Difference between revisions of "Infrared Sensors"
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| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Hardware support for previous, currently in use and future infrared boards.</h2> | | <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Hardware support for previous, currently in use and future infrared boards.</h2> | ||
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Image:Ir_dual.jpg|IRH early design | |||
Image:Ir_sensor_single_rotated.jpg|IRV early design | |||
Image:Irsensors.jpg|New smaller and slimmer Paparazzi IRH and IRV sensor boards | |||
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Revision as of 15:41, 5 May 2010
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Infrared Stabilization Principle
The paparazzi autopilot uses infrared thermopiles for primary attitude sensing. The theory is that at zero bank or pitch angle, the difference in the heat between the two sensors should be zero, and at 90 degrees it should be maximum. From this relationship a linear regression is made and angles are calculated during flight.
Each pair of sensors measures one axis, a minimum of 2 pairs must be used to measure pitch and roll but best results are obtained thru the use of a 3rd pair on the vertical axis. Since the output signal from each sensor pair is proportional to both the attitude and the weather/terrain, systems with only x-y sensors require a ground calibration and may not provide accurate angle calculations as the aircraft travels over terrain with different IR radiation.
Hardware Architecture
Horizontal Board
Vertical Board
Thermopiles
The Thermopiles are:
Manufacturer Part Number: MLX90247-ESF-DSA (Digi-Key: MLX90247-ESF-DSA-ND)
Description: IC SENS THERMOPILE W/THERM TO-39