Test Bed for a Wireless Network on Small UAVs

Transcription

1 Test Bed for a Wireless Network on Small UAVs Timothy X Brown Interdisciplinary Telecommunications Electrical and Computer Engineering University of Colorado Presented at the AIAA 3 rd Unmanned Unlimited Technical Conference Chicago September 22, 2004 CU-Boulder

2 Thanks to University of Colorado Brian Argrow Cory Dixon Jack Elson Sheetalkumar Doshi Daniel Henkel Jesse Himmelstein Sushant Jadhav Gerald Jones Marc Kessler Jake Nelson Phillip Nies Bill Pisano Roshan-George Thekkekunnel Institute for Telecommunication Sciences John Ewan Fidelity-Comtech Joe Carey L3-Corporation Ken Davey 9/22/2004 T.X Brown ( 2

3 We are building an Ad Hoc UAV-Ground Network (AUGNet) COTS b (WiFi) Radio Components Linux-based Open Source Software Small Low-Cost UAV 241cm Radios in UAVs Fixed Radios Radios on vehicles 9/22/2004 T.X Brown ( 3

4 Wireless Ad Hoc Networks C A B Robust Connectivity 9/22/2004 T.X Brown ( 4

5 Routing Complexity C A B 9/22/2004 T.X Brown ( 5

6 The Problem There is a significant gap in careful studies of ad hoc network behavior Simulation misses the interaction between: Distributed Protocols Operating System Hardware Environment Full scale hardware test bed 9/22/2004 T.X Brown ( 6

7 Test Bed Design Goals: Realistic Real time Detailed Accurate Scales Challenges: Small UAV Disconnects Analysis Design: Outdoors Embedded collection Per packet data GPS time and position Concise data Relational database In-band signaling Reliable backhaul Graphical Interface 9/22/2004 T.X Brown ( 7

8 Test Bed Table Mountain National Radio Quiet Zone 15km North of the University of Colorado 9/22/2004 T.X Brown ( 8

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10 Test Bed Large, Flat Buildings with Power Networking UAV Ops FS Fixed Site (power, network backhaul) MNR Mesh Network Radio 1000ft (300m ) MNR5 MNR3 Mobile Node (MNR2 and MNR5) Paths MNR2 UAV Airstrip MNR4 UAV Flight Path MNR4 alternate site MNR3 alternate site FS2 MNR5 alternate site MNR1 MNR2 alternate site Public Road 9/22/2004 T.X Brown ( 10 Circuit FS1

11 m Table Mountain300m Landing Strip 1000 FS2 Fixed Sites 4km Public Road Circuit at Mesa Base Gateway to Hi-speed Internet FS1 3km 9/22/2004 T.X Brown ( 11

12 Monitoring Model NOC Univ. of Colorado Monitoring Server Table Mountain Ad Hoc Radio Test Bed Aerial Vehicle Nodes Fixed Node/ Gateway Ground Vehicle Nodes Normal Packet Data Handheld Nodes Web Access Internet Remote Monitoring Monitoring Backhaul Fixed Ground Nodes 9/22/2004 T.X Brown ( 12

13 Node Monitoring Collection Radio Receive Interface Receive Monitor Monitoring Module Type Size Route Sequence Timestamp Operating System DSR Router Packetization UDP/IP Encapsulation Monitor Data Collection Text Messages Transmit Monitor Radio Transmit Interface Per Packet Info Messages GPS Sequence Timestamp 9/22/2004 T.X Brown ( 13

14 Reliable Backhaul Nodes can be separated from gateway for minutes at a time Reliable backhaul guarantees delivery for up to 60min of separation. 9/22/2004 T.X Brown ( 14

15 Remote Monitoring Time Control Situational Map Data Graphs Control Panel Web-based Java GUI accessing MySQL Database 9/22/2004 T.X Brown ( 15

16 Monitoring Performance Throughput Without monitoring With monitoring Throughput (Mbps) 1 hop 2 hop 1.40 ± ± ± ±0.17 < 10% impact in worst case 9/22/2004 T.X Brown ( 16

17 Monitor Performance 50% in 1 sec 95% in 1 min 99.9% in 10min Fraction of packets delivered within specified delay (sec) Monitoring reliably delivered despite 10min losses in connectivity. 9/22/2004 T.X Brown ( 17

18 So What? We have demonstrated a robust data collection system that works across UAV, mobile, and fixed nodes with long disconnects with many applications We have built a GUI that Captures big picture of ad hoc network behavior Enables detailed analysis of specific events Project website: augnet.colorado.edu 9/22/2004 T.X Brown ( 18