WELCOME

VISNAV
Submitted by
PUNYA.S
 Contents

 Introduction
 Sensor Description
 Factors in Measurment
 Signal Processing
 DSP Implementation
 Advantages and Disadvantages
 Applications
 Conclusion
 Introduction
 Objectives
1. Find 6 DOF estimation
2. Find Robust Navigation Solution

 Consist of PSD & DSP

 Limitations of GPS
1. Less Precision
2. Complex infrastructure
XSS-11
3. Low accuracy
 Sensor Description
 Activated by energy z
y
from beacons I up

x I right

 Generates electrical I left

P 2 P1 ( X c ,Y c , Z c , f , q , y )
P
current in 4 directions n

 Current imbalances I down (X n ,Y n , Z n )

are linearly Z
q
proportional to f Y
( X ,Y 2 , Z 2 )
X 2

location of image ( X 0 ,Y 0 , Z 0 ) y
( X ,Y 1 , Z 1)
centroid 1
 Factors affecting measurement
 Short wavelength light from sun & other
discharge light act as beacons

 High power beacon signal saturate output of

preamplifier
 Preventive Measures

 Optical filter to block visible light.

 Modulate beacon current with high frequency.
 Feed back loop to control the beacon intensity.
VISNAV Block Diagram
 Signal Processing
• Sinusoidal carrier of 40kHz frequency applied to
modulate each drive current from the four
terminals of the PSD.
• The output of the PSD is applied to the
preamplifier
• The signal is converted into digital form through
an analog to digital converter.
• The digital data fed into the two DSP’s from this
we get a sensor coordinates.
Conti…
• Beacon control data is communicated to BCM.
• Control data is FSK modulated
• Data then transmitted via wireless link to
control amplitude of beacons.
• This closed loop system estimates 6 DOF of
sensor.
 DSP Implementation

 Functions of DSP
TMS320C55X-act
as demodulator

 Functions of DSP
TMS320VC33 act
as 6 DOF
estimator
  PROS
 Reprogrammable
 Insensitive to temperature variation and
ageing effect
 Wide field of view
 Very small and compact size
 Number can be increased upto 16 beacons

 CONS
 The signal may be blocked by the opaque
objects in their path
 Applications
1. Autonomous aerial refuelling.
 Aerial Refuelling

 Requires light sources on the refuelling target

frame
 optical sensor on the aircraft frame.
 Can be used even in 100% cloud cover,total
darkness and adverse condition
 2. Spacecraft Docking
 Beacons & beacon contoller on target
spacecraft & sensor on chasing space craft
 VISNAV enables docking simple and easy

Chasing
Spacecraft
Beacon Digital Optical
Controller Link

Sensor

Target
Spacecraft

Beacon Signal

Beacons
 3. Precision Landing
Beacons

Beacons Sensor

Sensor

Aircraft Landing V/STOL Ship Landing

 Conclusions
 100 Hz update rate 6DOF data possible with small low
power sensor/beacons to 100+m.
 Beacon signal modulation and optical filtering
Excellent ambient light rejection.
 Realtime beacon selection/intensity control
Minimize power requirements.
 Very wide field of view, no moving parts.
 Distributed beacons
Very large operating space
 VISNAV Personnel
Research Assistants

Ju Young Du, Kiran Gunnam, Roberto Alonso, Changwa Cho

 References
 Kiran K.Gunnam,Declan C.Hughes,John
L.Junkins,and Nasser Kehtamavaz,”A Vision
Based DSP Embedded Navigation Sensor”,IEEE
Sensors journal,Vol 2,NO:5,October 2002
 http://dspvillage.ti.com
 www.gpsworld.com
 http://jungfrau.tamu.edu/~html/visionlab
THANK
YOU
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