Data Acquisition

Mission

Abstracting hardware sensors into quality data that can be accessed over a software interface

Sensors

Garmin GPS 18 5Hz

GPS

For our first semester prototype, Alex selected the: Garmin GPS 18 5Hz ($200)

• Updates every 200ms
• Accurate to at least 3.5m, expected accuracy of ~1m
• 12 parallel satellite tracking, WAAS enabled
• Does not require a subscription to any service
• Voltage Requirement: 4.0-5.5V

5 Degrees of Tiny Freedom

Gyro and Accelerometer

The gyro and accelerometer are a combo system created by SparkFun. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.

• IMU 5 Degrees of Freedom
• Voltage Requirement: 3.3V

Compass

• Compass on board
• Voltage Requirement: 3.3V

Wheel Encoders

We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the E3 encoders from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.

Laser Range Finder

Current LIDAR: Hokuyo URG-04LX

• Indoor model, not suitable to our needs

Next Semester LIDAR: SICK LMS

• Currently hoping to borrow one of these units from the Urban DARPA project
• Outdoor model, used by all serious competitors