VBAT Tracking Station System Design

System Design Process
justin_west@me.com
713-302-6548
Team Email:
ptrackuav@gmail.com
Due Date: 12/7/2016
Justin West Daniel Medcraft John Gutkowski
808-747-1811 832-993-4565
Author: ___________________ X________________ __/__/____
Reviewer: _________________ X________________ __/__/____
Delivery: 7 DEC 2016, ________
medcraft10@tamu.edu gutkowskij@tamu.edu
12 7 2016
12 3 2016
4:00 PM
Precision Tracking
Janine Suvak

System Design Process 2 | P a g e
Table of Contents
1. Executive Summary .................................................................................................... 5
2. Problem Statement...................................................................................................... 6
3. Concept of Operation .................................................................................................. 7
4. Functional Requirements ............................................................................................ 8
4.1 Power..................................................................................................................... 8
4.2 Communication...................................................................................................... 8
4.3 Hardware ............................................................................................................... 8
4.4 Software................................................................................................................. 8
5. Conceptual Block Diagram.......................................................................................... 9
6. Performance Specifications....................................................................................... 10
6.1 Power................................................................................................................... 10
6.2 Hardware ............................................................................................................. 10
7. Technology Survey.................................................................................................... 11
7.1 Microcontroller ..................................................................................................... 11
7.2 GPS Transceiver.................................................................................................. 11
7.3 Magnetometer Sensor.......................................................................................... 12
8. Functional Block Diagram ......................................................................................... 13
8.1 Overall Functional Block Diagram........................................................................ 13
8.2 Microcontroller Pins ............................................................................................. 14
8.3 Voltage Regulation............................................................................................... 15
8.4 Stepper Motor and Driver Interface...................................................................... 15
8.5 Venus GPS Sensor Block Diagram...................................................................... 16
8.6 HMC5883 Magnetometer Functional Block Diagram ........................................... 17
8.7 Ethernet ............................................................................................................... 18
9. Sensor Characterization............................................................................................ 19
9.1 Venus GPS Sensor.............................................................................................. 19
9.2 HMC5883 Magnetometer Sensor ........................................................................ 19
9.3 Big Easy Motor Driver .......................................................................................... 20
9.4 Stepper Motor ...................................................................................................... 21
10. Communications Interfaces/Protocols..................................................................... 22

10.1 STANAG UDP.................................................................................................... 22
10.2 Communication- UART Protocol........................................................................ 23
10.3 Communication- NMEA SKYTRAQ Binary Messaging Format.......................... 23
10.4 Communication- I2C Protocol ............................................................................ 24
11. Deliverables ............................................................................................................ 26
11.1 Hardware ........................................................................................................... 27
11.2 Software............................................................................................................. 28
11.3 Documentation................................................................................................... 29
12. Milestones............................................................................................................... 32
12.1 Hardware ........................................................................................................... 33
12.2 Software............................................................................................................. 33
12.3 Documentation................................................................................................... 35
13. Gantt Chart.............................................................................................................. 37
14. Costing.................................................................................................................... 40
14.1 Costing Summary .............................................................................................. 40
14.2 Direct Costs ....................................................................................................... 40
17.3 Total Direct Costs .............................................................................................. 41
14.4 Indirect Costs..................................................................................................... 41
14.5 Profit................................................................................................................... 42
14.6 Total Project Costs............................................................................................. 42
14.7 Cost Timeline..................................................................................................... 43
14.8 Time Sequence of Money .................................................................................. 43
15. Test Matrix .............................................................................................................. 44
15.1 Power................................................................................................................. 44
15.2 Voltage Regulator .............................................................................................. 44
15.3 Communication to GPS...................................................................................... 45
15.4 Communication to Magnetometer ...................................................................... 45
15.5 Receive UDP Packets........................................................................................ 45
15.6 Tracking Algorithm ............................................................................................. 45
15.7 Stepper Motor .................................................................................................... 45
15.8 Enclosure........................................................................................................... 46
16. Technical Merit........................................................................................................ 47

16.1 Technical Challenge........................................................................................... 47
16.2 System Integration ............................................................................................. 47
16.3 System Testing .................................................................................................. 48
16.4 Theoretical Analysis and Simulation .................................................................. 48
16.5 Hardware Design ............................................................................................... 48
16.6 Software Design................................................................................................. 48
16.7 Enclosure Design............................................................................................... 48
16.8 Further Documentation ...................................................................................... 48
17. Appendix ................................................................................................................. 49
Table of Figures......................................................................................................... 49
Tables of Tables ........................................................................................................ 51
Table of Abbreviations ............................................................................................... 52
20. Notes....................................................................................................................... 53

1. Executive Summary
Martin UAV has tasked Precision Tracking to create an autonomous tracking
station for their VBAT Unmanned Aerial System (UAS). Precision Tracking’s VBAT
Tracking Station will orientate an existing antenna in the direction of the VBAT maintaining
a strong and reliable connection throughout its flight. This System Design Process
document will detail the planning and project management processes as well as the
preliminary design of the VBAT Tracking Station that Precision Tracking will design,
develop, and deliver.
The hardware will consist of the components listed below:
 Printed Circuit Board with Intelligence Capabilities
 Global Positioning System (GPS) Module
 Magnetometer Module
 Stepper Motor Driver Module
 Stepper Motor / Rotary Mechanics
The software will consist of the following parts:
 NATO Standardization Agreement 4586 (STANAG) User Datagram
Protocol (UDP) Communications
 Tracking Algorithm
 Magnetometer Inter Integrated Circuit (I2C) Communications
 GPS Universal Asynchronous Receive and Transmit (UART)
Communications
 Stepper Motor Configuration and Control

Figure 2.1- Existing Tracking System
2. Problem Statement
The Martin UAV VBAT is a gas powered, Vertical Takeoff / Landing (VTOL) UAS.
The VBAT carries the necessary avionics onboard to interpret the sensors it carries as
well as the commands given to it by the Pilot in Command (PIC) from the Ground
Control Station(GCS). The VBAT transmits data back to the PIC that is interpreted by
the GCS in order for the PIC to understand how it responded to those commands as
well as to monitor its current condition during a mission or flight. This data that is being
transferred between the PIC and the VBAT is known as Command and Control Signals
(C2). C2 is transferred over the 2.4 GHz frequency band between the omnidirectional
antenna on the aircraft and the antenna at the GCS. In order to extend the range of the
aircraft, Martin UAV implemented a directional antenna on the GCS side of the
connection that will project the C2 signals to the VBAT. The VBAT’s power plant (gas
engine) along with its overall design gives it a range capability that extends out well
beyond the range of the omnidirectional antennas. Figure 2.1 shows the setup
explained above of the current UAV tracking station used by Martin UAV.
“The directional antenna has a range that will allow the VBAT to
utilize more of its own range capabilities, however due to the parameters of
the directional beam of the antenna, it must point at the VBAT with a
certain degree of accuracy and precision.”

Figure 3.1- Antenna Rotation Axis
3. Concept of Operation
The VBAT Tracking Station will receive and read STANAG 4586 UDP packets
from a Wave Relay Quad Radio Router (QRR) to determine the UTC time stamp,
longitude, and latitude of the VBAT. Sensor peripherals, which consist of a
Magnetometer and a GPS, along with the STANAG 4586 UDP data are utilized in our
tracking algorithm within the intelligence of our device. When the algorithm receives all
the information from the given sensors it will determine the heading to the VBAT. The
heading of the device will be rotated until it matches the calculated heading to the VBAT
using a motorized rotary assembly.

4. Functional Requirements
4.1 Power
This device will be used in standard flight tests performed by Martin UAV,
which means it must integrate with the field power supply that is available. The
antenna mast will have a power supply available and the device will interface
with this using a weatherproof connector selected by Martin UAV. The power will
have to be regulated and managed to power all sensors, as well as any motors
within the device being developed.
4.2 Communication
The VBAT will report positioning information using the STANAG 4586
(Edition 3) Standard Interfaces of UAV Control Systems for NATO UAV
Interoperability UDP Protocol. The messages must be received over Ethernet
from the Wave Relay QRR and will be utilized by the device for receiving C2 from
the VBAT to be utilized in the tracking implementation.
4.3 Hardware
The device must be capable of rotating a 5.5 lb. parabolic dish and allow it
to mount using existing U-brackets. The interface with the parabolic dish will be a
1” diameter tube that will allow the brackets to mount easily. The minimum
rotation speed must be able to move the antenna at a rate that will successfully
track a VBAT during flight. In addition to these features, the device must be
contained within an enclosure that will protect it from light rain, dust and during
transportation to and from a standard Martin UAV flight test operation. All
mechanical drawings and manufacturing documents must be provided to Martin
UAV for the final design of the hardware.
4.4 Software
The device will only use information from onboard peripheral sensors in
conjunction with data from the STANAG 4586 UDP messages in order to
calculate the correct heading to the VBAT. Using this calculated heading the
device must be able to decide how to orient to that heading and manipulate
hardware to accomplish that task. The final code must be delivered to Martin
UAV in the form of source code.

Figure 5.1- Conceptual Diagram
5. Conceptual Block Diagram
The VBAT Tracking Station will be integrated with the existing Martin UAV VBAT
UAS. On the right side of the diagram, Figure 5.1, the Ground Control Station is shown
connected to the Wave Relay Quad Radio Router along with the input of radio
frequency (RF) signals from the antenna. The QRR is connected to our device from one
of its own Ethernet ports to an RJ45 Ethernet port on our device. This information will
then be passed along to the TM4C12949NPDT micro controller. On the bottom of the
diagram, the Magnetometer as well as the GPS are connected to the micro controller
via UART and I2C respectively. Using these three inputs the intelligence will calculate a
heading to the VBAT utilizing an algorithm developed by our team. The calculated
heading will be used in making a decision on how and where to direct the antenna. The
micro controller will then configure the Stepper Motor Driver via GPIO pins and signal it
to move the appropriate amount and at the appropriate speed. The Stepper Motor
Driver uses 3.3V from our board for logic and then it also takes 12V in directly to power
the motors.

6. Performance Specifications
6.1 Power
The field power supply will be 12V DC and it will be provided to the
antenna mast using a cable and connector chosen by Martin UAV. This will be
the only power source required.
6.2 Hardware
The mechanical assembly responsible for rotating the antenna must be
able to reliably mount to the existing Martin UAV Sky Mast antenna mast.
Suitable mounting will secure the device to the mast and be used for testing
throughout a standard flight test session. The tube must allow a 5.5lb parabolic
dish antenna to mount using U-brackets in a way that it will reliably operate
throughout a standard flight testing session. The next hardware performance
specification is for the device enclosure. It must protect the device from light rain
and dust as well as protect the device from damage during transportation to and
from the R&D facilities and Test sites.
The mechanical assembly responsible for rotating the antenna must have
a minimum rotation speed that can successfully track a VBAT flying an orbit at 6
miles going 50kts. It must also have a cord wrapping solution that does not
interrupt the signal with the VBAT for more than 30 seconds at a time.

Table 7.1- Microcontroller Technology Survey
7. Technology Survey
A technology survey has been conducted to evaluate the different choices of
hardware and software components for this project. There are a number of major
components that were specific to this project where there was a limited choice of
suitable components. The Planetary Gearbox with NEMA 17 Stepper Motor was a very
limited choice with no real other options available. The project required such a slow turn
rate with low current but high max permissible torque that there was only one
compatible option. The other components for the project allowed for more debate and
research before selection. This technology survey guided Precision Tracking to the
most suitable and cost effective parts to complete the project successfully.
7.1 Microcontroller
The microcontroller in this project is one of the most important
components. The microcontroller is required to support multiple different
communication protocols. It needed to complete a tracking algorithm as fast as
possible. Table 7.1 demonstrates the comparison between two microcontrollers
that were considered.
The TM4C129NCPDT microcontroller was chosen for the project. The
built-in Ethernet peripherals greatly out way the disadvantage of no SPI
interfaces. It removes the need of finding and learning how to use an Ethernet
controller outside of the microcontroller.
7.2 GPS Transceiver
The longitude and latitude of the device being created needed to be found
for the tracking algorithm. It is a one time reading that should remain the same,
so update rate was not an issue. The major quality that was considered was the
accuracy of the item. Below in table 7.2, the survey of multiple GPS sensors is
displayed.

Table 7.2- GPS Sensor Technology Survey
Table 7.3- Magnetometer Sensor Technology Survey
Precision Tracking selected the SkyTraq Venus638FLPx GPS Sensor.
This sensor works perfectly with the project due to the accuracy and lower than
average cold start time. Added bonuses of the Venus sensor are that it has built
in jamming detection, which is very useful for the customer since this system will
be used in military installations. Another bonus feature is the SMA connection for
the connection of any antenna that the customer or Precision Tracking would
prefer to use.
7.3 Magnetometer Sensor
The magnetometer is another important component of the tracking project.
The magnetometer needs to have a fast update rate since it will be the main
error checking device in the movement of the motor. The magnetometer will also
need to be extremely accurate since the heading will be used in the tracking
algorithm to move the antenna to the correct spot to track the VBAT UAV. Below
in Table 7.3, the technology survey for a magnetometer is displayed.
Precision Tracking selected the Honeywell HMC5883L magnetometer.
This magnetometer has a fast update rate with low cost and low noise
interference. The small size will be easy to attach it to the tube and will not cause
any physical interference during rotation. The 1-2 degree accuracy is above
average, and a high accuracy is required with the precision of the algorithm being
of the highest priority. The low cost of the device is an added bonus from the
choice; therefore it is functional and cost effective.

Figure 8.1- Overall Functional Block Diagram
8. Functional Block Diagram
8.1 Overall Functional Block Diagram
Figure 8.1 shows the diagram in its entirety for reference when discussing
more detailed portions. Any boxes within the darker green field will be integrated
into the printed circuit board (PCB) design either by direct soldering or header
connection. Any boxes outside the board will be connected to the PCB through
edge connectors or modules by wires.

Figure 8.2- Microcontroller Pins
Figure 8.3- JTAG and RESET Interfaces
8.2 Microcontroller Pins
The first section detailed is the micro controller independent of any
subsystems as well as its programming interface and reset interface. Figure 8.2
shows the TM4C1294NCPDT and the pins utilized to interface with sensors and
connectors.
Figure 8.3 shows the pins used to interface with a JTAG header
connection that is used for programming and debugging. It also illustrates the
button used for resetting the device.

Figure 8.4- Voltage Regulation
8.3 Voltage Regulation
The power provided in the field to our device will be 12V DC. This
ultimately starts at a small field generator but it is conditioned/regulated down to
12V DC at the antenna mast external to our device. Martin UAV has selected a
connector to interface with on our enclosure, so that is where the power will start
from in our device (12V). This connector will be wired to our board inside the
enclosure by screw terminal edge connectors. These connectors will the run the
power through a 3.3V/2A voltage regulator. This will be the main signal to our
modules for logic and power. The motor driver will have a direct connection to the
12V due to its power requirement to be able to have enough torque.
8.4 Stepper Motor and Driver Interface
The device is ultimately designed to manipulate the rotation of a tube that
an antenna is mounted to. The way this is accomplished is using a stepper motor
with a planetary gearbox. This type of motor has several inputs depending on
how many phases it has. This specific motor has 2 phases which means 4
connections (positive and negative). These phase connections will be connected
to the Big Easy Motor driver which translates Pulse with Modulated signals along
with some digital logic for setting configurations in order to specify a position to
turn to. Figure 8.5 shows how GPIO pins and a single PWM module pin from the
microcontroller are routed to a header and then to the driver module. It also
shows how that driver is connected to the motor our team selected.

Figure 8.5- Stepper Motor and Driver
8.5 Venus GPS Sensor Block Diagram
The Venus GPS module will be connected in a similar fashion as the Big
Easy Driver. It will utilize header pins that are designed into the layout of the PCB
to connect to traces that lead to the necessary pins on the microcontroller. Figure
8.6 shows how these connections are made, it is important to note the correct
configuration of UART pins where RXTX and TXRX. This module has a built
in SMA connector to be used to connect to an external patch antenna. This will
allow us to put the antenna outside of the enclosure in order to protect the device
and get the best signal possible at the same time.

Figure 8.6- Venus GPS Sensor Block Diagram
Figure 8.7- HMC5883 Magnetometer Block Diagram
8.6 HMC5883 Magnetometer Functional Block Diagram
The magnetometer will be connected in the same way as the power
connector on the enclosure. It will have to be positioned in a place that will
mitigate noise as well as turn with the antenna. This means we will be wiring it
into screw terminal edge connectors. These will then be routed to the proper I2C
communication pins as well as to power. All of this can be seen in Figure 8.7, a
closer look at the FBD.

Figure 8.8- RJ45 Ethernet Port
We decided to use two of the 2 position screw terminals that are being
used in other functions on the board to reduce the BOM and make it easier to
manufacture down the road.
8.7 Ethernet
The last subsection of our Functional Block Diagram is the Ethernet RJ45
port. The TM4c1294NCPDT has a built-in Ethernet controller, so the only circuitry
we need to add is the RJ45 port for the cable to connect to. Figure 8.8 shows the
pin connections as well as the magnetics box in between the actual port and the
micro controller. The magnetics device is representative of a component that will
associate the ground of the device we are developing to the device on the other
end of the Ethernet cable. This is important to have in order for the port to relay
data correctly. The Ethernet module within the microcontroller also provides for
LED’s to be connected to default signals like ready and activity on the Ethernet
line.

Figure 9.1- Venus GPS Sensor
9. Sensor Characterization
9.1 Venus GPS Sensor
The Venus GPS Sensor was chosen for this project. This GPS sensor has
a SMA connection on it which will allow for an external antenna. This project
requires current position data so that the tracking algorithm will work correctly.
This sensor has one of the best accuracy readings in the market at 2.5
meter accuracy. The sensor also has jamming detection and mitigation built in. It
also contains built in filters to help with the accuracy and have less noise affect
the position acquisition. This sensor transmits its data in a special format that is
free to use called NMEA or SkyTraq Binary. This format packages the data more
efficiently and is easy to decode once received. The formatting of the data is
displayed and discussed in the communications section of this document. This
sensor has a long cold start of 29 seconds which delays this system but it also
has an adjustable rate of transmission up to 115200 bits per second which can
help make up a small amount of the lost time.
9.2 HMC5883 Magnetometer Sensor
The HMC5883 magnetometer sensor was chosen for this project. This
magnetometer is necessary to the project so that the algorithm for tracking the
VBAT UAV will work correctly. The heading received from the magnetometer is
one of the main self-checking parts of the project.

Figure 9.2- HMC5883 Magnetometer Sensor Module
Figure 9.3- Big Easy Motor Driver
For this project, a whole module away from the custom designed PCB is
necessary. This module will obtain the heading of our system and transmit it
through I2C to the TM4C129 microcontroller on the PCB. This magnetometer has
accuracy within 1-2 degrees, which reports μT on the XYZ plane. Since the
magnetometer is very important to the project for the purpose of error checking
movement, the fastest update rate is necessary.
9.3 Big Easy Motor Driver
The stepper motor driver selected is the SparkFun Big Easy Motor Driver.
It takes in several digital signals that configure it to step in a certain direction and
how far in that direction. It takes up to 30V input Voltage, which is well within our
power supply. The motor we are using is rated to 0.8A per phase and the Big
Easy Driver is rated for up to 2A/Phase. This driver is essential for translating our
intelligence decisions into an actual physical movement that can be accurately
controlled. In addition to it meeting all of our functional specifications, the board
files are available from SparkFun. This will allow us to integrate the layout into
our PCB if desired.

Figure 9.4- Stepper Motor
9.4 Stepper Motor
The stepper motor our team selected is the NEMA 14 19:1 Planetary
Gearbox Stepper motor. It takes in 12V DC and operates at about .8A/Phase. Its
holding torque is about 2.8N/cm which translates to be about 25lbs/inch. This
amount of torque along with our power specifications means this motor is a good
match for our device. It weighs about 0.7 lbs. and comes in a reasonably sized
package. The step angle is 0.094 degrees. Our aircraft will be moving at a
maximum of 0.2 degrees a second which complies with our functionality
requirements. The Big Easy Driver also allows for micro stepping, enabling us to
increase the resolution of this motor.

Figure 10.1- STANAG UDP
10. Communications Interfaces/Protocols
10.1 STANAG UDP
The STANAG 4586 (3rd Ed.) document defines all messages that are sent
and how they are sent between NATO drones. The protocol is explicitly
described and diagramed along with everything that is going into it. The
messages exchanged in this format over this protocol will contain positioning
data of the VBAT as well as other portions of data that could be used by our
device. These messages will be piped from the Wave Relay Quad Radio Router
via Ethernet. The message we are particularly interested in is Message #4000.
This message contains latitude, longitude and the heading of the aircraft as well
as a UTC time stamp. This will be extremely useful when trying to calculate the
heading to the aircraft. The data is well defined in this document, from ranges
and units to data types and other parameters.

Figure 10.2- Sample NMEA Message Format
10.2 Communication- UART Protocol
UART is a serial communication protocol between two devices. This
protocol will have designated master and slave devices. The master device will
request and send data to the slave devices. The slave devices will acknowledge
the request, respond and then send the data that was requested. UART
communication in our system will utilize the TX and RX pins on both the
microcontroller and the Venus GPS sensor. The data transmitted from the slave,
the Venus GPS Sensor, will be sent sequentially through first in, first out (FIFO),
to the master, TM4C129 microcontroller. The clock rates of both the slave and
master devices will need to be the same so that data is not lost during
transmission. To help with error checking, a parity bit can be generated by the
sender, master, to the receiver, slave. The parity bit will not save the data stream
if the clock rates are different though. If the receiver does not see a stop bit at the
end of a message, the message will be scrapped and data will be lost.
The Venus GPS Sensor transmits the data acquired by the sensor to the
TM4C129 microcontroller in the SkyTRAQ format. The SkyTRAQ data format is
displayed in the next section of this document. The data transmitted by the GPS
sensor will be sent over the UART communication protocol in the SkyTRAQ
format, and then deciphered by the microcontroller.
10.3 Communication- NMEA SKYTRAQ Binary Messaging Format
Figure 10.2 shows the format that the NMEA data will be in when it is
transmitted from the GPS sensor to the microcontroller using UART. The
structure of the data is sent in an almost hexadecimal format. Below the structure
is the example message sent from the GPS to the microcontroller. The numbers
below the example message correspond to another chart that will decode the
formatting into useful positional data.

Figure 10.3- Formatting Chart for NMEA Messages
Above in figure 10.3, the deformation chart is shown. This chart shows what
each number below the example message in figure 10.3 means. The main data
that this project is concerned with is numbers 10-13 of the message. Those
numbers correspond to the latitude and longitude of the device.
10.4 Communication- I2C Protocol
The Inter-Integrated Circuit Protocol will be used in this project so that the
TM4C129 microcontroller can interface with the HMC5883 Magnetometer
Sensor. The microcontroller will act as the master and the magnetometer will act
as a slave to the microcontroller. The two devices will be connected along the
same SDA pins and the same SCL pins. The data transfer rate between the
magnetometer and the TM4C129 microcontroller will be 400 kHz, the fastest rate
available for the HMC magnetometer.
The communication will begin with the master writing to the slave with a 7
bit address of the slave. Then the read or write bit will follow next, and then the
acknowledge bit. After those bits are received by the slave, the data will be
transmitted followed by another acknowledgment bit. The slave device will write
the output of the magnetometer in gauss to the microcontroller (master). When
there is an interrupt in the use of I2C, like when the microcontroller receives a
message from the magnetometer, the clock line will be held low so that the
interrupts will be able to move to the next command. Once the transmission of
data is complete, and an acknowledgement is sent that it is complete, there will

be a stop sequence. That stop sequence will have an ending message along with
the stop bits. The microcontroller will wait for the next interrupt with the newest
message from the magnetometer.

Figure 11.1- Deliverable Timeline
11. Deliverables
Precision Tracking has developed a set of deliverables that will be provided to
our sponsor and advisor, this will ensure that a fully functional product will be developed
that meets the goals of both parties. The deliverables provide a value of purpose to the
sponsor and advisor as they update them on the progress of Precision Tracking. The
deliverable timeline created by Precision Tracking is displayed in figure 11.1.
Legend
Hardware: Daniel Medcraft Software: John Gutkowski
Project Manager: Justin West

The deliverables are listed in chronological order and are each divided into
hardware, software, and documentation along with indication of who is responsible for
those deliverables. In the section below each deliverable will be broken down with a
description and what section it falls under in the project.
11.1 Hardware
11/13/2016- Alpha Schematic- Daniel Medcraft
The Alpha Schematic is a 2D diagram illustrating all the necessary components
and circuity of the circuit board. The diagram will be presented to the project’s
sponsor and advisor in the form of an oral presentation given in the Collaboration
Room of the Product Innovation Cellar in Thompson Hall. The diagram will also
be given to the sponsor and advisors in the form of a PDF for personal reference.
This diagram will insure that the connections and interfaces between the
components are correct before proceeding to the Alpha Layout.
12/11/2016- Alpha PCB Layout- Daniel Medcraft
The Alpha PCB Layout is where the schematic described above is converted into
a printed circuit board design. The layout will contain all of the components that
are detailed in the Precision Tracking Alpha Schematic. The Layout will be
designed in Altium and delivered to the sponsor in the file type of .pcbdoc along
with a PDF of the different layers involved in the PCB layout.
1/9/2017- ALPHA Enclosure- Daniel Medcraft
The Alpha Enclosure will be Precision Tracking’s preliminary design for the
enclosure that will house the prototype. The enclosure will be prefabricated but
changes will be made to modify the enclosure for Precision Tracking’s needs.
These changes will be provided to the sponsor and the advisor in a PDF format.
2/18/2017- Beta Schematic- Daniel Medcraft
The Beta Schematic is a 2D diagram illustrating all the necessary components
and circuity of the circuit board. The diagram will be updated and improved
based on tests and recommendations based on the Alpha Schematic and the
Alpha PCB Layout. The diagram will be presented to the project’s sponsor and
advisor in the form of an oral presentation given in the Collaboration Room of the
Product Innovation Cellar in Thompson Hall. The diagram will also be given to
the sponsor and advisors in the form of a PDF for personal reference. This
diagram will insure that the connections and interfaces between the components
are correct before proceeding to the Alpha Layout.

3/11/2016- Beta PCB Layout- Daniel Medcraft
The Beta PCB Layout is where the schematic described above is converted into
a printed circuit board. The Beta PCB layout will contain all of the components
that are detailed in the Precision Tracking Alpha schematic as well as any
additions that were made to their Bill of Materials and Beta Schematic. The
Layout will be designed in Altium and delivered to the sponsor in the file type of
.pcbdoc along with a PDF of the different layers involved in the PCB layout.
3/24/2017-Final PCB Schematic-Daniel Medcraft
The Final Schematic is the third passing of designing the UAV tracking Station.
The Final Schematic will be designed in Altium, which will include the
microcontroller, motor driver, magnetometer, GPS, stepper motor, and all the
supplementary circuity that will required to implement the system. The Final
Schematic will resolve issues that were presented in the BETA Schematic. The
Final Schematic will be delivered to the sponsor by email in the file type of
.schdoc along with a PDF form.
4/1/2017- Final Enclosure- Daniel Medcraft
The Enclosure is where Precision Tracking will demonstrate how the device will
be protected by a pre-fabricated enclosure. This enclosure will be delivered in
design PDF file to the sponsors email.
4/6/2017- Final PCB Layout- Daniel Medcraft
The Final PCB Layout is where the schematic described above is converted into
a printed circuit board. The Final PCB layout will contain all of the components
that are detailed in the Precision Tracking Beta schematic as well as any
additions that were made to their Bill of Materials and Final Schematic. The
Layout will be designed in Altium and delivered to the sponsor in the file type of
.pcbdoc along with a PDF of the different layers involved in the PCB layout.
11.2 Software
12/25/2016- Story Board- John Gutkowski
The Story Board is a tool that will aid Precision Tracking in developing the
software for the UAV tracking system. The purpose of the Story Board is to
demonstrate the movement the process that the code will be implemented in.
The Story Board will be delivered to the sponsor in an email in PDF format.
3/1/2017- Alpha Code- John Gutkowski
The Alpha Code will contain all of the communication code between the
Microcontroller, GPS, Magnetometer, Ethernet port, Motor Driver, and Stepper
Motor. The Alpha Code will be delivered by email in the file type of .c to the
sponsor.

4/1/2017- Beta Code- John Gutkowski
The Beta Code will contain all of the communication code between the
sponsor.
4/20/2017- Final Code- John Gutkowski
The Final Code will contain all of the communication code between the
sponsor.
11.3 Documentation
11/18/2016-TAT Meetings (Weekly) Justin West
Technical Assistance Team (TAT) Meetings will occur on a weekly basis
throughout the project at a time to be determined at a later date. The meetings
will consist of updates on the project’s progress, demonstrations of milestones
and deliverables as well as issues that arise, and the fielding of any questions
from the project sponsor, project advisor and any other TAT members in
attendance. The meetings will take place in the Collaboration Room of the
Product Innovation Cellar in Thompson Hall. Zoom meeting coordination will be
communicated with the project sponsor well in advance.
12/7/2016- System Design Process- Justin West
The System Design Process Document will be written by the entire team and be
delivered in a soft copy form to the Project Sponsor, Project Advisor and Dr.
Morgan (Capstone I) Instructor. The document will discuss the project
management and planning aspects of the project in detail as well as, but not
limited to, the preliminary design steps from problem statement to functional
block diagram.
1/19/2017- ALPHA Test Plan/Report- Justin West
The Alpha Test Plan/Report will be the first iteration of the document detailing
how the final prototype will be tested in order to determine if it has met the
functional requirements and their accompanying performance metrics. The Test
Plan will detail the specific tests (required equipment, procedure, expected
results) and the report will be the outline for recording the results of the test and
what they mean. This will be delivered in a soft copy form to the project sponsor
as well as the project advisor and any TAT members that are willing to review it.
This deliverable is for review and feedback from advisors as well as the customer
so the final version may be adjusted for any additions or revision brought by the
feedback.

2/1/2017- ICUAS First Draft- Justin West
The ICUAS First Draft is a document that will be written for a conference in Miami
pertaining to UAV related projects occurring around the United States. This will
be delivered to the sponsors email in a PDF format.
2/12/2017- ICUAS Final Draft- Justin West
The ICUAS Final Draft is a document that will be written for a conference in
Miami pertaining to UAV related projects occurring around the United States.
This will be delivered to the sponsors email in a PDF format. The final draft will
be submitted for review by the ICUAS Conference and they will notify us if it
selected.
3/1/2017- CDR- Justin West
Critical Design Review is a presentation given by Precision Tracking that
indicates the progress of the UAV Tracking Station. It is presented to the team’s
peers, advisors, and sponsors to demonstrate the understanding of the project.
The presentation will be provided to the sponsor via video or audience
attendance.
3/20/2016-Final Test Plan/Report- Justin West
The Precision Tracking Test Plan will involve a detailed plan on how to test the
PCB board to validate that the PCB meets the functional requirements outlined in
the document. Various test will be performed to test each requirement is met.
The test plan will be presented to the sponsor in PDF form.
4/20/2017- Final Documentation Package- Justin West
The Final Document will illustrate the UAV Tracking Station in its entirety. Every
design element will be detailed and laid out so that the system is clearly laid out.
This document will be emailed to the sponsor in a PDF format.
5/1/2017- Final Demo- Justin West
The Final Demo is where Precision Tracking will demonstrate the UAV Tracking
Station and how its functions meet the functional requirements that are listed
above. This deliverable will be delivered over a video feed or in person.
5/1/2017- Final Presentation- Justin West
The final presentation will be a detailed formal review of every aspect of the
project. This will include PCB Final Design, Software Storyboard, Final Code,
Final Test Results and any necessary documentation deliverables. Each aspect
will be reviewed and discussed by the TAT as well as any customer
representation and ESET faculty representation that is necessary.

5/10/2017- Close Out- Justin West- Justin West
During Close out Precision Tracking will provide and improve on the
documentation previously written throughout the project. These improvements
may but are not limited to recommendations given to the group during their final
demo and final presentation. These changes and addition to documentation will
be provided to the sponsor and advisors in a PDF format over email.

Figure 12.1- Milestones Timeline
12. Milestones
Milestones are valued by the contractor and the timeline that is displayed in
Figure 12.1 will be Precision Tracking’s time table to ensure that appropriate progress is
being made on the UAV Tracking Station.

12.1 Hardware
11/8/2016- Alpha Schematic Approval- Daniel Medcraft
The alpha schematic approval signifies the completion of the first step in the
Alpha PCB design. Alpha Schematic approval will consist of a formal review and
any required changes from the review to be made in the design. Upon the
completion of these requirements, the design can move forward to Layout.
12/15/2016- Alpha PCB Order- Daniel Medcraft
The Alpha PCB order signifies the completed design of the Alpha PCB. Ordering
the PCB is a critical step in beginning to test the functionality of hardware and
software on the device.
1/19/2017- Alpha Enclosure- Daniel Medcraft
The Alpha Enclosure will be the preliminary housing for the UAV Tracking
Station. The enclosure will be durable and protect the device from light rain and
dust.
2/25/2017- Beta PCB Order- Daniel Medcraft
The Beta PCB order signifies the completed design of the Beta PCB. Ordering
the PCB is a critical step in beginning to test the functionality of hardware and
software on the updated device.
4/1/2017 Final Enclosure- Daniel Medcraft
The Final Enclosure will be the permanent housing for the UAV Tracking Station.
The enclosure will be durable and protect the device from light rain and dust.
4/6/2017- Final PCB Layout- Daniel Medcraft
The Final PCB Layout signifies the completed design of the PCB for the UAV
Tracking Station. Ordering the PCB is a critical step in completing the final
prototype.
12.2 Software
11/20/2016 Convert Lat./Long. Deg./Sec. to Decimal Degree Format Code –
John Gutkowski
Converting the Latitude and Longitude of the Degree per Second to Decimal
Degree Code is pivotal as the decimal to degree format is the preferred input for
the Tracking Algorithm. This conversion is necessary for the GPS to provide the
correct base location to the algorithm.

11/29/2016- Calculate heading from two LAT/LONG sets CODE-
John Gutkowski
Calculating the heading from two Latitude and Longitude sets of code signifies
that the tracking algorithm can calculate the difference between the two distance
measurements. This simulates that the algorithm can calculate the difference in
angle between the UAV and the antenna position.
12/19/2016- PCB Test Code Snippets- John Gutkowski
PCB Test Code Snippets will be used to validate that the PCB can communicate
modules and components can appropriately communicate with the embedded
microcontroller.
12/25/2016- Story Board- John Gutkowski
The completion of the storyboard will provide a road map to the design and
implementation of the Software portion of the project.
1/3/2017- Receive and Use Magnetometer Data over I2C- John Gutkowski
Demonstrating that we can successfully receive and utilize the correct
magnetometer data consistently, is a step forward in implementing the software.
Designing the code in small portions based on functionality and combining them
into larger functions until the code is added together as one will be how we move
forward with software design.
1/12/2017- Receive and Use GPS Data over UART- John Gutkowski
Demonstrating that we can successfully receive and utilize the correct GPS data
consistently, is a step forward in implementing the software. Designing the code
in small portions based on functionality and combining them into larger functions
until the code is added together as one will be how we move forward with
software design.
1/21/2017- Combine Algorithm and Sensor Data Code- John Gutkowski
The successful combination of the Tracking Algorithm code as well as the sensor
communication and data utilization will be the first major functionality of the
software to be completed.
1/30/2017- UDP Packet Test- John Gutkowski
Receiving the Hardware in the Loop (HiL) Station will allow us to test the GCS
and see what the STANAG UDP packets actually look like coming into our RJ45
port. This will give us a way forward to implementing how we will receive these
packets and utilize the data inside them.

2/8/2017- Receive and Parse Packets- John Gutkowski
After testing and deciding on how to implement this process in the storyboard, it
will be implemented in a function in code that will later be combined into the
project code as a whole.
3/1/2017- Alpha Code- John Gutkowski
Alpha Code will be the first iteration of the total combined code that will function
as one with all functionalities developed previously.
4/1/2017- BETA Code- John Gutkowski
Beta Code will be the second iteration of the total combined code that will
function as one with all functionalities developed previously.
4/1/2017- Final Code- John Gutkowski
Final Code will be the last iteration of the total combined code that will function as
one with all functionalities developed previously.
12.3 Documentation
12/7/2016- System Design Process- Justin West
The completion of the SDP (described in deliverables section) signifies the end of
the planning process of the project and is considered a partial freeze on
conceptual and functional deign aspects. This will be the major starting point for
design implementation of the project.
12/24/2016-Receive HiL Station from Martin UAV- Justin West
Receiving the “Hardware in the Loop” station from Martin UAV will allow us to
make significant test and design steps regarding communications with the
STANAG UDP Protocol. This will be a significant milestone due to the
development that will follow receiving this setup. The HiL station will consist of a
GCS software to be installed on a laptop as well two beagle bone black devices
to connect to.
1/19/2017- Alpha Test Plan/Report- Justin West
The ALPHA iteration of the Test Plan and Test Report will be the first point that
we will get feedback on how we will be conducting our Test of the device as well
as how we plan on reporting the results of the test.
2/12/2017- ICUS Final Draft- Justin West
The Final Draft of the ICUAS conference paper will signify the completion of that
requirement for our technical merit matrix. When this milestone is reached, we
will wait to see if our submission is selected for publication or presentation.

3/1/2017- CDR- Justin West
The Critical Design Review will signify a completion of one of the requirements
for successfully completing the Capstone II course. This will be a major point of
review and feedback for that point in our project’s progression.
3/20/2017- Final Test Plan/Report- Justin West
The Final Test Plan/Report will signify the completion of a major deliverable and
a solidified plan for testing the prototype when it is completed.
4/20/2017- Final Documentation Package- Justin West
Completing the Final Documentation Package will signify the delivery of a major
deliverable as well as the finalized version of the prototype.
5/1/2017- Final Demo- Justin West
Final Demo completion and approval will signify the start of the closeout
procedures for the project.
5/2/2017- Final Presentation- Justin West
Completion of the Final presentation according to our timeline will signify that the
project has been completed and delivered completely.

Figure 13.1- Whole Gantt chart
13. Gantt Chart
The Gantt charts shown in figures 13.1-13.3 are a graphical timeline showing the
duration of Precision Tracking’s project. The Gantt chart has been broken down into five
phases which show each phase’s activities and the duration of each activity. Each
activity and phase has been color coded for the reader. The research, design,
development and documentation start at the middle of August and finish in the middle of
March.

Figure 13.2- Gantt chart 1-40

Figure 13.3- Gantt chart 40-75
Figure 13.4- Gantt Chart 75-97

Table 14.1- Labor Costs
Table 14.2- Part Costs
14. Costing
14.1 Costing Summary
The costing that is shown in this section will breakdown the costs involved
with the development and production of the UAV tracking system. The section is
broken down into four different costing categories: direct, indirect, profit, cost
timeline, and a time sequence of money. These sections will breakdown and
justify the cost of each phase and process of the project in tables and graphical
form.
14.2 Direct Costs
The direct costs involved in this project include labor, parts, and
development costs.
The hourly wage was calculated by taking a base rate of $30 per hour and
adjusting that rate based on the individual member’s job title for the project. The
benefits and the insurance of the members was generated by calculating 25% of
the individual’s project earnings.
Table 14.2 displays the direct costs for Precision Tracking’s UAV Tracking
Station. As there are three different members and the scope of the project it was
advised that each member to receive their own parts. This allows each member
to work on the project and achieve a working prototype. There will also be nine

Table 14.3- Development Costs
Table 14.4- Total Direct Costs
Table 14.5- Total Indirect Costs
different PCB’s made and the Alpha boards will be populated by the team
members, while the other PCB’s will be populated by external companies.
Table 14.3 shows the costs for the software and equipment needed for the
development of the project.
17.3 Total Direct Costs
Table 14.4 shows that the total direct costs for the project will be
$60,359.76.
14.4 Indirect Costs
Indirect costs include the overhead used for the project along with the
general and administrative work that will be involved during the production of the
UAV tracking station. The costs displayed below will show the cost of the facility
as well as the utilities used at the facility. General and administrative work will
include the charges that any staff members charge to the project regarding
administrative work. The cost can also include shipping and transaction fees
involved in the development.

Table 14.6- Total Direct and Indirect Costs
Table 14.7- Profit
Table 14.8- Total Project Costs
Overhead for the project was estimated as 45% of the total direct costs.
General and Administrative costs were calculated as 10% of the total direct costs
which brought the total indirect costs to $33,197.87. This cost maintains the
facility and staff are covered for the duration of the project.
The total direct and indirect cost show the overall amount that the project
costs to produce. These statistics will be used in calculating the profit margin for
the project.
14.5 Profit
Precision Tracking profit is calculated above and was determined as 15%
of the Direct and Indirect cost calculated in the above tables. This generated a
total profit of $9,959.36.
14.6 Total Project Costs
The total project costs are calculated by adding together the direct cost,
indirect cost, and profit of the Precision Tracking project. The total cost of the
project will be $107,591.27.

Table 14.9- Cost Timeline
Figure 14.1- Time Sequence of Money
14.7 Cost Timeline
The cost timeline shows when all the cost will be expensed during the
project. The cost timeline is broken down weekly and displays all the cost
pertaining to the project with a running total of the project.
14.8 Time Sequence of Money
The time sequence of money shows the information from the cost timeline
in graphical format.
Figure 14.1 shows how the cost of the project is spread out through the
duration of the project. The duration of the project is divided by weeks and the
total is displayed in US dollars.
$0.00
$20,000.00
$40,000.00
$60,000.00
$80,000.00
$100,000.00
$120,000.00
1 2 3 4 5 6 7 8 9 10 11 12 13
COST(DOLLARS)
TIME (WEEKS)
Project Total
Project Total

Table 15.1- Test Matrix
15. Test Matrix
The functional requirements established by Precision Tracking and Martin
UAV displayed in section 6 pertaining to the UAV Tracking station will need to be
validated. This validation process will be performed by producing and executing a
variety of tests on Precision Tracking’s UAV tracking station. The test matrix in table
15.1 shows the tests that will be performed by Precision Tracking so that the functional
requirements can be validated.
15.1 Power
The power test will determine if the device is receiving 12V DC from the
power supply that is provided by Martin UAV. This input voltage is important as it
will be directly applied to the stepper motor as well as to the voltage regulator.
The supplied power will be measured by a multimeter so that Precision Tracking
can get an accurate measurement.
15.2 Voltage Regulator
The voltage regulator will be tested by Precision Tracking to ensure that
the appropriate voltage is applied to the microcontroller. This test will be

performed with a multimeter as it will provide Precision Tracking with an accurate
voltage reading.
15.3 Communication to GPS
Ensuring that the GPS can communicate with the microcontroller that is
embedded on the board is the first step in calculating the UAV position. The GPS
will provide the microcontroller with the stations position. This communication will
be tested by compiling test code in the development stage as well as testing that
the GPS module and microcontroller are receiving and sending information over
UART.
15.4 Communication to Magnetometer
The magnetometer will provide the microcontroller with the position of the
antenna as it rotates according to the UAV’s path. The magnetometer is essential
in updating the microcontroller with the updated movements of the antenna.
Precision Tracking will test communication to this device by compiling test code
and testing that the microcontroller and magnetometer are sending and receiving
information over an I2C protocol.
15.5 Receive UDP Packets
Precision Tracking will be broadcasted UDP packets from a Martin UAV’s
ground control station, these packets contain the longitude and latitude of the
UAV. The information will be included in the algorithm that is embedded in the
microcontroller. Precision Tracking will simulate the UDP packets by
implementing a hardware in the loop station. This station emulates the ground
control station allowing Precision Tracking to provide the microcontroller
controlled data that can be reviewed and recorded.
15.6 Tracking Algorithm
The tracking algorithm will calculate the position of the UAV as well as the
number of steps needed to rotate the antenna to the appropriate location. The
algorithm peripherals will be tested in phases (explained above) once all the
peripherals can be inputted into the microcontroller the algorithm can be tested.
Precision Tracking will input all the information provided by the peripherals and
observe how the algorithm processes the information.
15.7 Stepper Motor
Precision Tracking will provide testing on the stepping motor as it will be
integral in rotating the antenna to the appropriate position. The stepper motor will
be tested by examining the algorithm and observing the number of steps that are
taken compared to what is calculated by the code. This will allow Precision
Tracking to confirm that the stepper motor is receiving the correct signal from the
microcontroller.

15.8 Enclosure
The device created by Precision tracking will be enclosed in a
manufactured box. To ensure that the enclosure can protect the device from light
rain and dusty environments. Precision Tracking will expose the box to these
conditions and see how it affects the enclosure.

Table 16.1- Technical Merit Matrix
16. Technical Merit
Precision Tracking has defined its technical merit of the UAV Tracking Station by
developing a Technical Merit Matrix. The Technical Merit Matrix, shown in Table 16.1,
provides an assessment of the different categories of the design and development of
the UAV Tracking Station. Precision Tracking has valued each category and valued the
project with having a technical merit of 1.3, this exceeds the satisfactory weight of 1.0.
16.1 Technical Challenge
Precision Tracking’s technical challenge exists as continued meetings with
advisors and sponsors reiterate the challenges of creating the UAV Tracking
Station. Our Tracking Station involves hardware, software, and a variety of
testing. Precision Tracking accepts the technical challenge and is determined to
produce a fully functional prototype.
16.2 System Integration
The various sensors located inside the tracking device and the STANAG
UDP packets provided to the device will need to integrate with the Micro-
controller for proper functionality of the Tracking Station.

16.3 System Testing
Testing will be an ongoing process throughout the development of the
UAV Tracking Station as each piece of hardware built and software compiled will
need to be tested for operational functionality. The test will allow modifications to
be incorporated before the system is fully integrated.
16.4 Theoretical Analysis and Simulation
Precision Tracking will simulate the amount of magnetic field that is being
created when the stepper motor is operational, and how this magnetic field
affects the magnetometer.
16.5 Hardware Design
Hardware design for the UAV Tracking Station is creating a PCB that
connects all the sensors communication protocols to the microcontroller and
providing appropriate power to the components used in the design.
16.6 Software Design
Precision Tracking will develop code that allows the Magnetometer, GPS,
and Motor Driver to communicate with the microcontroller. A code will also be
written to receive these peripherals and input them into an algorithm that will
calculate the heading of the VBAT as well as the number of steps needed to
rotate the antenna to align with that heading.
16.7 Enclosure Design
Precision Tracking will be modifying an enclosure so that the prototype will
be protected from light rain and dusty environments.
16.8 Further Documentation
The ICUAS paper will be submitted by Precision Tracking in February and
if approved will be entered into a conference held in May.

17. Appendix
Table of Figures
Figure 2.1- Existing Tracking System…………………………………………….………..….6
Figure 3.1- Antenna Rotation Axis …………………………………………………….………7
Figure 5.1 Conceptual Diagram…………………………………………………….…............9
Figure 8.1 Overall Functional Block Diagram…………..…………………………….……..13
Figure 8.2 Microcontroller Pins……………………………………………..………..…..…...14
Figure 8.3 JTAG and RESET Interfaces………………………………..………….………..14
Figure 8.4 Voltage Regulation………………………………………………..……….………15
Figure 8.5 Stepper Motor and Driver………………...…………………………..………..….16
Figure 8.6 Venus GPS Sensor Block Diagram……………………………..…….…….…..17
Figure 8.7 HMC5883 Magnetometer Block Diagram………………...…………..………...17
Figure 8.8 RJ45 Ethernet Port………………………………………………………………...18
Figure 9.1 Venus GPS Sensor…………………………………………..……….……….…..19
Figure 9.2 HMC5883 Magnetometer Sensor Module……………..……………….….……20
Figure 9.3 Big Easy Motor Driver……………………..……………………………….……...20
Figure 9.4 Stepper Motor…………………………………………..……………….………....21
Figure 10.1 STANAG UDP…………………………………………………………….….…..22
Figure 10.2 Sample NMEA Message Format……………………………………….……....23
Figure 10.3 Formatting Chart for NEMA Messages………………………………….……..24
Figure 11.1 Deliverable Timeline………………………………………………………….….26
Figure 12.1 Milestone Timeline………………………………………………………….……32

Figure 13.1 Whole Gantt Chart……………………………………………………………….37
Figure 13.2 Gantt Chart 1-40………………………………………………………………….38
Figure 13.3 Gantt Chart 40-75………………………………………………………………..39
Figure 13.4 Gantt Chart 75-97…………………………………………………………..……39
Figure 14.1 Time Sequence of Money……………………………………………………….43

Tables of Tables
Table 7.1 Microcontroller Technology…………………………….…..…………….……….11
Table 7.2 GPS Sensor Technology Survey………………………………..………………...12
Table 7.3 Magnetometer Sensor Technology Survey………….….………...……………..12
Table 14.1 Labor Costs…………………………………………………….………………….40
Table 14.2 Part Costs………………………………………………………………………….40
Table 14.3 Development of Cost……………………………………………………………..41
Table 14.4 Total Direct Costs…………………………………………………………………41
Table 14.5 Total Indirect Costs……………………………………………………………….41
Table 14.6 Total Direct and Indirect Costs…………………………………………………...42
Table 14.7 Profit………………………………………………………………………………..42
Table 14.8 Total Project Costs………………………………………………………………..42
Table 14.9 Cost Timeline……………………………………………………………………...43
Table 15.1 Test Matrix…………………………………………………………………………44
Table 16.1 Technical Merit Matrix…………………………………….………………………47

Table of Abbreviations
C2- Command and Control signals
GCS- Ground Control Station
GPS- Global Positioning System
HiL- Hardware in the Loop
I2C- Inter- Integrated Circuit
NATO- North Atlantic Treaty Organization
PIC- Pilot in Command
QRR- Quad Radio Router
RF – Radio Frequency
STANAG- NATO Standardization Agreement
UART- Universal Asynchronous Receiver/Transmitter
UAS- Unmanned Aerial System
UAV- Unmanned Aerial Vehicle
UDP- User Datagram Protocol
VTOL- Vertical Takeoff/Landing

20. Notes

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