P.W.L.S. Innovations Capstone Design Document
Contents
1. 2008 12 10 2008 Demo functional bread boarded prototype Demo 802 11 wireless communication lt 2 1 2009 1 1 2009 1 26 2009 2 16 2009 Approved Initial Schematics Demo Complete Database Software 3 2 2009 4 1 2009 Approved Final PCB Layout Demo Final AccuTrak GUI 2 23 2009 Approved Final Schematics 4 1 2009 3 1 2009 3 23 2009 Demo functionality of Final position algorithm Figure 8 2 Milestones Timeline 4 17 2009 Demo Final Prototype 4 22 2009 Submission of Final Documentation PWLS Innovations pwisinnovations com PWL S IX GANTT CHART A Gantt chart illustrates a project schedule from start to finish with dates of the terminal and summary elements of a project Terminal elements and summary elements comprise the work breakdown structure of the project You can see in Figure 9 1 below the timeline for each of the phases of the development process TaskName Duration Start Finish Oct 08 Nov 08 Dec 08 Jan 09 Feb 09 Mar 09 Apr 09 28 5 12 19 26 2 9 16 23 30 7 14 21 28 4 11 18 25 1 8 15 22 1 8 15 22 29 5 12 19 2 1 Eg Research 90 days Tue9 3008 Mon2 2 09 m2 3 Design and Development 100 days Mon 11 3 08 Fri 3 20 09 U 3 IER Procurement 51 days Fri 12 19 08 Fri 2 27 09 SE 4 E3 Implementatio2. P W L S Innovations Chris Landry Project Manager Kosta Papasideris Systems Engineer Brad Sutter Hardware Engineer Archie Wilson Software Engineer Sponsor Afshin Shaybani Avicen Corporation Advisor Dr Ben Zoghi Capstone Design Document Updated January 21 2008 Editor VII VIII PROBLEM STATEMENT esr Nea OPES Le 3 FUNCTIONAL REQUIREMENTS 2 teer tn etu taion koennen In po eux ed e AR EE epa eaa dg 5 CONCEPTUAL DIAGRAMIS ha ient aa atero ne eae REDE ER eR ae reu 7 PERFORMANCE REQUIREMENTS 5 ueneno inre aoa n aen enano aa va 10 TECHNOLOGY SURVEY ASSESSMENT virtiniai annainn 12 FUNCTIONAL BLOCK DIAGRAM 18 DELIVERABLES etre iit ter eite te ree teer ree E orent dee Lee a ea ke as uet ea e E uas Eae edP eaae neus 20 5 PEERS 23 enwigle nog 26 PWLS Innovations pwisinnovations com ExacTrak INDOOR PERSONNEL TRACKING PROBLEM STATEMENT In today s world the reliance on tracking cars people and items is becoming more and more noticeable With the emergence of such technologies as radio frequency identification RFID finding new and more productive ways of tracking things is now an area of technology that is becoming a new and innovative area to invest in The most k
3. The final PCB layout provides a full layout of all electronic components and trace connections on a dedicated board that utilizes all components in final hardware schematics Test Report The test report will provide a list of all tests performed in the implementation phase as well as provide results to each of these tests Final AccuTrak GUI The final AccuTrak GUI provides a finalized code that will display to the user with good estimation the position and orientation of each field unit in action as well as integrated with the designed database Field Unit Prototype The Field Unit prototype is the finalized unit to be used on a person to track their position and status It will be updated with all positioning software as well as equipped with all necessary hardware to perform its primary function in the field Final Code Listing The final code listing is a compilation of all software code implemented in the ExacTrak system with appropriate comments Hardware User s Manual The hardware user s manual is a finalized compilation of all hardware documentation that includes a system overview of ExacTrak installation information and detailed explanations of each component and their uses Software User s Manual The software user s AccuTrak GUI guide is a finalized compilation of all software documentation that includes a system overview of ExacTrak installation information and debugging troubleshooting information for all pie
4. a low power consuming device 1 8 to 3 6 V supply voltage using 165 Lu A MHz at 8 MHz which is critical in the lasting power of the Field Unit The MSP430 will be the brain of the entire unit and will act as the hub of all incoming and outgoing information It will take in signals from all three sensors process and filter those signals and finally output to the wireless module It will also be responsible for noticing when the panic button is pressed to indicate immediate panic status to the CS2 Above the accelerometer is the OWSPA311G 802 11 module from ConnectBlue This module will be responsible for wireless connectivity and security between the Field Unit and the CS2 The MSP430 will interface with the module through a simple RS 232 interface over the UART ports operating at a baud rate of approximately 57 600 bit s The module will include both 802 11 b and g protocols as well as utilize data transfer rates necessary to provide real time signals as quickly as possible On the right side of the Field Unit there is a momentary Panic Button that will be used in times of an immediate emergency to display a panicked state to the CS2 Opposite the field unit is the CS2 The CS2 will include a SQL database that will store the data that is being received from the Field Units Along with the database software there will be the AccuTrak GUI that will display the position of the Field Units in comparison to a starting reference point AccuTrak wi
5. team will have gained permission to proceed with initial hardware development and implementation Approved Initial PCB Layout Through approval of the initial PCB layout the team will have outlined the majority of all hardware used on Field Unit and will enter debugging and testing stage Demonstrate Complete Database Software Through demonstration of the completed database software the team will have gained a better understanding of what will be storing the data coming from the Field Units on the CS2 The team will have also completed an integral part of the finalized ExacTrak system Demonstrate 802 11 wireless communications between FU and CS2 Through demonstration of wireless communication between the prototype field unit and central command center the team will have gained a better understanding of how the field unit and central command center communicate with the IEEE 802 11 wireless standard The team will have also completed an integral part of the finalized ExacTrak system PWLS Innovations pwlsinnovations com Approved Final Schematics Through approval of the final schematics the team will have gained permission to proceed with final hardware development and implementation Approved Final PCB Layout Through approval of the final PCB layout the team will have gained permission to proceed with final implementation The team will have also completed an integral part of the finalized ExacTrak system Demonstra
6. the LIS3LV02DQ because of its various features low power consumption digital output through I2C SPI and high shock survivability that are important for the Field Unit Gyroscope Option 1 Dual Axis Gyro IDG300 e Pros Low voltage operation 3 3V Small footprint High temperature amp humidity resistance High shock tolerance up to 5000 g Inexpensive 54 00 dm PWLS Innovations pwlsinnovations com e Cons 1 Just dual axis ability Option 2 SEN 00741 e Pros 1 IMU with both onboard accelerometer and gyro 2 5 DoF sense capability 3 Dimensions 0 75 x0 9 20x23mm e Cons 1 Expensive 109 95 Option 3 Triaxial Gyroscope 01508050 e Pros 1 IMU with both onboard accelerometer and gyro 2 Magnetic field about three orthogonal axes e Cons 1 High voltage consumption 4 75V 5 25V 2 Too heavy 5 grams The chosen gyroscope will be the IDG300 because of its features low power consumption small footprint high resistance to environmental damages that are important for the Field Unit It is also inexpensive when compared to the other alternatives Magnetometer Option 1 HMC6352 e Pros 1 2 7 to 5 2V supply range 2 interface 3 Inexpensive 59 95 e Cons 1 Just dual axis X and Y Option 2 HMC6343 e Pros 1 2 7 to 3 6V supply range 2 interface 3 Three axis support 4 Tilt compensation with embedded accelerometers e Cons 5 Expensive 149 95 PW
7. LS Innovations pwlsinnovations com The chosen magnetometer will be the HMC6343 because of its ability to read heading information in all three axes as well as its 2 interface and embedded tilt compensation algorithms providing for the best possible signal to work with 802 11 Wireless Module Option 1 MatchPort b g Pro e Pros 1 Supports 802 11 b g 2 TCP UDP DHCP HTTP and FTP protocols 3 SSL Secure data tunneling e Cons No LAN gt 802 11 bridging No Software development kit Expensive 119 00 Large form factor el Option 2 MTS800SWM SP e Pros 1 Direct serial to Wi F1 interface 2 64 128 bit WEP security encryption 3 ARP DHCP client DNS FTP client ICMP IP POP3 SMTP TCP and UDP protocols e Cons 1 Supports just 802 116 2 Expensive 85 85 Option 3 OWSPA311G e Pros 1 Supports 802 11 b and g protocols 2 WEP and WPA security protocols 3 Operates in Ad hoc and Infrastructure mode using TCP and UDP protocols 4 Internal antenna 5 RS 232 interface with up to 2 7 Mbps data rate 6 Small form factor 23 x 36 mm Con 1 Expensive 110 00 per unit The chosen 802 11 wireless module will be the OWSPA311G because of its ability to operate 802 11 b and g protocols its small form factor as well as its RS 232 interface PWLS Innovations pwlsinnovations com Battery Option 1 NiCad Nickel Cadmium e Pros 1 Reusable 2 Works better in high power consumption
8. This sensor also outputs digital words of data with respect to changes in acceleration and it does so over an bus line This is important because it is the main sensor and the digital communication will provide the best possible signal to work with than if it was going into a simple A D The second sensor an IDG300 Gyroscope from InvenSense is a dual axis angular rate sensor that operates around both x and y planes which is PWLS Innovations pwisinnovations com important when sensing changes in rotation and orientation This sensor outputs analog voltage readings from OV to 3 3V with a sensitivity of 2mV sec providing for a solid analog signal The third sensor an HMC6343 magnetometer from Honeywell will be used for computing heading and direction in all three axes which is useful in our particular application This sensor outputs over I C as well as providing for a clean digital signal In the center of the unit is the microcontroller that will control the communication of data to and from the sensors the panic button and the wireless module The microcontroller we ve chosen to use is from the MSP430 series of microcontrollers from Texas Instruments The MSP430 was chosen because it uses a 16 bit RISC architecture and contains all the necessary GPIO ports for communication to the sensors as well as allowing for further expandability such as GPS or additional sensing like temperature or vibration to be integrated with it It is
9. applications e Cons 1 Less powerful 2 Toxic Option 2 Alkaline e Pros 1 Inexpensive 2 Give plenty of power 3 Easy to dispose of e Cons 1 Few recharge cycles 2 Small capacity 3 Poor performance on high drain device Option3 Lithium ion e Pros 1 More powerful 2 Works better in high drain battery 3 Small form factor and very light 4 Rechargeable e Cons 1 Short lasting life 2 Hard to replace The chosen battery will be of Lithium ion technology because of its rechargeablity its small form factor design and its power capacity it provides to power the Field Unit Microcontrollers Option 1 dsPIC30F4012 e Pros 1 16 bit 2 On board PWM SPI UART and ADC modules 3 Low supply voltage 0 3V 5 5V 4 Great documentation support e Cons 1 More expensive 8 85 PWLS Innovations pwlsinnovations com Option 2 MSP430 e Pros 2 16 bit 3 External Clock ADC PWM Timer C UART modules 4 Very low power consumption 165 uA MHz operating at 8 MHz 5 Less expensive 4 48 e Cons 1 No on board DSP Option 3 PIC 16LF88 e Pros 8 bit 2 External Clock 10 bit ADC PWM Timer and SPI modules 3 Power Saver modes e Cons 1 More expensive 5 58 The chosen microcontroller will be Texas Instruments MSP430 series for its various input and output ports necessary to control the flow of the Field Unit and its very low power consumption Database Option 1 Microsoft SQL e P
10. arer s position Second a gyroscope registers orientation data with respect to a change in angular positioning of the x and y planes Finally a magnetometer will register heading and direction information in each of the x y and z planes through use of detecting changes in the magnetic fields around the sensor 802 11 Module Providing connection to the CS2 an 802 11 wireless module will contain the necessary technical specifications to transmit signals from the Field Unit to the CS2 The module will be able to communicate using either 802 11 b or g protocols to allow for ease of use in multiple network configurations Panic Button A push button or switch that the Field Unit wearer can easily and quickly activate in case of an immediate danger or emergency will be implemented on the device This will reduce the time required to signal a red light or distress signal on the CS2 s screen Processing Power Upon reception of raw data from the INS sensors position and orientation will be calculated using a positioning algorithm The core of the processing power will be a microcontroller or MCU which will be used to control the flow of communication between the sensors panic button and the 802 11 wireless module In addition to the positioning algorithm a filtering algorithm will be implemented to filter out the noise created by the INS sensors The most accepted and efficient way of doing this is through use of Kalman Filtering B
11. attery For each Field Unit to accommodate the necessary free roaming ability crucial to indoor tracking a single on board power source must be implemented An internal battery will power each of the components of the Field Unit and also have the ability to be rechargeable Resistant Enclosure Housing the components will be an enclosure that is water shock and temperature resistant The size of the enclosure will be equivalent to the size of a cell phone As is required of the emergency personnel each Field Unit will be required to withstand the harsh environment for which they will be used PWLS Innovations pwlsinnovations com Central Status Server CS2 SQL Database A major component of the CS2 will be a SQL database that will record the input location and orientation for each Field Unit For additional tracking support the data recorded can be used in the case of a Field Unit going offline The Field Unit s location can then be estimated based on the last known recorded location Graphical User Interface AccuTrak To display real time location and orientation of each Field Unit a graphical user interface referred to as AccuTrak will be implemented It will display through use of multi colored dots individual Field Units The colors of each Field Unit s status will provide information regarding its position and status in a stop light configuration displaying upright or fallen first responder Wireless Comm
12. ce with analog and digital signals used by sensors panic button and 802 11 module 3 Easily accessible and usable programming interface Battery e Rechargeable e Low self discharge Resistant Enclosure e Durable material e Able to withstand harsh environment PWLS Innovations pwisinnovations com PWL S Database e Receive data from the Field Unit e Store data in spreadsheet form AccuTrak GUI e Receive data from the Field Unit e Display in cursor form the distance from a reference e Display via indicator light green yellow and red the status of Field Unit Wireless Communication e 802 11 b g wireless protocol e WEP WPA security protocol e PCI or MiniPCI card for laptop CS2 PWLS Innovations pwisinnovations com V TECHNOLOGY SURVEY ASSESSMENT Accelerometer Option 1 KXP74 SERIES e Pros 1 Digital SPI output 2 High shock survivability 3 Low power consumption e Cons 1 High voltage consumption 5 25V Option 2 LISSLV02DQ e Pros 1 2 16V 3 6V single supply operation 2 SPI Digital output interfaces 3 High shock survivability e Cons 1 Expensive 20 80 Option 3 MMA7260Q e Pros 1 Low current consumption Normal Operation 500 uA Sleep Mode 3 2 Low voltage operation 2 2 V 3 6 V 3 Fast turn on time 4 Integrated Signal Conditioning with Low Pass Filter 5 Inexpensive 2 16 Cons 1 Little documentation support The chosen accelerometer will be
13. ces of software Cost Analysis Documentation The cost analysis documentation provides a financial breakdown of all parts labor laboratory and miscellaneous fees associated with the creation of the ExacTrak system Final Demonstration The final demonstration is the final presentation of the ExacTrak system as well as a detailed demonstration of all its capabilities in the final stage of development and implementation Final Project Report The final project report is a compilation of all documentation associated with the ExacTrak system including both user s manuals code listing schematics and both the finalized test plan and report PWLS Innovations pwlsinnovations com Deliverable Due Date Functional Block Diagram Friday 10 24 08 Initial AccuTrak GUI Friday 12 05 08 Initial Field Unit Prototype Monday 12 08 08 Preliminary Demonstration Wednesday 12 10 08 Initial Hardware Schematics Monday 01 26 09 Software Flowcharts Pseudo Code Tuesday 01 27 09 Initial PCB Layout Monday 02 02 09 Test Plan Friday 02 06 09 Completed Database Software Friday 02 13 09 Bill of Materials Wednesday 02 18 09 Final Hardware Schematics Friday 02 20 09 Final PCB Layout Friday 02 27 09 Test Report Friday 03 27 09 Final AccuTrak GUI Monday 03 30 09 Field Unit Prototype Wednesday 04 01 09 Final Code Listing Friday 04 03 09 Hardware User s Manua
14. ght data The magnetometer will measure changes in the magnetic field around the sensor to produce heading and direction PWLS Innovations pwisinnovations com data The data gathered from the INS sensors will be filtered to eliminate noise caused by vibration and integration and processed through use of the MCU Upon reception of incoming position orientation data from the two INS sensors over a secured wireless network knowledge of each Field Unit s location is mapped on a laptop computer outside the building To provide visual interpretation a Conceptual Diagram is shown in Figure 3 2 Conceptual Diagram Referencing the Conceptual Diagram a pictorial interpretation of the ExacTrak system in a real life setting Figure 3 2 demonstrates both the Field Unit and CS2 Beginning at the top left corner and moving to the right ExacTrak s INS sensors provide for accurate position and orientation data that can be delivered across the Wi Fi network Real time Position Orientation Status of Field Units AccuTrak Figure 3 2 Conceptual Overview Diagram CS2 to Field Unit communication becomes important when taking the following example into consideration Say Field Unit One is incapacitated or in a panic state This information will be displayed to a user at the CS2 console top right corner of the diagram and interpreted as a flashing light Looking at the bottom right corner of the diagram we see that this
15. ing on a project translating to added confidence in the progress of a product Below we list and define certain important milestones Demonstrate interpretation of sensor data Through demonstration of the sensor accelerometer gyroscope and magnetometer data the team will have a better understanding in what data is being created through testing each of the sensors This provides the team with valuable information with respect to how the main components of the ExacTrak system work Demonstrate functionality of Initial Positioning Algorithm Through demonstration of the functionality of the initial positioning algorithm the team will have a better understanding of what kind of functions and mathematical operations go into determining three dimensional position through use of the accelerometer Demonstrate Initial AccuTrak GUI Software Code Through demonstration of the initial AccuTrak GUI software code the team will have shown that status is displayed of each field unit as well as distance traveled from the set reference point inside a GUI that 1s in its initial development stages Demonstrate functional bread boarded prototype Through demonstration of the functional bread boarded prototype the team will have met the basic requirements of the initial design and implementation stages and gain permission to move to the final design and development stages Approved Initial Schematics Through approval of the initial schematics the
16. l Friday 04 10 09 Software User s Manual Friday 04 10 09 Cost Analysis Documentation Wednesday 04 15 09 Final Demonstration Friday 04 17 09 Final Project Report Wednesday 04 22 09 Figure 7 1 Deliverables Chart Figure 7 2 graphically displays the deliverables listed in figure 7 1 along a time oriented chart Viewing the deliverables in such a way provides knowledge of task planning and time allocation 10 24 2008 Functional Block Diagram Initial Field Unit Prototype T T 0 4 2008 11 1 2008 12 1 2008 12 8 2008 9 30 2008 12 31 2008 12 5 2008 12 10 2008 Initial Accutrak GUI Preliminary Demonstration 1 27 2009 2 13 2009 2 20 2009 Software Flowcharts Pseudo Code Completed Database Software Final Hardware Schematics Loo b lt 2 1 20 9 p f 1 1 2009 212812009 1 26 2009 2 2 2009 2 6 2009 2 18 2009 2 27 2009 Initial Hardware Schematics Initial PCB Layout Test Plan Bill of Materials Final PCB Layout 3 27 2009 4 3 2009 4 15 2009 4 17 2009 Test Report Final Code Listing Cost Analysis Documen tation Final Demonstration 4nn _ EE SI 3 1 2009 3 30 2009 4 1 2009 4 10 2009 4 22 2009 Final Accutrak GUI Field Unit Prototype Hardware User s Manual Final Project Software User s Manual Figure 7 2 Deliverables Timeline PWLS Innovations pwlsinnovations com Vill MILESTONES Milestones can be defined as events which add value to the development team work
17. light display is much like a traffic stop light where green represents all clear yellow corresponds to a unit which has ceased PWLS Innovations pwisinnovations com ees to move for 15 seconds and a red blinking light represents a fallen unit who has remained motionless for 30 seconds or more and is within a foot of distance from the ground A red status initiates an automatic PANIC status so Commanders at the CS2 console can communicate to FUs in the vicinity of FU say FU and FU3 Finally the CS2 will host a SQL database bottom right of the diagram Whatever positioning data this database receives over the wireless link is stored and manipulated using the ExacTrak s accompanying AccuTrak GUI software package visually representing distance traveled and status of each Field Unit PWLS Innovations pwisinnovations com IV PERFORMANCE REQUIREMENTS Field Unit Tag Sensors e MEMS Accelerometer Gyroscope and Magnetometer Low power consumption Low Signal to Noise ratio SNR High sensitivity High temperature amp humidity resistance High precision digital and analog output Superior shock amp vibration tolerance Low cost Small footprint P Drm DN de 802 11 Module e 802 11 b g wireless protocol e RS 232 interface e WEP WPA security protocol Panic Button e Low profile e Debouncing Mechanism Brain Power e Microcontroller 1 Low power 2 Multiple GPIO s used to interfa
18. ll also display an orientation and status indicator in the form of a stop light configuration for each Field Unit where green indicates movement and upright orientation yellow indicates momentary stop of movement or prone orientation and red indicates panic status which is lack of movement for a specific time and indication of prone orientation PWLS Innovations pwlsinnovations com Vil DELIVERABLES Deliverables can be defined as things which add value to a customer translating to added confidence in the progress of a product Below we list and define certain important deliverables Functional Block Diagram The functional block diagram provides a visual description of the input and output variables of the ExacTrak system Initial AccuTrak GUI The initial AccuTrak GUI provides a preliminary code that will display to the user with rough estimation the position and orientation of each field unit in action Initial Field Unit Prototype The initial Field Unit prototype is a bread boarded unit with many of the major components utilized on a dedicated board that demonstrates basic functionality and proof of concept Preliminary Demonstration The preliminary demonstration is an initial presentation of the ExacTrak system as well as a detailed demonstration of its uses in the first stages of development and implementation Initial Hardware Schematics The initial hardware schematics provide a preliminary design f
19. n 89 days Fri11 7 08 Wed 3 11 09 c A M 5 Testing 116 days Mon 11 10 08 4 20 09 _ mnn 6 E3 Documentation 115 days Wed 11 12 08 Tue 4 21 09 Figure 9 1 Phase Gantt chart PWLS Innovations pwisinnovations com
20. n LabVIEW mainly because of the experience the ExacTrak development team has with it as well as its ability to interface with multiple instruments for debugging and performance purposes PWLS Innovations pwlsinnovations com VI FUNCTIONAL BLOCK DIAGRAM The functional design of the ExacTrak system is displayed below in Figure 6 1 The block diagram consists of the two components making up ExacTrak 1 the wearable Field Unit and 2 the Central Status Server CS2 Shown in the larger blue window are the components inside the enclosure that is the Field Unit The unit is then shown communicating to the CS2 via a Wi Fi link USB Port Docking Port Battery Panic Lithium lon Button 3 3 Voltage Regulator CS2 GUI SQL Database AccuTrak Software LabVIEW Power amp Regulation Field Unit Signal Processing Central Status Server Communication Figure 6 1 Functional Block Diagram Inside the Field Unit in the lower left corner are the three sensor modules that will be collecting data for position and orientation determination All three sensors are microelectromechanical systems MEMS based The first of the sensors is LIS3LV02DQ Accelerometer from STMicroelectronics This particular sensor can detect on three separate axes x y and z which is important for this particular application as it will be tracking a person s movement with respect to the three dimensional plane
21. nown and used technology is through the use of a Global Positioning System or GPS GPS s can now be purchased as handheld devices that can achieve a tracking accuracy within 10 meters of the person or object 95 of the time The disadvantages however of GPS for wearable tracking in a city environment are loss of signal due to obstruction by a building or piece of terrain attenuation of signal by foliage and multipath effects and poor accuracy in relation to the scale of locations e g seeking entrances to buildings Cliff Randell Personal Position Measurement using Dead Reckoning Because of this GPS is not practical on its own in helping to track people or objects in a city environment filled with buildings and terrain This is especially true with regards to tracking people specifically emergency personnel that respond in times of crisis It can however be integrated with an inertial navigation system or INS that provides position information when GPS signal is lost INS uses microelectromechanical system or MEMS sensors such as accelerometers gyroscopes and magnetometers to track changes in inertial movement as well as provide orientation and heading information The integration of GPS and INS is called dead reckoning a process of estimating one s current position based on an initial reference point and advancing that position upon known speed time and heading The biggest problem however with utilizing dead reckoning is
22. or how all hardware components will be used in the ExacTrak system that include which components are used and how the connections between them are made Software Flowcharts Pseudo Code The software flowcharts and pseudo code provide both a visual and text based idea of the logical flow of the software code that will be embedded in the ExacTrak system Initial PCB Layout The initial PCB layout will utilize all components found in initial hardware schematics and will be used primarily for debugging purposes Test Plan The test plan will provide a list of all necessary hardware and software tests that will be performed over the course of the implementation phase Completed Database Software The completed database software deliverable will be defined as a database that is well made and easily understood as well as able to collect raw data and store it Bill of Materials The bill of materials is a list of all components that will be needed to build the ExacTrak system as well as contain pricing information for both 1 and 100 units the part and manufacturer numbers and the amount of each component needed PWLS Innovations pwlsinnovations com Final Hardware Schematics The final hardware schematics provide a finalized design for how all hardware components will be used in the ExacTrak system that include revisions to initial designs as well as a detailed explanation to why these revisions were made Final PCB Layout
23. ort Demonstrate interpretation of sensor data Friday 11 21 08 Demonstrate functionality of Initial Positioning Algorithm Friday 11 28 08 Demonstrate Initial Accu Trak GUI Software Code Monday 12 8 08 Demonstrate functional bread boarded prototype Wednesday 12 10 08 Approved Initial Schematics Monday 01 26 09 Approved Initial PCB Layout Wednesday 02 04 09 Demonstrate Complete Database Software Monday 02 16 09 Demonstrate 802 11 wireless communications between FU and CS2 Monday 02 18 09 Approved Final Schematics Monday 02 23 09 Approved Final PCB Layout Monday 03 02 09 Demonstrate functionality of Finalized Positioning Algorithm Monday 03 23 09 Demonstrate Final AccuTrak GUI Software Code Wednesday 04 01 09 Demonstrate Final Prototype Tuesday 04 17 09 Submission of Final Documentation Wednesday 04 22 09 Figure 8 1 Milestones Chart PWLS Innovations pwlsinnovations com PWL S Figure 8 2 graphically displays the milestones listed in figure 8 1 along a time oriented chart Viewing the milestones in such a way provides knowledge of task planning and time allocation 11 21 2008 Demo interpretation of sensor data 12 8 2008 Demo Initial AccuTrak GUI 9 30 2008 11 28 2008 Demo functionality of Initial position algorithm 2 4 2009 Approved Initial PCB Layout T 22598 11 1 2008 2 1 2008 a 12 31 2 18 2009
24. ow cost in comparison to the DRM 4000 and be used on a mass scale P W L S Innovations offers its solution to this interesting problem PWLS Innovations pwlsinnovations com P W L S Innovations new product the ExacTrak is a system that integrates dead reckoning technology with Wi Fi communication on a small form factor Field Unit that is worn by emergency responders and military personnel who go inside buildings during emergencies This unit will process acceleration and heading data into position data that will be communicated wirelessly to a central status server CS2 hosted on a laptop or workstation based outside the building Loaded on the server will be a graphical user interface GUI that will display back to the user real time position and status information about where their personnel are in the building and whether or not they are still upright and moving or have fallen down PWLS Innovations pwisinnovations com Il FUNCTIONAL REQUIREMENTS Upon preliminary design work of the ExacTrak s wearable Field Unit and the CS2 certain required functions within each of the two main components in the system have become apparent With the aid and direction of ExacTrak s sponsor and technical advisor the following list has been compiled Field Unit Sensors The wearable Field Unit will house three individual INS sensors The first an accelerometer will produce x y and z data to be used in the computation of the we
25. ros 1 Commonly used database 2 Easy to obtain e Cons 1 Mainly runs on Microsoft Windows limited to other platforms Option 2 Microsoft Access e Pros 1 Commonly used database 2 Easy to customize 3 Easy to obtain e Cons 1 Limited to small databases 2 Extremely slow when used for a big database Option 3 MySQL e Pros 1 Commonly used database 2 Runs on other platforms e Cons PWLS Innovations pwlsinnovations com 1 Not widely used with Microsoft Windows The chosen database software will be SQL because of its user friendly design and its ability to house the data coming from each of the Field Units GUI based software Option 1 Microsoft Visual Basic e Pros 1 Commonly used graphic software 2 Easy to obtain a copy of this software 3 Easy access to communication interfaces e Cons 1 Mainly runs on Microsoft Windows limited to other platforms Option 2 Asp net e Pros 1 Commonly used web design and graphic software 2 Easy to obtain a copy of this software free e Cons 1 Mainly runs on Microsoft Windows limited to other platforms Option 3 National Instrument s LabVIEW e Pros 1 Easily accessible and usable graphic software 2 Can easily interface with multiple types of instruments 3 Integrated with SQL database software 4 Easy to update and change throughout design process e Cons 1 Must have software installed to use The chosen GUI based software package will be developed i
26. te functionality of Finalized Positioning Algorithm Through demonstration of the functionality of the finalized positioning algorithm the team will have a full understanding of how the algorithm is implemented in software and that it can calculate with good estimation the position and orientation of the person wearing the field unit It also represents completion of the most integral part of the ExacTrak system Demonstrate Final AccuTrak GUI Software Code Through demonstration of the final AccuTrak GUI software code the team will have shown that movement is shown in real time as well as status of each field unit on the GUI and 15 fully integrated with the SQL database They will have also completed an integral part of the ExacTrak system Demonstrate Final Prototype Through demonstration of the final prototype the team will have shown that each field unit in action is working correctly is communicating the necessary INS data wirelessly to the central command center and the central command center is interpreting and displaying that data in real time on a user friendly graphic interface Submission of Final Documentation Through submission of the final documentation the team will have successfully completed the design development and implementation of the ExacTrak system and have provided the necessary documents to recreate and install it These documents include user s manuals code listing cost analysis and the final project rep
27. that it is a very expensive and problematic process to implement One of the few devices on the market today is the DRMTM 4000 by Honeywell DRM is an acronym for dead reckoning module and as it states in the datasheet it is a miniature electronic device for personnel on foot that provides the user s position relative to an initialization point While this device integrates GPS with INS very well it is a 2 000 device per unit which means it is not practical for use on a mass scale because of the cost What also is problematic is the constant noise that builds up through continuous use All MEMS based devices suffer from what is called bias drift error which is the error that builds up from sensors that have dynamic outputs such as accelerometers and gyroscopes that cause the data to be biased The only known way to correct these errors is through use of a process called Kalman filtering which is a way to estimate the state of a dynamic system from a series of noisy measurements This type of filter is known very well in the area of tracking and is also known to be very tricky to implement due to the immense amount of algorithm computation that stems from advanced control theory While hard to implement it is necessary in any application that has to do with tracking things accurately especially in a noisy environment So can a device exist that utilizes at least some dead reckoning technology integrated with Kalman filtering that can be l
28. unication To receive information from the Field Units the CS2 must have wireless connectivity Each Field Unit will communicate via wireless access points to display pertinent location and status information PWLS Innovations pwlsinnovations com EE PW L S INNOVATIONS 1 CONCEPTUAL DIAGRAMS In order to understand the intentions and purpose of ExacTrak a series of diagrams are submitted starting at the system overview and moving closer and more detailed to a functional diagram specifying component responsibilities in later sections System Overview Diagram Referencing the System Block Diagram in Figure 3 1 a system wide overview of what ExacTrak is composed of is shown As tracking personnel inside buildings is the purpose of the system two main components begin to emerge 1 Field Unit and 2 Central Status Server CS2 with AccuTrak GUI based software and SQL database These components will communicate to each other over a Wi Fi network established outside the building Database AccuTrak GUI Position amp Orientation Figure 3 1 System Overview Diagram Specific to the Field Unit are three sensors An accelerometer will measure acceleration and upon double integration produces a rate of change in position providing distance traveled This process will provide x y z coordinate positioning data A gyroscope will measure changes in rotational orientation providing pitch up down and yaw left ri
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