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UAV Research at Georgia Tech Eric N. Johnson Eric N. Johnson Lockheed Martin Assistant Professor of Lockheed Martin Assistant Professor of Avionics Integration, Avionics Integration, Georgia Tech School of Aerospace Engineering Georgia Tech

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SLIDE 1

June 2002 ENJ - Georgia Tech 1

UAV Research at Georgia Tech

Eric N. Johnson Eric N. Johnson Lockheed Martin Assistant Professor of Lockheed Martin Assistant Professor of Avionics Integration, Avionics Integration, Georgia Tech School of Aerospace Engineering Georgia Tech School of Aerospace Engineering Presentation at TU Delft Presentation at TU Delft June 3, 2002 June 3, 2002

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SLIDE 2

June 2002 ENJ - Georgia Tech 2

Outline

  • Previous Work

Previous Work

– – MIT and Draper Laboratory MIT and Draper Laboratory – – Ph.D. Thesis Work: Advanced Control for the X Ph.D. Thesis Work: Advanced Control for the X-

  • 33

33

  • Current Research

Current Research

– – Adaptive Guidance and Control for Hypersonic Vehicles Adaptive Guidance and Control for Hypersonic Vehicles – – Aggressive Maneuvering for UAVs Aggressive Maneuvering for UAVs – – DARPA Software Enabled Control, and the GTMax UAV DARPA Software Enabled Control, and the GTMax UAV – – Aerial Robotics Competition Aerial Robotics Competition

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SLIDE 3

June 2002 ENJ - Georgia Tech 3

Draper Small Autonomous Air Vehicle (DSAAV) in 1996

IMU SD MotionPak 32cc Engine D-GPS NovAtel RT-20 Sonar Altimeter Camera/Tx Compass 486 Computer RF Modem Receiver/Servo Interface Power Distribution Battery 6 ft Rotor Modified TSK BlackStar Total Weight 23 Pounds, 10 kg

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SLIDE 4

June 2002 ENJ - Georgia Tech 4

DSAAV at the 1996 Aerial Robotics Competition

  • Organized by the Association for Unmanned Vehicle

Organized by the Association for Unmanned Vehicle Systems, International (AUVSI) Systems, International (AUVSI)

  • Epcot Center, Orlando, Florida

Epcot Center, Orlando, Florida

Helicopter Helicopter Ground Coverage Ground Coverage Contest Area, 60x120 ft Contest Area, 60x120 ft Safety Pilot Safety Pilot Emergency Emergency Termination Termination D D-

  • GPS Reference

GPS Reference Vision Vision Processor Processor GCS GCS Start Box Start Box

B

  • s

t

  • n

A e r i a l R

  • b
  • t

i c s T e a m

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June 2002 ENJ - Georgia Tech 5

Contest Flight #5

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June 2002 ENJ - Georgia Tech 6

  • Research Project Sponsored by NASA MSFC

Research Project Sponsored by NASA MSFC

– – Thesis Advisor: Anthony J. Calise, Georgia Tech Thesis Advisor: Anthony J. Calise, Georgia Tech

  • Exploring Flight Control Technologies Applicable to

Exploring Flight Control Technologies Applicable to X X-

  • 33 & Future Reusable Launch Vehicles (RLV)

33 & Future Reusable Launch Vehicles (RLV)

– – Reduce Analysis Required per Mission Reduce Analysis Required per Mission – – Increase Tolerance to Failures and Environment Increase Tolerance to Failures and Environment

Limited Authority Adaptive Flight Control

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SLIDE 7

June 2002 ENJ - Georgia Tech 7

Neural-Network Adaptive Flight Control

Approximate Dynamic Inversion Approximate Dynamic Inversion Pseudo Pseudo-

  • Control

Control

ν

Plant Plant

δ

Plant Inputs (Actual Controls) Plant Inputs (Actual Controls) + Reference Model Reference Model Command Command

rm

ν

PD Control PD Control Neural Network Neural Network

  • +

Tracking Tracking Error Error

pd

ν

ad

ν −

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SLIDE 8

June 2002 ENJ - Georgia Tech 8

( )

az

e z

−

+ = 1 1 σ

( )

x V σ W

T T

= = y

ad

ν

In matrix form: In matrix form:

  • Feedforward Neural Networks

Feedforward Neural Networks with a Single Hidden Layer are with a Single Hidden Layer are Universal Approximators. Universal Approximators.

  • The Sigmoidal Activation

The Sigmoidal Activation Function has Internal Function has Internal Activation Potential ‘a’. Activation Potential ‘a’.

Single Hidden Layer Neural Network

( ) σ ⋅ ( ) σ ⋅ ( ) σ ⋅ ( ) σ ⋅

  • x1

x2

xN1

  • y1

y2

yN3

V W N2 N1 N3

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SLIDE 9

June 2002 ENJ - Georgia Tech 9

( )

[ ] [ ] V

W

V | | ' W ζ V W | | ζ x V ' W Γ + − = + − Γ − = ζ σ x ζ σ σ

T T

κ κ D D

Adaptation Law: Adaptation Law: Define: Define:

Q , Q PA P A P ζ

T

> − = + = b eT

rm

Error Dynamics: Error Dynamics: ( (A is Hurwitz) is Hurwitz)

∆ − = − + = ν ν ν ν ν x

ad pd crm

  • (

)

∆ − + =

ad rm rm

b e e ν A

  • Neural Network Adaptation

( ) ( )

z z σ z σ ∂ ∂ = '

(Diagonal Matrix) (Diagonal Matrix)

      − − = x x x x e

rm rm rm

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June 2002 ENJ - Georgia Tech 10

Issues

  • Capability is Limited

Capability is Limited

– – Saturation (Including Axis Priority), Rate Limits Saturation (Including Axis Priority), Rate Limits

  • Not Feedback Linearizable

Not Feedback Linearizable

  • Sign of Control Effectiveness Becomes Zero

Sign of Control Effectiveness Becomes Zero – – Discrete Control (e.g., RCS Thrusters) Discrete Control (e.g., RCS Thrusters)

  • Need to Make a Flight Certification Case

Need to Make a Flight Certification Case

– – Show Adaptation Extremely Unlikely to Show Adaptation Extremely Unlikely to Cause Cause Loss of Vehicle Loss of Vehicle

  • Assumptions for Stability Need to be Extremely Mild

Assumptions for Stability Need to be Extremely Mild

  • Require Recovery from Temporary “Faulty” Adaptation

Require Recovery from Temporary “Faulty” Adaptation

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SLIDE 11

June 2002 ENJ - Georgia Tech 11

NN Adaptive Control with Pseudo-Control Hedging (PCH)

PD Control PD Control Dynamic Inversion Dynamic Inversion Neural Network Neural Network Plant Plant Reference Model Reference Model

  • +

+ Tracking Tracking Error Error Command Command Estimate Hedge Estimate Hedge Actuator Actuator

cmd

δ

hedge

ν δ ν x

rm

ν

pd

ν

ad

ν −

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June 2002 ENJ - Georgia Tech 12

Implications

  • “Shelter” Adaptive Element from the Adverse Effects

“Shelter” Adaptive Element from the Adverse Effects

  • f Plant Input Characteristics:
  • f Plant Input Characteristics:

– – Linear Dynamics, Latency, Saturation, Rate Saturation, etc. Linear Dynamics, Latency, Saturation, Rate Saturation, etc.

  • Achievable Adaptation Performance is Increased

Achievable Adaptation Performance is Increased Dramatically Dramatically

  • Adaptation is Correct During Saturation

Adaptation is Correct During Saturation

– – Adaptive Element Can Recover from “Faulty” Adaptation Adaptive Element Can Recover from “Faulty” Adaptation

  • Enables Correct Adaptation When Not in Control of

Enables Correct Adaptation When Not in Control of Plant Plant

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June 2002 ENJ - Georgia Tech 13

X-33 Flight Control Sponsored by NASA MSFC

  • Ascent Phase

Ascent Phase

– – Linear Aerospike Roll/Pitch/Yaw Linear Aerospike Roll/Pitch/Yaw – – Aerodynamic Controls: Aerodynamic Controls:

  • Body Flaps

Body Flaps

  • Elevons

Elevons

  • Rudders

Rudders

  • Transition and Entry

Transition and Entry

– – Reaction Control System (RCS) Reaction Control System (RCS) – – Aerodynamic Controls Aerodynamic Controls RCS (8) RCS (8) Aero Surfaces (8) Aero Surfaces (8) Aerospike Throttles (4) Aerospike Throttles (4)

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June 2002 ENJ - Georgia Tech 14

  • 2.5
  • 2
  • 1.5
  • 1
  • 0.5

0.5 1 1.5 2 2.5 50 100 150 200

time (sec) roll pitch yaw

  • 2.5
  • 2
  • 1.5
  • 1
  • 0.5

0.5 1 1.5 2 2.5 50 100 150 200

time (sec) attitude error (deg) roll pitch yaw

Nominal Ascent Phase Results

  • Preliminary Results, Ascent

Preliminary Results, Ascent Flight Control Flight Control

– – 3 3-

  • Axis Attitude System

Axis Attitude System

  • Performance Improved Over

Performance Improved Over Existing Design Existing Design

– – Attitude Error is Lower Attitude Error is Lower – – Hinge Moments Look Good Hinge Moments Look Good – – Nothing Nothing is Scheduled! is Scheduled!

Baseline Baseline NN NN

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June 2002 ENJ - Georgia Tech 15

  • 120
  • 60

60 120 50 100 150 200

time (sec) attitude error (deg) roll pitch yaw

Ascent Phase Multiple Actuator Failures

  • 150
  • 100
  • 50

50 100 150 50 100 150 200

time (sec) roll pitch yaw

Baseline Baseline NN NN

  • Half of Aero Surfaces Fail

Half of Aero Surfaces Fail Hard Hard-

  • Over at 60 sec

Over at 60 sec

  • (All Right

(All Right-

  • Hand Surfaces

Hand Surfaces Give Uncommanded Left Give Uncommanded Left Turn) Turn)

  • Occurs Near Max Q

Occurs Near Max Q (60 Seconds) (60 Seconds)

Failure Failure

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June 2002 ENJ - Georgia Tech 16

Ascent Phase Multiple Actuator Failures NN Controller

  • 15
  • 10
  • 5

5 10 15 20 25 30 35 50 100 150 200

time (sec) surface deflection (deg) flapR flapL elevonInR elevonInL elevonOutR elevonOutL rudderR rudderL

  • Saturates on All Three Axes

Saturates on All Three Axes

  • Vehicle Rolls Three Times

Vehicle Rolls Three Times

  • Full Recovery Once

Full Recovery Once Dynamic Pressure Dynamic Pressure Drops Drops

Effectors Effectors

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June 2002 ENJ - Georgia Tech 17

  • Adaptation is “Correct”

Adaptation is “Correct” During Saturation During Saturation

  • No Knowledge of

No Knowledge of Failure Used Failure Used (Not Even in the (Not Even in the Hedge!) Hedge!)

Ascent Phase Multiple Actuator Failures NN Controller

Roll Axis Pseudo Roll Axis Pseudo-

  • Control Signals

Control Signals

  • 0.2

0.2 0.4 0.6 0.8 1 1.2 50 100 150 200 250 time (sec) del vad

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June 2002 ENJ - Georgia Tech 18

Subsequent Research Involving PCH

  • X

X-

  • 33/RLV Attitude Control

33/RLV Attitude Control

  • Adaptive Tracking and Control

Adaptive Tracking and Control (Inner and Outer Loops) for RLV (Inner and Outer Loops) for RLV

  • Reconfigurable Flight Control for Civillian Aircraft

Reconfigurable Flight Control for Civillian Aircraft (Training While Not in Control) (Training While Not in Control)

  • Yamaha R

Yamaha R-

  • 50/R

50/R-

  • Max

Max

  • JDAM

JDAM

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June 2002 ENJ - Georgia Tech 19

Georgia Tech UAV Research Facility

http://controls.ae.gatech.edu/labs/uavrf http://controls.ae.gatech.edu/labs/gtar

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June 2002 ENJ - Georgia Tech 20

Approach to Adaptive Trajectory Following

  • PCH is Used To

PCH is Used To

– – Modify the Command Trajectory to Create the Feasible Reference Modify the Command Trajectory to Create the Feasible Reference Trajectory (And Leave it Alone if Not at Limits) Trajectory (And Leave it Alone if Not at Limits) – – Protect Outer Loop Adaptation From Inner Loop Dynamics Protect Outer Loop Adaptation From Inner Loop Dynamics – – Protect Inner Loop Adaptation From Limited Control Authority Protect Inner Loop Adaptation From Limited Control Authority (As Before) (As Before)

Inner Loop Inner Loop

Command Trajectory

Outer Loop Outer Loop Neural Network Neural Network

v x, θ

PCH PCH

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June 2002 ENJ - Georgia Tech 21

Application to Rotorcraft Maneuvering

Yamaha R-Max Simulation Results: Fly in a Circle While Pirouetting

  • 80
  • 60
  • 40
  • 20

20 40 60 80

  • 80
  • 60
  • 40
  • 20

20 40 60 80 East North Network ON

Vel = 15 ft/s Yaw = 45 o/sec

  • 80
  • 60
  • 40
  • 20

20 40 60 80

  • 80
  • 60
  • 40
  • 20

20 40 60 80 East North Network OFF

1st time around “Circle” Network ON Better Each Time “Pentagon” Network OFF

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June 2002 ENJ - Georgia Tech 22

Software Enabled Control Sponsored by DARPA

  • Develop software

Develop software-

  • enabled control methods for

enabled control methods for complex dynamic systems with application focus on complex dynamic systems with application focus on intelligent UAVs intelligent UAVs

  • Support

Support-

  • the

the-

  • development and implement a plug

development and implement a plug-

  • and

and-

  • play, real

play, real-

  • time software architectures

time software architectures

  • VTOL UAV hardware

VTOL UAV hardware-

  • in

in-

  • the

the-

  • loop simulation and flight

loop simulation and flight testing testing

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June 2002 ENJ - Georgia Tech 23

Non-Volatile Memory Services Services Scheduling Services Event Services Naming Services Persistence Services Timer Services Time Services Real-Time ORB OS and Hardware Interfaces

Application Component Application Component Application Component

Bold Stroke Open Systems Architecture

  • Real

Real-

  • time CORBA

time CORBA-

  • based Integration of Distributed,

based Integration of Distributed, Heterogeneous Components Heterogeneous Components

  • Utilizes Object Request Broker (ORB) Architecture

Utilizes Object Request Broker (ORB) Architecture Developed by Washington University and Boeing Developed by Washington University and Boeing

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June 2002 ENJ - Georgia Tech 24

Open Systems Architecture

Controller Interface

  • Distributed objects

Distributed objects

  • Plug

Plug-

  • and

and-

  • play

play

  • Encapsulation

Encapsulation

  • Reconfiguration

Reconfiguration

PID Neural Net Controller Strategy Sensor Interfaces Sensor Interfaces

Rigid Body + Rotor Dynamics Force and Moment Calculations Sensor Models Servo Dynamics

Actuator Interface Actuator Interface

UAV Interface

Simulation Model

UAV Interface

Sensor Interfaces Sensor Interfaces Actuator Interface Actuator Interface

Vehicle

Component Communication Example

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SLIDE 25

June 2002 ENJ - Georgia Tech 25

Recent UAV Platform Integration Work

  • Yamaha R

Yamaha R-

  • Max, 66kg, 3m Rotor Diameter

Max, 66kg, 3m Rotor Diameter

  • Avionics and Simulation Tools Developed Over the

Avionics and Simulation Tools Developed Over the Past Year Past Year

  • Hardware

Hardware-

  • in

in-

  • the

the-

  • Loop Simulation and Ground

Loop Simulation and Ground Testing Started in November 2001 Testing Started in November 2001

  • Navigation System Ground Tests

Navigation System Ground Tests Completed February 2002 Completed February 2002

  • Flights Testing (With Avionics)

Flights Testing (With Avionics) Began March 2002 Began March 2002

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June 2002 ENJ - Georgia Tech 26

GTM ax Hardware Components

  • Flight Computer

Flight Computer

– – 266MHz Embedded PC, 266MHz Embedded PC, Ethernet, Flash Drive Ethernet, Flash Drive

  • Sensors

Sensors

– – Inertial Measurement Unit Inertial Measurement Unit – – Differential GPS Differential GPS – – Magnetometer Magnetometer – – Sonar and Radar Altimeters Sonar and Radar Altimeters – – Vehicle Telemetry Vehicle Telemetry (RPM, Voltage, Pilot Inputs) (RPM, Voltage, Pilot Inputs)

  • Data Links

Data Links

– – 11 Mbps Ethernet Data Link 11 Mbps Ethernet Data Link – – RS RS-

  • 232 Serial Data Link

232 Serial Data Link

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June 2002 ENJ - Georgia Tech 27

GTM ax Hardware Integration

  • Exchangeable modules:

Exchangeable modules:

– – Flight Computer Module Flight Computer Module – – GPS Module GPS Module – – Data Link Module Data Link Module – – IMU/Radar Module IMU/Radar Module – – Unused Module (Growth) Unused Module (Growth) – – Sonar/Magnetometer Assemblies Sonar/Magnetometer Assemblies – – Power Distribution System Power Distribution System

  • Each module has self

Each module has self-

  • contained power regulation

contained power regulation and EMI shielding and EMI shielding

  • Vibration isolated main

Vibration isolated main module rack module rack

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SLIDE 28

June 2002 ENJ - Georgia Tech 28

Onboard Avionics Architecture

Flight Computer Serial Extension Board Freewave DGR-115 DC/DC

5V

5V

Battery 12V Auxiliary Module Aironet MC4800 Ethernet Hub NovAtel RT-2 GPS Receiver Auxiliary Computer / Payload Radar Altimeter ISIS-IMU

12V

DC/DC DC/DC HMR-2300 Magnetometer DC/DC Sonar Altimeter Power Distribution Module Generator

Yamaha Attitude Control System

RC Receiver YACS IMU

12V 5V

RS-232 Serial Ethernet DC Power Data Link Module GPS Module IMU/Radar Module Flight Computer Module

5V 12V

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SLIDE 29

June 2002 ENJ - Georgia Tech 29

Baseline Onboard Software

  • Navigation

Navigation

– – 17 State Extended Kalman 17 State Extended Kalman Filter Navigation System Filter Navigation System

  • Vehicle Position

Vehicle Position

  • Vehicle Velocity

Vehicle Velocity

  • Vehicle Attitude

Vehicle Attitude

  • Accelerometer Biases

Accelerometer Biases

  • Gyro Biases

Gyro Biases

  • Terrain Height

Terrain Height – – All Attitude Capable All Attitude Capable – – 100 Hz Updates 100 Hz Updates – – Flight Operational Flight Operational

  • Control

Control

– – Adaptive Neural Network Adaptive Neural Network Trajectory Following Trajectory Following Controller Controller – – Neural Network Neural Network

  • 16 Inputs

16 Inputs

  • 5 Hidden Layer Neurons

5 Hidden Layer Neurons

  • 6 Outputs for 6 Degrees

6 Outputs for 6 Degrees

  • f Freedom
  • f Freedom

– – Can Also Be Configured as a Can Also Be Configured as a Conventional Inverting Conventional Inverting Controller Controller – – Flight Operational Flight Operational

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June 2002 ENJ - Georgia Tech 30

Simulation Tools

  • Hardware In the Loop

Hardware In the Loop Simulation Capable Simulation Capable

  • The Desktop Computer

The Desktop Computer Simulation Utilizes Simulation Utilizes

– – Actual Flight Software Actual Flight Software – – Actual Ground Control Station Actual Ground Control Station Software Software – – Flight Test Verified Dynamic Flight Test Verified Dynamic Model of Helicopter Model of Helicopter – – Flight Test Verified Model of All Flight Test Verified Model of All Sensors/Actuators Sensors/Actuators – – Scene Generation Capability Scene Generation Capability

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June 2002 ENJ - Georgia Tech 31

Software in the Loop (SITL)

  • Test algorithms within the simulation

Test algorithms within the simulation

  • Generate emulated sensor data from an aircraft simulation

Generate emulated sensor data from an aircraft simulation (including errors) (including errors)

Vehicle Model Sensor Drivers Sensor Emulation

(w/ Error Model)

Actuator Driver

Sensor Data State Estimate Control

Actuator Simulation

State Control Sensor Raw Data Actuator Raw Data

Desktop Computer

Trajectory Planner Other Systems

Flight Controller Navigation Filter

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SLIDE 32

June 2002 ENJ - Georgia Tech 32

Hardware in the Loop (HITL)

  • Flight software runs on the onboard computer

Flight software runs on the onboard computer

  • Onboard computer “thinks” it is flying the vehicle

Onboard computer “thinks” it is flying the vehicle

Vehicle Model Sensor Drivers Sensor Emulation

(w/ Error Model)

Actuator Driver

Sensor Data State Estimate Control

Actuator Simulation

State Control Sensor Raw Data Actuator Raw Data

Desktop Computer Flight Computer

Trajectory Planner Other Systems

Flight Controller Navigation Filter

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SLIDE 33

June 2002 ENJ - Georgia Tech 33

GTM ax Flight Operations

  • Network Connections

Network Connections Available At Ground Control Available At Ground Control Station from Hub Station from Hub

– – Multiple Laptops Can Multiple Laptops Can Communicate with Onboard Communicate with Onboard Computers Simultaneously Computers Simultaneously

  • Due to Generator,

Due to Generator, Endurance Limited by Endurance Limited by Onboard Fuel (> 1 hour) Onboard Fuel (> 1 hour)

  • Ground Equipment Can

Ground Equipment Can Operate on 115VAC or Operate on 115VAC or 12VDC and Has Battery 12VDC and Has Battery Backup Backup

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SLIDE 34

June 2002 ENJ - Georgia Tech 34

Flight Testing in McDonough, Georgia

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SLIDE 35

June 2002 ENJ - Georgia Tech 35

First Tests w/ Baseline Controller

  • Neural Network Adaptive Controller on First Flight

Neural Network Adaptive Controller on First Flight Test Day (April 10, 2002) Test Day (April 10, 2002)

  • Even With Large

Even With Large Model Errors, Model Errors, System Was Able System Was Able To Control the To Control the Helicopter Helicopter

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SLIDE 36

June 2002 ENJ - Georgia Tech 36

Results With Baseline Controller

Step Input of Altitude Command:

1130 1135 1140 1145 158 160 162 164 166 168 170 time (sec ) altitude (ft) step input of position c ommand, down Position Estimate Position Command

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SLIDE 37

June 2002 ENJ - Georgia Tech 37

Flight Control Reconfigurations

  • Switched Between Neural Network Adaptive

Switched Between Neural Network Adaptive Controller to Much Simpler Conventional Inverting Controller to Much Simpler Conventional Inverting Controller and Back Controller and Back

  • Real Time and

Real Time and Closed Loop Closed Loop

180 190 200 210 220 230 240 250 325 330 335 340 345 350 Control Rec onfigura tion East (ft) time (sec ) Position Estimate Position Command

Reconfiguration at 206.24

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SLIDE 38

June 2002 ENJ - Georgia Tech 38

Collective control failure Collective control failure

Failure detection and control reconfiguration with RPM control

With fault tolerant and reconfigurable control system With fault tolerant and reconfigurable control system

Simulated Main Rotor Actuator Failure

Without fault tolerant and reconfigurable control system Without fault tolerant and reconfigurable control system

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SLIDE 39

June 2002 ENJ - Georgia Tech 39

Tail rotor failure Tail rotor failure

Without fault tolerant and reconfigurable control system Without fault tolerant and reconfigurable control system

Tail Rotor Failure (in Simulation)

Gain altitude using main rotor collective Control reconfiguration using main rotor controls Translatory descent to a clear area Control reconfiguration for autorotation

With fault tolerant and reconfigurable control system With fault tolerant and reconfigurable control system

Autorotation and landing

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SLIDE 40

June 2002 ENJ - Georgia Tech 40

International Aerial Robotics 2001-

Launch Area Launch Area Two Lights Two Lights Identify Identify Building Building

3 km 3 km

Vehicle or Vehicle or Subvehicle Subvehicle(s) Enter Building (s) Enter Building Building and an Building and an Entry Point Found Entry Point Found

>1m >1m

Transmit an Image of “Point of Interest” Transmit an Image of “Point of Interest” Inside Building Inside Building In Less Than 15 Minutes: In Less Than 15 Minutes: Image Receiver Image Receiver (& Other (& Other Gound Gound Components) Components) Sign Over Sign Over Entry Entry

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SLIDE 41

June 2002 ENJ - Georgia Tech 41

International Aerial Robotics Competition

  • Unmanned and Autonomous

Unmanned and Autonomous (No Active Human Operators, no Tethers) (No Active Human Operators, no Tethers)

  • Some Components Can Remain on the Ground

Some Components Can Remain on the Ground (e.g., Additional Computers, Navigation Aids) (e.g., Additional Computers, Navigation Aids)

  • Launch and Recovery Need

Launch and Recovery Need Not Not Be Autonomous Be Autonomous

  • Mission is Divided into “Levels”

Mission is Divided into “Levels”

  • Each Teams Gets 60 Minutes To Fly (...Per Year)

Each Teams Gets 60 Minutes To Fly (...Per Year)

  • Rules Change Once a Mission is Completed

Rules Change Once a Mission is Completed

http:// http://avdil avdil. .gtri gtri. .gatech gatech. .edu edu/AUVS/ /AUVS/CurrentIARC CurrentIARC/2001CollegiateRules.html /2001CollegiateRules.html

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SLIDE 42

June 2002 ENJ - Georgia Tech 42

Mission Levels

  • Level 1: Follow Prescribed Waypoints for 3km

Level 1: Follow Prescribed Waypoints for 3km

  • Level 2: Locate Building and Find an Entry

Level 2: Locate Building and Find an Entry

  • Level 3: Enter the Building

Level 3: Enter the Building

– – Can Be a Different Vehicle or Can Be a Different Vehicle or Subvehicle Subvehicle That Used Above That Used Above – – Can Launch Near Target Structure Can Launch Near Target Structure

  • Level 4: Image Desired Location Within Building and

Level 4: Image Desired Location Within Building and Transmit Transmit

– – Complete In < 15 Minutes (Launch to Data Retrieval) Complete In < 15 Minutes (Launch to Data Retrieval)

  • Contest is Over Once Somebody Does Level 4

Contest is Over Once Somebody Does Level 4

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SLIDE 43

June 2002 ENJ - Georgia Tech 43

2001 Airplane: ¼ Scale Cub

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SLIDE 44

June 2002 ENJ - Georgia Tech 44

Winning Flight in 2001, Level 1

  • 76.44
  • 76.435
  • 76.43
  • 76.425
  • 76.42
  • 76.415

38.14 38.142 38.144 38.146 38.148 38.15 38.152 38.154 500

L

  • n

g i t u d e L a t i t u d e Altitude Automatic Flight Manual Takeoff/Landing Waypoint 1 Waypoint 2 Waypoint 3 Waypoint 4 & Holding Pattern “Runway” & Ground Station

Under Automatic Flight: Under Automatic Flight: Distance Traveled: 3.1 mi / 4.9 km Distance Traveled: 3.1 mi / 4.9 km Time: 3 min 9 sec Time: 3 min 9 sec Average Speed: 58 mph / 93 Average Speed: 58 mph / 93 kph kph Max Distance from Ground Station: ½ mi / 0.8 km Max Distance from Ground Station: ½ mi / 0.8 km Average Altitude: 397 ft / 121 m Average Altitude: 397 ft / 121 m

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SLIDE 45

June 2002 ENJ - Georgia Tech 45

Plans for 2002

  • Level 2

Level 2

– – Add a Video Camera and Image Processor Add a Video Camera and Image Processor (Donation from Texas Instruments) (Donation from Texas Instruments) – – Switch GPS to D Switch GPS to D-

  • GPS For Level 2 Accuracy (NovAtel)

GPS For Level 2 Accuracy (NovAtel) – – Update Ground Station Software and Develop Image Processing Update Ground Station Software and Develop Image Processing Software Software – – Possibly Also Switch to GTMax Possibly Also Switch to GTMax

  • Level 2+

Level 2+

– – Design, Building, and Testing for Sub Design, Building, and Testing for Sub-

  • Vehicle: Drops From Airplane

Vehicle: Drops From Airplane and Enters Building and Enters Building – – Designs for Operation Inside Building (Levels 3 & 4) Designs for Operation Inside Building (Levels 3 & 4)

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SLIDE 46

June 2002 ENJ - Georgia Tech 46

Some Potential Areas of Collaboration

  • VTOL and Fixed

VTOL and Fixed-

  • Wing UAV Flight Testing

Wing UAV Flight Testing

– – Lessons Learned Lessons Learned – – Simulation Models and Software Simulation Models and Software – – GTMax as a Research Flight Test Platform GTMax as a Research Flight Test Platform

  • Studies at Georgia Tech

Studies at Georgia Tech

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SLIDE 47

June 2002 ENJ - Georgia Tech 47

UAV Avionics at the 2002 Digital Avionics Systems Conference

  • AIAA/IEEE

AIAA/IEEE

  • October 27

October 27-

  • 31; Irvine, California

31; Irvine, California

  • NEW

NEW Applications of Avionics: Applications of Avionics: Uninhabited Air Vehicles (UAV) & Missiles Track: Uninhabited Air Vehicles (UAV) & Missiles Track:

– – Avionics systems for UAVs, intelligent systems for vehicle auton Avionics systems for UAVs, intelligent systems for vehicle autonomy,

  • my,
  • peration of UAVs in controlled airspace, payloads, missiles, an
  • peration of UAVs in controlled airspace, payloads, missiles, and

d guided munitions guided munitions – – 5 Sessions 5 Sessions – – Paper Acceptance Still Possible for New Track, But Act Fast Paper Acceptance Still Possible for New Track, But Act Fast

  • Contact: Eric N. Johnson

Contact: Eric N. Johnson 404 404-

  • 385

385-

  • 2519, Eric.Johnson@

2519, Eric.Johnson@ae ae. .gatech gatech. .edu edu