * *
2Dis ce velocity time acceleration time= +
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R1655 Analog Compass
• Measure the direction of the horizontal component
• Compass output resemble a sine-cosine set of curves
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LM35 Thermistor
• Nominal output voltage is from 250mV to 1.000V
• A negative temperature coefficient
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The complete system setup
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Now we start to develop software…
• CompilerGNU C compiler provides all the software for the development
of an Embedded Linux system
• Linux EnvironmentTS-Linux embedded distribution is installed on the on board
Flash memory(Download it at http://www.embeddedarm.com )
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Description of main program
• MAX 197 external ADC
• Header file for the external ADC
• RS232 configuration code
• GPS ReceiverLinux distinguished devices into three fundamental device
types: a char module, a block module, a network moduleChar devices are accessed by means of file system nodes, such
as /dev/tty1 and /dev/lp0
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Output from the ADC and the GPS Receiver
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• Use an Embedded Linux supporting a single board computer
•Most of the work has been done in kernel development
• the code is written as generic as possible, so that it could be ported to other Linux-based SBC
• Interface Ethernet and USB
•Various sensor measurement for Marine research
Thank you!
System features