The Book
Transcription
The Book
The Book The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 1 of 32 Programmer; Dag Martin Nilsen; [email protected] Contents Chapter 1: The primary mission, experimenting with sensors ................................................... 3 Introduction ............................................................................................................................ 3 Analog to Digital .................................................................................................................... 3 Sensors ................................................................................................................................... 5 Calibrating the sensors ........................................................................................................... 7 Altitude Calculations .............................................................................................................. 8 Example Assignments .......................................................................................................... 10 Chapter 2: Ordering guide ........................................................................................................ 12 Secondary mission ideas ...................................................................................................... 12 Order Components ............................................................................................................... 12 Chapter 3: The secondary mission ........................................................................................... 14 Adjusting the structure ......................................................................................................... 14 Additional Connections ........................................................................................................ 14 Communication .................................................................................................................... 16 Power Supply ....................................................................................................................... 16 Chapter 4: Parachute design ..................................................................................................... 17 Introduction .......................................................................................................................... 17 Descend Physics ................................................................................................................... 17 Requirements Descent Parameters ....................................................................................... 20 Parachute production ............................................................................................................ 20 Example Assignments .......................................................................................................... 21 Chapter 5: Telemetry; sending data, setting up the ground station and processing the data.... 22 Introduction .......................................................................................................................... 22 Transmitting data.................................................................................................................. 22 Setting up the Ground Station .............................................................................................. 25 Processing the data ............................................................................................................... 27 Example Assignments .......................................................................................................... 28 Appendix A: Example transmission code ................................................................................ 29 Appendix B: Transmitter Frequencies ..................................................................................... 29 Appendix C: Scanner Guide ..................................................................................................... 30 Appendix D: The CanSat kit MicroController Board .............................................................. 31 The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 2 of 32 Programmer; Dag Martin Nilsen; [email protected] Chapter 1: The primary mission, experimenting with sensors Subject: This lesson will explain the operation of the temperature and pressure sensor provided in the CanSat kit. After the necessary theory some experiments are described which can be conducted. Introduction The CanSat kit used for this competition comes equipped with a sensor board. Connected to this board are two sensors, a pressure sensor and a temperature sensor. Figure 1 shows a picture of this sensor board. These sensors produce an analogue signal, varying from 0 to 5V, and can be used to measure the temperature and pressure in the CanSat. Utilizing these sensors is part of the primary mission for the CanSat Competition. From these sensor readings you can calculate the altitude of the CanSat. This lesson will help you in completing the primary mission: Use the CanSat kit to measure temperature and pressure, and then make graphs displaying altitude profiles of the mission flight. Figure 1: The Sensor board of the CanSat kit Analog to Digital The sensors used produce a voltage, this voltage depends on the value of the parameter the sensor measures. It can take on any value in a certain range; such a signal is called analog. The temperature sensor produces an analog output signal between 0 and 5 volts. On the contrary a signal that can only take on some discrete values is called a digital signal. In Figure 2 these two different signals are depicted. The top graph shows an analog (continuous), signal. The bottom graph shows a digital (discrete), signal. A computer and also the small computer in the CanSat, called microcontroller, can only process digital signals. To convert the analog signal from the sensor into a digital one we use an Analog to Digital Converter (ADC), which as the name implies converts an analog signal into a digital signal. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 3 of 32 Programmer; Dag Martin Nilsen; [email protected] Figure 2: An example of an analog signal, a digital signal and a bitstream The ADC converter is incorporated in the microprocessor and has 8 input channels. It is a 10 bit’s ADC; it will convert a signal into a digital signal with 10 0‟s and 1‟s. So it can generate a 10 bit binary number. Bit stands for binary digit, and is a value of 0 or 1, high or low, on or off. Each digit in the binary number can have 2 values, 0 or 1, so a 10 bit binary number can have, 210 = 1024, different values. This results in an integer, meaning a solid number, ranging from 0 to 1023. The microcontroller can understand this value and use it for computations. These computations can be programmed into the processor by writing a program code. An example of such a code is shown in the lessons included with the CanSat kit. Each sensor in the CanSat is sampled by the ADC, making each analog value into a 10 bit number. 0 voltage will be converted into the binary number 0000000000 = 0, and 5 voltages will be converted into the binary number 1111111111 = 1023 as a decimal number. These numbers will be sent to the transmitter at a bit stream with high and low values. Such a bit stream is shown in the leftmost image in figure 2. The sequence of events is thus as follows: 1) The temperature sensor converts the measured temperature into a voltage, this is an analog signal. 2) The ADC converts this analog signal in a digital signal, which the processor can understand. 3) Inside the microcontroller the signal is a 10 bit binary number, and can be used for computations. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 4 of 32 Programmer; Dag Martin Nilsen; [email protected] Sensors Two sensors are used in the CanSat kit, a pressure sensor and a temperature sensor. Pressure sensor The pressure sensor used is the MPX4115A from Motorola. It uses a silicon piezoresistive sensor element. Figure 3 presents the internal built up of the sensor. Piezoresistive effect means that the resistance of a material will change when a mechanical stress is applied. In this case silicon is used. The changes of resistance for silicon are magnitudes of times larger than for example for metals, making this material very useful to use in a pressure sensor. Figure 3: Cross Sectional Diagram SOP (not to scale) Figure 4 shows a more detailed look into the sensor. It shows the dimensions of the sensor and the layout of the connections. To relate the measured voltages back again to values for the pressure the transfer function of the sensor is needed. Such a function describes the relation between the voltage output of the sensor and the equivalent pressure. This function can be found in the datasheets of the sensor. Figure 5 presents a graph from these datasheets with the accompanying transfer function. Figure 4: Unibody Package dimensions The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 5 of 32 Programmer; Dag Martin Nilsen; [email protected] Figure 5: The transfer function For more information on the pressure sensor look into the datasheet. Temperature sensor The temperature sensor used in the CanSat is the NTCLE203E3103GB0 manufactured by Vishay/BC components. It is a so called NTC, or Negative Temperature Coefficient thermosistor. An increase of temperature the thermal conductivity rises. Most ceramic materials exhibit such an behaviour. Other materials however will have an opposite behaviour, with rising temperature the conductivity decreases.Most NTC thermosistors are therefore made out of semi conductive materials, something in between an insulator and a conductor, with some special qualities. Simply put, when the material is heated the electrons in the material are energized. More electrons are able to move around, thus the material can conduct electricity more easily. When a material can conduct electricity more easily its resistance will obviously decrease. So with an increase of temperature the resistance is decreased. Therefore it is called a Negative Temperature Coefficient, NTC. On the sensor board the temperature sensor is connected in series with a resistor, R1 with a constant resistance of 10 kΩ. The NTC In the figure you can find a simplified schematic of this. When resisitors are connected in series the current in the circuit will be the same everywhere. The total resistance can be calculated by: RT = R1 + RNTC To find the current, I, trough the circuit we can use ohms law U = R I, where U = 5 V I = U/R =5V/( R1 + RNTC) The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 6 of 32 Programmer; Dag Martin Nilsen; [email protected] The same current, I, flows trough the fixed resitstor R1 giving a voltage Vmessure across the resistor. This can be put into the following equation: I = U/R = Vmessure/R1 Since the current is the same everyhvere in the circuit, we can sett upp the following equation: I=I 5V/( R1 + RNTC) = Vmessure/R1 From this we can get the relations between the messured voltage (Vmessure) and the resistanse of the NTC temperature sensor (RNTC). Vmessure =5V* R1/( R1 + RNTC), or RNTC = (Vmessure /( R1 + RNTC)) - R1 To get a complete transefer function you will also need the relation between the temperature and (RNTC). You can find this in the sensor datasheet. Calibrating the sensors In some cases the transfer function, to compute the corresponding values to the measured voltages, is not precisely known. We will have to come up with a function ourselves. A simple method to compute the function is by using measurements and a graph, assuming linearity and interpolating the results. In reality the behaviour of the sensor will probably not be linear. However on a certain range it can be very well described as being a linear relation. Linearity means we assume the relation between voltage and the parameter is directly proportional. Describing this relation by means of the standard linear formula: Parameter = A * Voltage + B 100 Tabel 1: Measured test results 80 Voltage [V] 0,5 1,5 2,5 Temperature [C] 60 40 Temperature [C] 0 20 40 20 0 0 0,5 1 1,5 2 2,5 3 3,5 4 4,5 5 -20 -40 Sensor Output voltage [V] The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 7 of 32 Programmer; Dag Martin Nilsen; [email protected] To estimate the values of A and B use a graph. In this graph plot the measured voltages on the x-axis and the parameter, in this example temperature, on the y-axis. In the table next to the graph you will find some example measured values for this sensor. These points are also plotted in the graph. Step two is to draw a straight line through the points. The more points are used the more accurate our result will be. However it will be more difficult to fit the line exactly through all points. Try to fit the line as good as possible. This line can now be used to determine the values of A and B from the standard linear formula. A: B: is the slope of the line, is the intersection with the y-axis. Altitude Calculations The atmosphere is all around us; it is a thin gaseous layer surrounding our planet. The atmosphere is composed of most importantly nitrogen (78%) and oxygen (21%). Furthermore it contains some water vapour, CO2 and other trace gasses. The Earth’s atmosphere consists out of different layers with different properties (temperatures, pressure, composition, etc. In Figure 6 the different layers are represented, along with the different human and weather activities in these layers. In contrary to our CanSat most satellites are operated in the exosphere. Here the density of the atmosphere is very low. The CanSat however operates in the troposphere, the bottom layer. This layer contains about 80% of the total mass of the atmosphere, and stretches to about 10 kilometres altitude. In this layer all sort of meteorological phenomenons occur, wind and clouds for instance. As seen in the graph there is a relation between two properties of the atmosphere, temperature and pressure, and the altitude. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 8 of 32 Programmer; Dag Martin Nilsen; [email protected] There is a linear relation between the temperature and the height in the atmosphere. Ascending one kilometre in the air will result in a 6,5 degrees Celsius decrease in temperature. The equation below provides the relation: T T1 a is Temperature in Kelvin; is the start temperature at h1 altitude is the altitude in meters; is the starting altitude is the temperature gradient: -0,0065 K/m. h T T1 h h1 a h1 The relation between the pressure and the altitude is somewhat more complicated. The pressure is not only dependent on the altitude but also on the temperature. Let’s start with the relation of pressure to temperature: p p1 p p1 g0 R T T1 g0 aR is pressure in Pa; is the start pressure in Pa is gravitational acceleration 9,81 m/s2 is specific gas constant 287,06 J/kg*K Inserting this formula in the formula for the temperature we arrive at the following relation: h T1 a p p1 aR g0 1 h1 The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 9 of 32 Programmer; Dag Martin Nilsen; [email protected] Example Assignments The following assignments can be performed when experimenting with the sensors. Temperature Sensor assignment: The aim of the assignment is to calibrate and test the temperature sensor. In addition to the CanSat kit you will need the following for this assignment: Thermometer, Hair dryer 1) Performing reference temperature measurements a. Measure the temperature on several places with a thermometer. Try to get as much difference as possible between the points. More points and a larger difference will produce a better fitting curve. You can try to use a hot dryer to heat up the temperature, be careful not to heat it up to much! b. Use the CanSat to measure the voltage from the sensor at these places too. 2) Plot the voltages, on the x-axis, against the temperature, on the y-axis. You could use MS Excel. 3) Draw a straight line through the measured points. Calculate the describing formula, in the form: Temperature = A * Voltage + B NOTE: This formula can be used to measure the temperature with the CanSat. 4) Implement the formula into a program for the CanSat. Use the CanSat to measure the temperature at different places, use a thermometer to check your results. Pressure Sensor assignment The aim of the assignment is to test the pressure sensor. In addition to the CanSat kit you will need the following for this assignment: A plastic tube or straw, between 15 and 30cm long and with a maximum diameter of 6 mm 1) Write a program for the CanSat to read out the voltage from the pressure sensor. Implement the scale formula to convert the voltage in a pressure. 2) Measure different pressure levels a. Place one end of the tube very close to the pressure port of the pressure sensor b. Place the other end in your mouth and suck away some air. 3) If you have done this correctly the pressure should be decreasing. If you are having troubles ensure the tube is connected rightly to the sensor port. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 10 of 32 Programmer; Dag Martin Nilsen; [email protected] Altitude estimation assignment Use both the pressure and the temperature sensor to estimate the altitude. In addition to the CanSat kit you will need the following for this assignment: A height difference, you could use a tall building however a hill would be preferable 1) Use the programs written to measure the temperature and the pressure. Modify them to provide you with a value for the altitude as well. 2) Perform measurements on different locations on different heights. If possible try and check the measured altitude with a known altitude. NOTE: The equation to calculate the altitude uses a reference altitude, denoted by T1 and p1. Extra assignment: Incorporating errors Take a look at the figures below. They are found in the datasheet for the pressure sensor. The indicated the errors which are associated with the sensor. 1) Try to incorporate the temperature error in your program. Use it to estimate a upper and lower band of the measured pressure. 2) Keep the pressure the same and try to change the temperature, for example with the hair dryer. See if you can catch the temperature error band. 3) Now also include the error band for the pressure to your graph. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 11 of 32 Programmer; Dag Martin Nilsen; [email protected] Chapter 2: Ordering guide Secondary mission ideas Satellites can be used to accomplice a lot of different missions. Some are used by scientist to measure certain parameters of the atmosphere of our planet, increasing our knowledge of for example Global Warming. Other satellites are used to capture images of the planet or of the stars. The pictures are sent down and analysed by researchers. A well known result is the pictures in Google Maps. Some satellites, like the International Space Station, are used to perform experiments. These experiments can vary from testing new equipment, physical experiments of astronauts or biological experiments. Furthermore satellites can be used to determine your position, like Galileo or GPS. Some satellites are even used to go to other planets and explore. Some of these even carried small rovers to Mars. Our CanSat is a small satellite, so in the secondary mission we are going to try and mimic one of the functions of a satellite. You are entirely free to choose this secondary mission, limited only by your imagination. A lot of information on satellites missions can be found on the internet. Try and see what ESA is doing at the moment, or NASA. Search on the website of Arduino to see what would be possible. Under Library you find some extra functions of the processor. Maybe this will provide additional inspiration. Some ideas for a secondary mission could be: 1. Try to determine the position of the CanSat more precisely 2. Steer the CanSat when airborne 3. Deploy an experiment outside the CanSat 4. Take videos when descending 5. Generate power when descending There are off course more than a thousand different possibilities. Just try to pick a mission that will best fit with your team’s wishes. To further assist you we have listed a few useful components on the next page. We hope this will help in starting the search for your own components. When you are not sure about the compatibility of a component you would like to use you can always contact the CanSat Team. We will try to help you out. Order Components It is possible to connect a whole range of components to your standard CanSat kit. The following items were found on www.elfa.se, they have a wide variety of useful components. The CanSats are equipped with 0.64 mm. pins for connecting external sensors/instruments for the secondary mission. The easiest way to connect something to the pins is to buy 400mm cables with connectors (Item 16 and 17). These can be fitted inside of plastic connectors (item 18). Item 1 and 2 is a simple card which can be used to make your own electronic schematics. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 12 of 32 Programmer; Dag Martin Nilsen; [email protected] Item Component: Description Price (Nkr) Comment Copper board Elfa.se part number 48-326-63 1 With tracks and holes 46 Option 1 2 Copper board 48-324-81 46 Option 2 3 4 TS912 Opamp Socket 73-459-45 48-135-49 With tracks and holes Dual Opamp. Socket for mounting opamp 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Sensors: SFH300 LM35D SFH300 GPS EM 411 HiH 4000 Resistors Resistor 1 kΩ Resistor 10 kΩ Resistor trimmer Connectors: Cable Cable Connector Solder pins Connector 2 pin Connector 3 pin Connector 4 pin Photo Transistor 0 to 100 C temp Photo Transistor GPS module Hygometer 10 25 10 350 167 60-722-84 60-734-23 64-360-91 0 to 10 kΩ 2 2 5 43-566-40 43-566-42 43-566-08 43-716-13 48-354-01 48-354-19 48-354-27 400mm read 400mm black 3 pin 3 pin Screw terminal Screw terminal Screw terminal 7 7 3 2 7 10 14 75-221-39 73-090-57 75-221-39 78-400-02 73-056-83 12,20 5 SFH300 Other links: Electronics: http://farnell.com/ Electronics and gadgets: http://www.sparkfun.com/commerce/categories.php The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 13 of 32 Programmer; Dag Martin Nilsen; [email protected] Chapter 3: The secondary mission Subject: This manual provides some tips and tricks which can prove to be useful for the secondary mission Adjusting the structure In the CanSat kit an aluminium structure was provided. It has been designed to incorporate the primary mission and has standard no possibilities to attach additional components for a secondary mission. However there is still some space left on the structure, especially at the battery side, to utilize for extra components. The structure may freely be adapted to the needs for the secondary mission. It is also allowed to design and built a new structure, if the secondary mission requires so. Off course this is easier said than done. Some important aspects when designing a new structure: Figure out where to put the different components, Make sure the wires can still be connected. They have a limited length. Ensure the different components are still easily accessible. Also the skin, so the soda can, is allowed to be replaced. However it is not allowed to go beyond the boundary of a normal 33cl soda can. It has to be the same size. When adjusting the structure or the skin, make sure the antenna wire is still entirely outside the can. Otherwise the reception of the signals during the flight will fail. Additional Connections The microcontroller used in the CanSat is the ATMEGA 168 20UA. You can study the datasheet to get detailed information on inputs and connections. Only some of the connections of the microcontroller are used by the primary mission. In appendix D the ports of the primary mission are defined. It is thus possible to use the controller for the secondary mission as well, connecting new components to the remaining connections. In Appendix D, a mapping of the additional ports of the microcontroller can be found. Analog sensors Analog sensors are easily connected to the microcontroller. These sensors produce a voltage between 0 and X Volt, depending on the measured value. Hooking it up to a ADC of the microcontroller will turn it into a binary number which can be used in calculations. It is the same principal as the temperature and pressure sensor of the primary mission. These sensors can be easily connected to the still remaining other ADC ports. On the sensor board one additional connection is still free and would be ideal to use. Sensors that have a 5 volt maximum for their output are ideal to use. If the output is smaller than 5 volts you will get less accuracy because not the entire range of the ADC is used. When the output is larger, every value above 5 volts will not be measured. These issues can be solved by using an amplifier to increase or decrease the signal to the desired 5 volts range. More information on amplification can be found on internet. Digital sensors Digital sensors can be found more and more often these days. These sensors doesn’t use a analog signal for the information, instead the make use of digital protocol. Two important protocols are supported by the Microcontroller, Serial and I2C, they are discussed here. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 14 of 32 Programmer; Dag Martin Nilsen; [email protected] Serial: An often implemented communications protocol. The bits are sent in a serie, one after the other. It has a separate transmission and receiving connection. The microcontroller can support a software serial solution on all the digital pins. Software Serial can be used if data is transmitted or received once in a while. The information is only received when the function is called. A disadvantage would be the loss of data in between listening cycles. More information can be found on the Arduino website, under the SoftwareSerial library. Hardware Serial can be used when sensors transmit information irregularly or very frequently. The data is now stored inside the microcontroller and no data is lost. The hardware serial are the same pins as the ones to which the USB programming cable is connected. I2C is a different protocol which can be used. It is very useful when multiple processors are connected to each other. It uses a master/slave architecture to enable communication. Although it is supported by the microcontroller it is a little bit harder to implement. For I2C make sure no clock stretching is used, because it is badly supported. Electric motors It is also possible to control a small electric motor with the microcontroller. Two main types exist: DC motors and servos. A DC motor is an electric motor, it will start turning once connected to a DC current, for instance from a battery. It is not possible to use the microcontroller to power such a motor. The digital port is not capable to deliver enough current. However you can use the controller to open an electric switch that will power the motor. This could be a transistor. The figure shows an example on how to use a transistor to control a DC motor with the CanSat. The diode is necessary to safeguard the transistor. Using a Servo is the other option. A servo is an electric motor of which the position can be controlled. It can be useful for precision control. However it draws a lot of current, making additional power supply a necessity. The position is controlled by using a third signal wire, commonly the white or yellow one. The other two wires are used for powering the servo. Mostly black will be ground and red will be the positive voltage. Make sure that the ground of the servo is connected to the ground of the microcontroller or it will not work. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 15 of 32 Programmer; Dag Martin Nilsen; [email protected] Communication To transmit data on the secondary mission it is possible to use the same transmitter. However as was mentioned before the capacity of this transmitter is limited. It could be that you would want to transmit more information than is possible. The easiest solution is to transmit the information as efficiently as possible. Trying to make it small enough for the transmitter will be able to handle it. Another possibility would be to adjust the transmitter. This is possible however rather complicated and not recommended. Thirdly a separate second downlink could be used. Using an additional transmitter to sent down the information. Make sure to use a frequency band which is legal. If the other transmitter uses the same band as the primary one, make sure the bandwidth is not too wide. It is not allowed to interfere with the transmission of the other CanSat’s. Power Supply The secondary mission will need enough energy for it to function. Two power sources are available: the 9V battery and the 5V from the microcontroller. The 5V of the microcontroller is only able to supply 100mA, of which 70mA is used by the primary mission. For most additional sensors this should suffice. However in many cases the GPS and/or motors require more power. Also some sensors may need a different input voltage to function. A solution is to add an extra power supply. There is a lot of information available on the internet on how to construct a simple power supply yourself. For instance search for the L7805 Voltage regulator. Just make sure to connect the different grounds with each other. Otherwise it won’t work. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 16 of 32 Programmer; Dag Martin Nilsen; [email protected] Chapter 4: Parachute design Subject: This lesson will address the Parachute design for the CanSat. The lesson explains the calculations involved in the design and provides some practical tips for fabricating the parachute. Introduction Satellites normally do not return to Earth on a parachute. At the end of the life of a satellite it will be put in a different orbit. For satellites orbiting at a low altitude this could mean they will burn up in the atmosphere. Satellites further away will end up in a parking orbit and circle our planet forever. Sometimes however the spacecraft has to return to earth with samples or astronauts. One of the solutions is then to descent on a parachute. When the CanSat is deployed it has to have a device to slow it down, otherwise it would crash in the ground. Furthermore we would like the CanSat to be oriented in an upright position. Specifically for the antenna this is important. This will enable the best chance of receiving the telemetry. These functions are performed by the parachute. This lesson will guide you through the different steps needed to design and built your parachute. Descend Physics Before we can start on producing the parachute we will have to figure out how big it should be. More specifically: How big should the area of the parachute be to fulfil the requirements? Logic will say that the bigger the parachute the slower the object will drop down. Later on this principal is demonstrated with some basic equations. Although it would be very beneficial for the mission and the CanSat to have a very low descent speed there is a limit. For safety reasons a minimal descent speed is set. This limit is set to ensure that the CanSat will land in an area near the launch area. When the descent speed is too slow the satellite could drift kilometres away on the wind, this is not allowed nor desired. To design your parachute we’ll use some simple physics. We use a simplified model to estimate the area of our parachute. After which we can start on the production. During the descent two forces will be acting on the CanSat. Gravity will pull on the can and accelerate it towards the ground. The parachute will pull the CanSat in the opposite direction and slow down the descent. In the picture you can clearly see the two forces. When the CanSat is deployed it will be accelerated by the gravity force. After a few second the drag force of the parachute will be equal to the gravity force. From now on the acceleration will be zero and the CanSat will descent at a constant velocity. This constant The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 17 of 32 Programmer; Dag Martin Nilsen; [email protected] velocity has to be larger than the minimum descent velocity which is required. During the following calculations we will use this value as our constant velocity of the CanSat. The gravity force is equal to: Fg = m*g [1] In this equation: m: is the mass of the CanSat. g: is the acceleration of gravity, equal to 9,81 m/s2. The drag force of the parachute is equal to: FD = 0,5 * CD * ρ * A * V2 [2] In this equation: A: is the total area of the parachute (not just the frontal area) CD: is the drag coefficient of the parachute. This value depends on the shape of the parachute. ρ: is the local density of the air, assumed to be constant at 1,225 kg/m3. V: is the descent velocity of the CanSat You can easily rewrite these equations to calculate the needed area of the parachute. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 18 of 32 Programmer; Dag Martin Nilsen; [email protected] Semi-spherical Parachute Design A semi-spherical parachute is the most common shape of a parachute. Although it is not hard to make one it can be quit tedious to get the right shape. The figure below should help out. n r stands for the number of needed parts stands for the radius of the parachute. Cross Parachute Design Instead of using a semi spherical shaped parachute you can also choose a cross shaped. The advantage is in the ease of production. If you want to know more of cross shaped parachutes you can look at the following link: http://www.nakka-rocketry.net/xchute1.html Parapent A parapent shaped parachute acts a little bit like a wing. Because of its shape you can use it to steer. The design of a parapent is more complex than of the other shapes. You will have to perform some more research. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 19 of 32 Programmer; Dag Martin Nilsen; [email protected] Requirements Descent Parameters The values are still preliminary; they could change in the future. They can be used as a first guideline. Uncertainties in the Launch Campaign could lead to a different value for the eventual descent velocities. Minimal descent Velocity: 8 m/s Maximal descent Velocity: 11 m/s Maximum allowed mass: 350 grams Drag coefficients: Semi Spherical: Cross Shaped: Parapent: 1,5 0,8 depends on the design, can be determined by tests Parachute production When the design of the parachute is finished you can start on producing it. There are a few important issues when starting the production. The deployment of the parachute will be relatively violent, so the fabric and fibres you use need to be strong. Most often you can get nylon wires and rib stop fabric at a kiting shop. These materials are ideally suited for the parachute. When cutting the fabric, you should take into account the fact that some of the fabric needs to be double to be able to sew it. Some more handy tips on the production of the parachute can be found here: http://www.nakka-rocketry.net/paracon.html After the parachute is produced the best way off course to see if it works is to test it. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 20 of 32 Programmer; Dag Martin Nilsen; [email protected] Example Assignments The following assignments can be performed when working on the parachute. 1. Calculate the impact speed of the can without a parachute, when released from 1 kilometre altitude? 2. Calculate the needed minimal area for your parachute when you use a cross parachute? What would be the sizes of the squares of the chute? 3. The same but with a spherical parachute? What will be the radius? 4. Test the descent velocity of your parachute with a soda can? 5. Try out different solutions for the parachute. A parachute with some holes or multiple small parachutes? Both will enhance the stability of the CanSat. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 21 of 32 Programmer; Dag Martin Nilsen; [email protected] Chapter 5: Telemetry; sending data, setting up the ground station and processing the data. Subject: This lesson will provide a background to the telemetry part of the CanSat system. It will explain the operation of the transmitter board, help in setting up a ground station and provides a guide to processing the received data. Introduction Telemetry is a technology that allows performing remote measurements. It is derived of the Greek words “tele”, meaning remote, and “metron”, meaning measure. Telemetry is an essential part of rocketry and satellite technology. Information is transmitted wirelessly mostly using radio waves. On the ground these signals are collected by receiving stations. Large space agencies have networks of these ground stations stretching all over the globe, tracking, monitoring and receiving telemetry from their satellites. Telemetry data can be divided into two groups, from internal and external sources. Rockets and satellites are equipped with countless sensors that measure internal parameters. Parameters can be temperature, pressure, attitude, power usage and much more. The information from these sensors is called “housekeeping data”. It is used to monitor a satellites health, and necessary for the operation of the system. Information from the external sources is mostly what interest’s scientists. It is the data collected from sensors or equipment measuring parameters from our planet, the space environment or somewhat else depending on the mission. This information is called the “mission data” or “scientific data”. In your CanSat this would be the information from the sensor board. This data is often collected at the ground station and then processed or used by scientist for research. The CanSat telemetry has three distinct components, transmitting, receiving and processing the information. The transmitter board inside the CanSat will collect the information and sends out a radio signal. This signal is picked up by the ground station and received on a laptop, where it is stored. Transmitting data Radio enables the transmission of information over electromagnetic waves. The information can be sent in different kind of signals. The earliest and most simple method is Morse code. A radio signal is switched on and off on specific intervals. A pattern emerges of short and long radio pulses. Remember the sign for SOS: three times short, followed by three longs concluded with three short pulses, rendering help when in distress. Frequency Modulation More complicated forms of radio communication have emerged since, using a modulation of the signal to transmit information, for example the familiar AM and FM. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 22 of 32 Programmer; Dag Martin Nilsen; [email protected] AM stands for Amplitude Modulation. The information is contained in the amplitude of the signal. FM stands for Frequency Modulation. The information is contained in the frequencies of the signal. The CanSat kit uses FM modulation to send its signals to the ground station. The frequency of the radio signal is combined with two audio signals and then transmitted. It is the same principal as with your FM music radio. AX.25 Protocol For communication to go smoothly a protocol is needed. A protocol is simply the method used to format the information. The information is structured to enable the receiver to understand the sent data. It contains information of the header, a call sign, identifying the information and detecting and correcting errors. The CanSats use part of the AX.25 protocol. This is a protocol for digital communication used by radio amateurs. The CanSat uses a part of the protocol called the UI Frame. It has been modified from the X.25 protocol to support call signs. The protocol is used for transmitting short sets of data. Radio amateurs use it to transmit weather reports, position coordinates and such. Very similar to the data the CanSat likes to transmit. An example of a protocol is shown in the table below. This protocol is nothing more than a format. The format means: 1. The first 8 bits are the header, used by the receiver to recognize the start of the message. 2. The next 32 bytes are reserved for the information to be transmitted. 3. The last 16 bits are a checksum; the receiver can use it to determine if the message was received correctly, without errors. Header Data bytes CheckSum 8 bits 32 bytes The CanSat Team Project Manager; Torstein Wang; [email protected] 16 bits Issued: Friday, 29 January 2010 Page 23 of 32 Programmer; Dag Martin Nilsen; [email protected] Transmitter Hardware The transmitter board has two important components, a processor and a transmitter. The processor gathers the information from the processor board and generates a data stream. The data stream is sent to the transmitter as two tones. One of 1200 Hz and one of 2400Hz, representing a logic 1 or 0. The transmitter employs frequency modulation to produce a 433 MHz carrier signal. This modulated signal is transmitted by using a wire antenna. The information is transmitted at 1200 bits per second, not very fast. Your local wireless network can easily go up to 11 Megabits per second. The low data rate is chosen to keep the electronics simple and easy. Additionally the amount of information to be transmitted is small, making the data rate sufficient. Higher data rates would demand more complex electronics and a more advanced ground station, making it very costly. Adding telemetry to the programming code Luckily communication with the CanSat is very straight forward and can be setup by adding some lines to your code. 1. Insert the frequency you want to transmit on. Add it in the void setup, by adding: a. Serial.println(‘Freq_string‟); b. See Appendix B for more information on the Freq_string. c. Use a delay of 1000 before setting the frequency, use a delay of 500 after the frequency is set. This enables the transmitter to adjust to the new frequency. 2. Add a call sign: a. Serial.println(‘Call_sign‟); b. The call sign has to be unique; it could be your team name. c. However it is limited to a maximum of 6 characters and has to be preceded by a C. 3. Now the transmitter is setup. You can use it to sent telemetry in the void loop. The transmitter is activated when you add the following command to the code: a. Serial.print(`S`);(the same as used for communicating with the computer). b. All Serial.print(``); commands afterwards will be read by the transmitter and made ready for sending. c. Use Serial.println(``); to end the data string which will be sent down. 4. Now your program is ready to transmit telemetry. See Appendix A for an example program. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 24 of 32 Programmer; Dag Martin Nilsen; [email protected] Setting up the Ground Station The ground station is all the equipment used to receive the telemetry signal. It will always consist out of three basic components: An antenna to collect the signal, a receiver which is able to process this signal, and a storing device. To the left you see the ground station for ANSAT. It is used to receive signals from student satellites orbiting in Low Earth Orbit. The ground station of ANSAT in Andenes. The Basic ground station for the CanSat consists out of the following equipment: Omni directional or Pointing Antenna Radio Receiver, Uniden UBC69 XLT-2 Laptop with installed software, Packet Engine and AGW Monitor Stereo cable (3,5mm jack) Follow the following steps to setup the ground station: 1. Install the ground station software on the laptop. 2. When using a pointing antenna connect it to the scanner. 3. Adjust the scanner to the correct frequency. Use the same frequency as used in the code of the transmitting CanSat. 4. Connect the headphone output on the scanner with the microphone input of the laptop. Use the stereo cable. 5. Open the AGW packet Engine and AGW monitor to start receiving data. Ground station software Your computer or laptop will be used as a modem to receive the information from the scanner and use it. To prepare the computer for this function software needs to be installed. Installing the software is very easy. Just double click on the gssetup.exe file. This will install all the necessary software on your computer. Just follow the instruction on the screen, just keep clicking next. (The program was originally made for the Dutch CanSat competition so the instructions are in Dutch.) When installed, open the program AGW Packet Engine, it is added to the startmenu. This will enable your laptop to start receiving data packets from the microphone input. To see the actual data the program AGW Monitor is used. When the ground station is setup correctly you will see the data coming in here. The File >Save as text function can be used to store the received data in a txt file. Note: Remember to store the data before closing the program, otherwise the information is lost. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 25 of 32 Programmer; Dag Martin Nilsen; [email protected] Radio Receiver The radio receiver used is the Uniden UBC69XLT-2 Handheld Scanner. It can contain up to 80 frequencies to be scanned ranging in three bands in both AM and FM: 25-87 MHz, 138-174 MHz and 406-512 MHz. It has a BNC connector to easily switch between different types of external antennae. It comes equipped with a 3.5mm mini-jack to connect it to a headphone or external device. The scanner is very easy to use; the next steps explain the basic setup for the scanner, appendix C shows a picture of the radio scanner. 1. Turn the scanner on 2. Press HOLD, you will see HOLD appear in the screen 3. Type in a number to store the frequency under, for example „1‟ 4. Press Func and then E(Pgm) 5. Type in the frequency you are using, for example „433,650‟ 6. Press E again to save the frequency 7. To switch between saved frequencies: a. Press a number, for example ‘2‟ b. Press SCAN c. If a frequency was stored under this number it will appear in the screen Ground station problem solving Hopefully you will have received your data by now. If you do not receive anything, you can try the following: 1. Do you hear the signal when the audio cable is disconnected from the Scanner? Adjust the scanner, frequency or volume, until you hear a beeping signal coming from the scanner. The CanSats transmit between 433,050 and 434,800 MHz. 2. Check if the CanSat is working correctly. Is the battery still full? Trying powering the CanSat off and on again. 3. Check the volume setup for your microphone input of the laptop. You might have to look into the advanced settings. Try switching off all but the basic settings. 4. If the laptop has a line-in, try using it. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 26 of 32 Programmer; Dag Martin Nilsen; [email protected] Processing the data Now the data is received it will have to be processed to get some more meaningful results. The steps below can guide you through the process: 1. Make sure you save the received telemetry. Use File>Save as Text file. 2. Before beginning with the processing make a back up of the data file. This way if something goes wrong you will still have the original file. 3. Import the file into excel, Data>Import external data. A wizard will guide you through the process of importing. Get the data into different columns. You can add some formatting in your code to make this process easier. 4. Excel has a sorting option, Data>sort. Use it to filter out the not wanted data. If the telemetry has been structured correctly this should work easily. TIP: Use a counter in the telemetry. 5. Now the data can be used for analysis. Perhaps some calculations have to be performed. Excel is really good in doing these for you. 6. Present the results in tables or graphs. To make sorting out of the necessary data easier you could add some aids to your code. Add a counter, counting the runs through the loop of the code. It will make sorting the data on a time scale a lot easier. Adding the time, just enter time = millis(); to the code. It can be used for different purposes. Recording the exact time the data was acquired or to calculate how much time one loop takes. It can be used instead of a counter to sort the data. Format the information on the CanSat, before it is send out. Some small adjustments here can make life a lot easier when processing. Pay attention to “,” or “.” and choose a handy separator between measurements. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 27 of 32 Programmer; Dag Martin Nilsen; [email protected] Example Assignments The following assignments can be performed to test the ground station. 1. Write a test code for the CanSat to test the transmission of telemetry. a. Try different call signs. b. Try out different frequencies. Do not forget to adjust your scanner as well! c. Add some housekeeping data to the code, for easier processing afterwards. 2. Setup the ground station: a. Install the software. b. Setup the radio receiver and connect it together. c. Use the CanSat to test if the setup is working. Some fiddling might be required to get it operational. 3. Test the CanSat and sent down information to your ground station. See if everything is working as anticipated; if necessary make adjustments or improvements. 4. Adjust the sensor read program so it will send out information on the primary mission. 5. Prepare an Excel sheet to process data received from the CanSat. 6. Write a checklist of the steps that need to be taken to acquire the telemetry. For example the steps to correctly setup the ground station, receive the data from the CanSat and store the information for the data processing. The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 28 of 32 Programmer; Dag Martin Nilsen; [email protected] Appendix A: Example transmission code Appendix B: Transmitter Frequencies Frequentie (MHz) 433,050 433,100 433,150 433,200 433,250 433,300 433,350 433,400 433,450 433,500 433,550 433,600 433,650 433,700 433,750 433,800 433,850 433,900 Code F8CF79 F8CFBD F8CFFD F8D03D F8D07D F8D0CD F8D10D F8D14D F8D18D F8D1D1 F8D215 F8D255 F8D299 F8D2D7 F8D31D F8D361 F8D3A5 F8D3E5 Frequentie (MHz) 433,950 434,000 434,050 434,100 434,150 434,200 434,250 434,300 434,350 434,400 434,450 434,500 434,550 434,600 434,650 434,700 434,750 434,800 The CanSat Team Project Manager; Torstein Wang; [email protected] Code F8D429 F8D46D F8D4AD F8D4F1 F8D535 F8D575 F8D5B9 F8D5FD F8D63D F8D681 F8D6C5 F8D705 F8D749 F8D78D F8D7CD F8D811 F8D855 F8D895 Issued: Friday, 29 January 2010 Page 29 of 32 Programmer; Dag Martin Nilsen; [email protected] Appendix C: Scanner Guide The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 30 of 32 Programmer; Dag Martin Nilsen; [email protected] Appendix D: The CanSat kit MicroController Board The figure on the following page shows the MicroController Board of the pratt hobbies CanSat Kit. To improve the usability some information has been added. This would enable a better understanding of the board. It is helpful when connecting additional components to the board. In the figure below you will find a more schematic view of the board. Table with the explanation of the acronyms: Acronym Explanation ADC This a pin which leads to the Analog Digital converter on the processor VThis is ground V+ This is the 5 volts line (except for the entrance voltage which is 9 volts PD …? PWM TMX Transmitting RCV Receiving The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 31 of 32 Programmer; Dag Martin Nilsen; [email protected] The CanSat Team Project Manager; Torstein Wang; [email protected] Issued: Friday, 29 January 2010 Page 32 of 32 Programmer; Dag Martin Nilsen; [email protected]