R.F.N.T. (Radio Frequency Navigational Tracker) Josh Bingaman Ryan Hitchler John Maitin Fabien Nervais Matt Sharp Capstone Fall 2004
Dec 18, 2015
R.F.N.T.
(Radio Frequency Navigational Tracker)
Josh BingamanRyan HitchlerJohn Maitin
Fabien NervaisMatt Sharp
Capstone Fall 2004
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.
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.
Basic Layout
Base of vehicle
Antenna Unit
Processor (Inside Base)
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
Software Implementation
One basic algorithm, two variations Initial design
Antenna stops spinningUnit stops to turn
Desired designAntenna continuously spinsUnit turns dynamically
Algorithm For Operation (Initial)
Algorithm For Operation (Desired)
Mechanical & Control Systems
Potential Concerns / Unknowns
Rotating Antenna & Motor Mount
Antenna Construction & Actuator Torque
Ground Wheel Control Sensor Resolution Terrain Tower Height Control
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??
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
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
Transmitter
Low power transmitter ideally a remote (key-fob)
Overview of Power Concerns
Power transformation on navigational unit
Power noise due to rotation
Power cable routing to rotating mount
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
Rotating Mount
• Transmitters
• Grooved Plates
• Software
Antenna
Rotating Mount Shielded
Unidirectional Antenna Digital Compass
mounted with Antenna Synchronization of
Compass and Antenna
Transmitter/Receiver
•916 MHz RF•16 Bits Transferable•RSSI (Relative Signal Strength Indicator)
Schedule
Thank You
Questions
?