r.f.n.t. ( radio frequency navigational tracker ) josh bingaman ryan hitchler john maitin fabien...
TRANSCRIPT
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R.F.N.T.
(Radio Frequency Navigational Tracker)
Josh BingamanRyan HitchlerJohn Maitin
Fabien NervaisMatt Sharp
Capstone Fall 2004
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Main Objectives
Create a vehicle that will remotely track a high frequency RF transmitter, which may or may not be stationary.
Detect the signal strength of the target in order to determine which direction to go.
The practical application is a golf caddy that will follow a golfer when requested.
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Possible Project Extensions
Add proximity sensors in order to circumnavigate obstacles.
Cell phone used to control vehicle. GPS navigation. Signal Acquisition Improvement Additional RF controlled functions.
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Basic Layout
Base of vehicle
Antenna Unit
Processor (Inside Base)
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Processor/ Main Board
RSSI
Motor
DigitalCompass
Motor (Left)
Motor (Right)
Digital Compass
MotorControl GPIO?
GPIO
RS/232
RS/232
Base of Vehicle
Antenna Unit
Hardware Block Diagram
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Software Implementation
One basic algorithm, two variations Initial design
Antenna stops spinningUnit stops to turn
Desired designAntenna continuously spinsUnit turns dynamically
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Algorithm For Operation (Initial)
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Algorithm For Operation (Desired)
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Mechanical & Control Systems
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Potential Concerns / Unknowns
Rotating Antenna & Motor Mount
Antenna Construction & Actuator Torque
Ground Wheel Control Sensor Resolution Terrain Tower Height Control
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Addressing Anticipated Difficulties
Rotating Antenna & Mounting Motor Wheel vs. chain How to attach, depends on dimensions
Antenna Weight / Shape & Actuator Torque dependant upon antenna implementation wind resistance, etc…
Ground Wheel Control motor specs unknown, researching new motors possible substitutes – how to mount??
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Difficulties Part Deux
Sensor Resolution Compass
magnetic distortion maybe present hard-iron calibration should be performed
Data acquisition issues Frames of reference
Terrain too rough considering additional functionality, safe mode / shutdown vehicle durability
Tower Height Control motor specs unknown, may not be necessary Automate signal query
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Power Specifications
12V car Battery, AA/AAA Battery, Dry Cell
Two 12V wheel motors
One 5V antenna motor
Base and antenna Circuitry
Low-powered transmitter
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Transmitter
Low power transmitter ideally a remote (key-fob)
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Overview of Power Concerns
Power transformation on navigational unit
Power noise due to rotation
Power cable routing to rotating mount
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Power Concerns Addressed
Power transformation on navigational unit Voltage regulators
Noise due to antenna rotation Decoupling caps
Power cable routing to rotating mount Rotating contact plates
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Rotating Mount
• Transmitters
• Grooved Plates
• Software
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Antenna
Rotating Mount Shielded
Unidirectional Antenna Digital Compass
mounted with Antenna Synchronization of
Compass and Antenna
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Transmitter/Receiver
•916 MHz RF•16 Bits Transferable•RSSI (Relative Signal Strength Indicator)
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Schedule
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Thank You
Questions
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