AMCOM MK66

1
AMCOM MK66

• Final Presentation
• Filiz Genca Ashley Devoto
• Jeff Kohlhoff Matt Galante
• Jason Newquist Adrian Lauf
• Shannon Stonemetz

2
Project Overview

• Development of a precision guidance avionics
  module for the Hydra 70 rocket missile.
• M261 MPSM warhead
• M261 19-round launch platform
• MK 66 rocket motor
• Module will have built in IMU and GPS guidance
  systems
• Module will contain 4 canards actuated by servo
  motors that will perform flight adjustments
• Manufacture a mechanical prototype

3
Software Block Diagram
Parallel Control
Course Plot/ Correction
Roll Compensation
Data Handler
IMU Data Processing SW
GPS Data Processing SW
RMS Control Software
Serial I/O Control Routines
Servo Lines, Deploy Line
RS-232 Devices (IMU, GPS, RMS)
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GPS Interfacing

• Outputs raw data (real-time data)
• Binary format
• Transmission Protocol
• 8 bits
• 1 stop bit
• No parity bit
• Output Interval
• Can be set to any time between .05 and 999 seconds

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IMU Specifications

• Honeywell HG1930 Gun-Hard MEMS IMU
• RS422 interface
• Must be converted to 232
• Synchronous or Asynchronous
• Output
• Linear Acceleration
• Angular acceleration

6
Correction sequence
Differential Calculations
Correction determined -5, 5, -5, 5
Power Conversion
-A -B -C -D A B C D
0 1 0 1 1 0 1 0
-1 1 -1 1
Translation to servo codes
Control Logic
1
Back
B
Servo
4
2
A
C
D
Feedback
3
Servo mapping and line addressing
Reference frame applied
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Module Shell and Interfaces

• Aluminum Construction
• 15 inches long
• Acme Stub Nose Threads 6 pitch
• .5 in deep interference fit into shell
• Secured with press fit pull out pins

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Frame Subassembly

• .25 in aluminum construction
• Struts to mount IMU, GPS, CPU, Thermal Battery
• .5 in x .5in Mounting bar for canard assembly

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Canard

• Aluminum construction
• Machined from single piece
• NACA 0012 Airfoil Shape
• Positive stop machined into canard
• Hole to receive negative stop

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Canard Deployment

• Helical torsion spring for deployment
• Positive stop machined into mechanism
• Spring loaded negative stop

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Canard Actuation

• Anti backlash gears
• Gears mount to tab on assembly
• Assembly rotates about nubbin
• Nubbin connected to frame mounting bar w/snap ring

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Final Demonstration
GPS, IMU, RMS

• Two notebook PCs
• One will act as Altera-based processing board
• Second will act as GPS, IMU, RMS, providing
  simulated data
• More flexible
• Nios Devel. Kit has no readily-useable parallel
  port

RS232
FPGA Processor board
Servo
IEEE 1284 (Parallel)