GPS Rover.ppt

GPS Rover Travis Gruber Phil Treddenick Matt Kennedy Marcin Skirucha Overview Rover Features Overall System Block Diagram Parts Listing Peripherals System Board Software Schedule Division of Labor Rover Features User Friendly GUI On-The-Fly Waypoint Selection Remote Shutdown Multi-Speed Selection Integrated Collision Inclination Detection Waypoint Backtracking upon collision System Block Diagram Parts Listing Peripherals Traxxas RC Car Body Futaba Remote and Servos Trimble AgGPS 124/132 Locator Digital Compass T2 Inclinometer 8.2 V NiCad Battery Pack 8.2V NiCad battery for embedded board Limit Switch Serial RF Receiver/Transmitter Digital Camera Peripherals – Rover Chassis Fiber Composite Chassis High Torque 20-Turn Motor Rotary 3-Speed Control 12.25” Front and Rear Track Adjustable Gear Ratio Steering Servo 3.2kg-cm Torque 0.223sec/60 degree Peripherals – Servo Interface Universal Servo Param’s Vbat =8.2V Vpower =6.2V fservo =52.08Hz pservo =20ms Vp-p =5.7V Steering Servo Duty Cycles Dneutral =8.2% Dleft-MAX =10.4% Dright-MAX =5.9% Peripherals - GPS Trimble AgGPS 124/132 Receiver Specs: Size: 14.5cm W * 5.1cm H * 19.5cm D Weight: 0.76 Kk (1.68lb) Power: 7 Watts (max), 10-32V DC Antenna Specs Size: 15.5 cm D * 14cm H Weight: 0.55Kg (1.2lb) Peripherals – GPS Channels General 12-channel, parallel tracking L1 C/A code and carrier phase filtered measurements and multi-bit digitizer Update Rate 1 Hz standard; 10Hz optional Differential Speed Accuracy 0.1MPH (0.16KPH) Differential Position Accuracy Less than 1 meter horizontal RMS; At least 5 Satellites, PDOP 4 and RTCM SC-104 standard format broadcast form Trimble 4000RSI or equivalent reference station Time to first Fix 30sec (typical) NMEA Messages ALM, GGA, GGL, GSA, GSV, MSS, RMC, VTG, ZDA Peripherals – Limit Switch 2XC12 Enclosed Snap Action Limit Switch Actuator Short Roller Size 0.69in D * 0.95in H * 1.94in L Max Pretravel 0.106in Overtravel 0.064in Operating Force 8.8-12.3oz Peripherals - Inclinometer