Random questions from Kiran

• Redundancy/Fault Tolerance

  • Do we want to have redundant sensing? No

  • https://en.wikipedia.org/wiki/Triple_modular_redundancy

  • https://en.wikipedia.org/wiki/Lockstep_(computing)

• Research

• Where are all the sensors mounted?

Proposed Sensor Stack 2022

Current Spike 2020-2021 Sensor Stack

Camera:

• GoPro

GPS:

• NEO-M8N GNSS GPS Module: https://www.u-blox.com/sites/default/files/NEO-M8-FW3_DataSheet_UBX-15031086.pdf

• Possible issues that come with GPS

  • Large error bound

  • Slow update rates (1Hz)

  • Signal interference (weather, etc.)

Ultrasonic Sensor:

• MB1013-00 Ultrasonic Sensor Module: https://www.maxbotix.com/documents/HRLV-MaxSonar-EZ_Datasheet.pdf

• Where is the sensor facing (down, or whatever)

IMU (Inertial Measurement Unit):

• BMX160 IMU: https://www.mouser.com/pdfdocs/BST-BMX160-DS000-11.pdf

• Provides functionalities such as accelerometer, gyroscope

Barometric Pressure Sensor:

• MPL3115A2: https://www.nxp.com/docs/en/data-sheet/MPL3115A2.pdf

• Used to calculate altitude based on pressure.

• Using a barometric pressure sensor vs. GPS :

  • Doesn’t rely on orientation

  • Doesn’t get fooled if you are flying over something

  • HARDER to use due to aerodynamics principles (Bernoulli's principle)

Airspeed Sensor:

• UNKNOWN MPN