Auvsi 2012 Journal Paper. Abstract ISTANBUL TECHNICAL UNIVERSITY CONTROL & AVIONICS LABORATORY TEAM HEZARFEN

Transcription

1 ISTANBUL TECHNICAL UNIVERSITY CONTROL & AVIONICS LABORATORY TEAM HEZARFEN Auvsi 2012 Journal Paper Abstract UAS of Team Hezarfen from Istanbul Technical University is explained in this paper. Aerial vehicle is a modified Senior Telemaster airframe with a custom autopilot system and a flight computer. Autopilot communicates with navigation software on ground via a 900MHz RF link while flight computer manages the payloads and relays images taken by the DSLR camera to the ground station via a 2.4GHz WIFI link. There is also a video camera with a 5.8GHz link with a wide angle lens to achieve better peripheral vision during flight. Two 72 MHz links are used for manual override for safety pilot and gimbal controller for camera. A Thunder Tiger 120 Nitro plane engine is used on the plane. Fuel capacity is 1500ml with %20 nitro and %10 lewis oil content. Payload system is powered via 22.2V 6000 mah LiPo batteries. Expected flight time is about thirty minutes. Best Regards Team HEZARFEN i

2 Table of Contents 1. Mission Overview Aerial Vehicle Vehicle Autopilot Payload Choice Of Camera PC Remote Control and Remote Shooting Aircraft PC Communication Links Communation Link Ground Systems Grand Control Station Command & Monitoring Center GPS Command & Monitoring Software Ground Control Image Processing Station Design Description Autonomy Mission Planning Safety Mechanical Design Electronic systems Design Termination Operation Data Processing & Target Recognition APPENDIX ii

3 1. Mission Overview Air vehicle has a MiniATX flight computer, connected to other avionics by CAN Bus, through interface cards designed in our laboratory. Main navigation and waypoint calculations are done on ground station and transmitted to autopilot via 900 MHz communication link 1. Imagery system consists of a DSLR camera and a lower resolution video camera with a wide angle lens. Output from the video camera is directed to a first person view headset worn by the imagery operator who also uses the gimbal controller on link RC2 to direct the camera. DSLR camera is controlled by flight computer and the pictures are tagged with position and time data and streamed to ground station. The mission could be seen appendix B. Top level block diagrams for the vehicle and the GCS are as follows: Video Camera Composite Video Transmitter 5.8 GHz DSLR Camera USB Flight Computer Ethernet Access Point 2.4GHz Auto Pilot PWM CAN BUS CAN BUS CAN BUS 72MHz Safety RC PWM Flight Computer RS232 PWM Aircraft Servos UART Interface Card UART ANALOG PWM PWM Camera Servos IMU GPS Air Speed RC2 72MHz 900MHz Xtend Figure 1: Block Diagram for Air Vehicle 1

4 2.4 GHz Access Point Ethernet Imagery Computer 900 MHz Xtend RS232 Ground Control & Navigation Computer Video 5.8 GHz Composite FPV Glasses Receiver 72MHz Gimbal Remote Control 72MHz Safety Pilot Remote Control Figure 2: Block Diagram for GCS 2. Aerial Vehicle 2.1. Vehicle Figure 3: Senior Telemaster The aircraft is a Senior Telemaster because it seems the best available option, as it could be seen from Appendix A. There wasn t enough space for all avionics in the hull, so the body is cut to create more space for all components. Gimbal and camera are attached to the bottom of the aircraft body with the help of these modifications. Original landing gear is also changed with a stronger one. Table 2.1. shows aircraft features. 2

5 Aircraft Senior Telemaster Weight 4800gr Payload 4500gr Wingspan 2384mm Body length 1624mm Wing area 86dm 2 Wing loading 108.1gr/dm nitro plane (thunder tiger) 20cc 3.3 Engine horse power 2-stroke Engine RPM RPM Engine weight 950gr with muffler Pressure ratio 10:1 Propeller 16*8 Servo Hitec HS-325 metal gear Servo voltage 7.2V Fuel %20 nitro, %10 lewis oil Fuel capacity 1500ml Gimbal DS01 for dslr Gimbal servo Savox high tork digital Gimbal pan/tilt +/- 60 Battery for avionic 22.2 V LiPo / 6000mAh --(900gr with nonflammable case) 2.2. Autopilot Table 2.1. Aerial Vehicle Components We are using a custom autopilot developed in our laboratory on a Gumstix Earth Computer-on-Module. All sensors are connected to interface cards that manage them and sends data over CAN Bus depending on configurations. Autopilot and flight computer are also connected to the same bus. This allows easy integration for new blocks to the system. For example, to use a different sensor, only the interface card needs to be reconfigured for the new part and with switches on the interface card parts of the system could be changed seamlessly. This gives the freedom to place sensors to optimal positions on the plane and easy replacements if an error occurs Payload It is very essential to design payload properly. Aircraft will be affected by payload directly. Thus, payload shall be designed and implemented within high margin rates. In this project, UAS payload consists of three main units; an imaging component, a processing device and a communication unit. The imaging component is a DSLR camera which was chosen as Canon 7D. Also, a second imaging component is planned to be used for scanning of area. This second camera has a wide angle lens to be got a wide area view 3

6 for imaging operator. Moreover, a pan-tilt mechanism is installed to be controlled of Canon 7D. The processing device points to two main devices. First device is the autopilot controller card and its peripherals, and second device is the PC which is used to be handled aerial photography. In similar way, communication unit includes two link devices. First is functioned for autopilot-ground control communication, and the other is used for photograph transfer Choice of Camera There are some key points for camera selection. Using of a DSLR camera matches project expectations within these key points. One of those is lens flexibility. Flight will be between 100 and 750 feet. Hence, a proper lens for this altitude interval can be selected easily. In addition to lens flexibility, another key point is focus plus shot time. To be got shorter focus plus shot time, a camera which has high performance CPU or even more than one CPU should be selected. Mass of camera has low priority due to the high margin. Some high performance cameras and other cameras, was used by participant teams in previous years, within requirement boundaries are examined in details. Final selection is determined as Canon 7D with mm lens. It is seen that test results meets with project expectations. Table 2.2 shows that timing of JPG burst mode, and Table 2.3represents USB transfer speed. Timing Frame rate Number of frames Write complete 32 GB SanDisk 8.0 fps > 320 ~ 1.0 sec Table 2.2: Timing of JPG burst mode Method EOS 7D USB 2.0 via EOS Utility (WIA) SanDisk Extreme Pro (using built in USB connector) SanDisk Extreme Pro in USB 2.0 reader Table 2.3: USB transfer speed. Transfer rate 15.4 MB/sec 14.3 MB/sec 21.5 MB/sec As a result of timing and speed of Canon 7D, auto focus plus shooting plus transferring to PC takes maximum 1.5 seconds. This is enough to be taken photos in burst mode. Hard disk of PC is a solid state disk, so transfer rate is higher than classical hard disks. 4

7 A video camera is used to supply continuous view. The video operator watches this video camera and sends shoot commands to aircraft s PC PC Remote Control and Remote Shooting To be taken of photographs, a remote control interface shall be built. Communication between ground control station-imaging system and aircraft s PC is done by using ethernet. Remote control of the PC is done by Windows Remote Desktop program. Remote shooting is achieved via Remote Camera Controller software which is prepared with Visual Basic.NET by using Canon EOS SDK. Software has timer to be shot according to an interval. Also, it has manual-one shot mode. Some camera configurations like aperture, ISO, shutter speed can be done with this interface. Figure 4 shows this GUI. Figure 4: EOS Remote Control software Figure 5 shows that a photograph which was taken with EOS Remote Control. The photograph has GPS data in its EXIF. Figure 5: Sample photograph that was taken via EOS Remote Control 5

8 Aircraft PC There are two PC s on aircraft. One is autopilot PC and its peripherals. Autopilot and sensor systems are explained under other section. So, it is not needed to be mentioned about those. Other PC is used to be held photography. Camera and router are connected to this PC. Remote Shooting and Remote Desktop software run on this PC. PC should have enough high performance, and it shall not be heavy. Its dimensions shall be suitable interval. This PC includes mainly Mini-ITX motherboard, and rest of the PC is assembled by us Communication Links Two communication ports are placed on aircraft. One of those is used to transfer commands & data between autopilot and ground station-monitoring. This product is DigiXtend900 1 Watt Link, and it uses 902 Mhz frequency band. Other is used to be linked aircraft-imaging PC and ground station-imaging. This link consists of two main units; router and antenna. The router is Ubiquiti Picostation M-2, and the Omnidirectional λ/4 Whip Antenna Communication Link Communication Link 1 is used for communication between GCS and autopilot. The reason we separated payload link with autopilot link is that payload link has a high bandwidth requirement since it will be transmitting high resolution images to the ground, so it might delay some critical data for autopilot. Operating frequencies are also separated to minimize the interference between autopilot and payload links. We only used standard frequency bands so if there is failure, replacement would be easier. ISM 900Mhz band is selected for communication link 1, because of its better propagation characteristics when compared to 2.4GHz band because communication link 1 carries critical data when compared to link 2. This comes with an increase in antenna size since the wavelength increases, but in our plane, this is not a problem. Figure 6: XTend OEM Module Digi s XTend 1Watt/900 MHz OEM RF modules are used on both ends for communication link 1 with half wave dipole antennas. While there were other options 6

9 that would serve our needs, our main selection criteria for this is ease of obtaining because of customs problems. We choose equipment we can obtain as fast as possible so we could start working on them earlier and if there is a need for replacement, we can replace them easily instead of waiting for week for arrival. 3. Ground Systems 3.1. Grand Control Station Command & Monitoring Center It is planned to be used one PC to transfer autopilot data, including set of commands which are sent to aircraft and set of measurement data which are taken from all sensors. In runtime, PC shall not malfunction. For stable running, a high performance chipset is needed. Also, RAM and GPU levels shall be high, and qualified for this type processing. Monitor of the PC can be clearly seen towards sun. After wide range searching, a PC was found that matches project expectations. The product is Samsung NP300V5A. Product specifications are given in Table 3.1 Part Spesification RAM 6 GB Processor Intel Core i7 2670QM Processor-speed 2.20 GHz Hard-Disc 640 GB Table 3.1: GCS-Monitoring PC spesification Some software are installed to PC. These are Matlab, Microsoft Visual Studio, Notepad++ and backup software GPS Command & Monitoring Software This program is written with C# language under Microsoft Visual Studio The main purpose of this program is to present incoming flight data to staff and, to send flight commands to aircraft. Given figures show ground control station interface. 7

10 Figure 7: Main screen with areas and flight path Figure 8: Waypoint editing mode 8

11 Figure 9: Fast waypoint mode Flight paths, no-flight zones and search areas can be defined, deleted and updated easily. All data are saved into file. Incoming flight data are received from COM port which is used by DigiXtend900 1 Watt Link, 902 Mhz. Instant positions of the aircraft are shown on map. This map is generated by C# extension, named GMAP Ground Control Image Processing Station Ground control image processing station unit consists of a computer that runs image processing algorithms and communication network of this computer and air vehicle. Data processing and target recognition operations and visualization of estimated results are performed in ground control image processing station. Operations will be performed continuous during the contest therefore a high performance PC is chosen. Ground control image processing station has a wireless communication between ground control station and flying air vehicle. Purpose of this communication is to transfer taken photographs to ground control station. Ubiquite rocket access point and 14 db directional antenna are used for communication. Taken photographs are transferred to ground control image processing station and all images saves and holds in a shared folder. Images are used in data processing & target recognition algorithms are pulled from shared folder. Established target images and operation logs are also saved in shared folder. Image processing results is written in a text file that indicates target characteristics and all text files related to main pictures. Moreover, image processing main steps are shown in the pop-up figures while image processing algorithms running. It is aim to finished visual user interface for image processing. User interface will represent real time flight video, processed image and target characteristic on the screen 9

12 4. Design Description 4.1. Autonomy Autonomous flight is expected as a competition requirement. Also autonomy is used in various parts of the system to increase efficiency and performance. Main autonomous parts of the system are: - Autopilot: Altitude hold, waypoint navigation, area search and return home functions. - Gimbal: Gimbal system can autonomously hold camera parallel to the ground. This helps with stable imagery and easier image processing. - Ground station: Automatic target detection as well as shape, color, background color and alphanumeric character, orientation and position properties of the target Mission Planning Mission planning is directly held by GCS-command center. Aircraft positions and states are processed and monitored also in this screen. No-flight zone, search area and flight path can be easily updated, removed, added. This program includes some GPS converting modes which can be needed to convert any GPS string forms. Figure 10 shows communication levels roughly. Figure 10: Get & send data diagram As the first step, communication link is done. Meanwhile, all telemetry data shall be received. Take-off will be manual-mode. So, autopilot is activated after take-off. Search areas, no-flight zones and flight paths are defined in GCS-command center. By clicking upload button, these data are parsed. Parsed data are uploaded part-by-part in order to not overflow CPU of the autopilot. All instant data are shown on map and monitoring screen. Landing will be manual-mode. So, if aircraft is close to landing point, manual overriding will be done. In this time, no command upload will occur. 10

13 4.3. Safety In all aviation projects, the most important thing is safety. Primarily personal safety and secondly system safety is taken into account in design. Mechanical and electrical systems are tested, reinforced and integrated for the purpose of safe flight. Systems safety and reliability explained below; Mechanical Design - Before integration, all parts of the system are tested. Mechanical design consists of three main parts. - Weight: All components are selected as light as possible. Total weight system is less than 55lbs. - Visibility: Color for vehicle is selected as shiny yellow and batteries are painted to blue for easier identification during if an accident happens. - Robustness: All part of system are attached by screws or secured with hot glue. Extra care is given to power cabling and cables are isolated as much as possible to prevent short circuits even if there is a crash Electronic Systems Design As well as automatic return home and flight termination features during a communication fail, there is also a switch that bypasses autopilot and get into manual flight mode with a flip. This switch also detects any autopilot fail early on and hands the controls to the safety pilot to prevent a dangerous crash. - Communication Links There are six different communication links, which are autopilot long range telemetry, RC safety link, wireless access point, RC Gimbal Link, Video Link Their frequencies are shown in Table 4.1 Communication Links RC Safety Link Autopilot Long Range Telemetry Wireless Access Point RC Gimbal Link Frequency 72MHz 902MHz 2.4GHz 72 MHz Video Link 5.8 GHz Table 4.1: Communication Frequency 11

14 - Manual Control Switch During flight, safety pilot should be able to take over control. Therefore there must be a system that can hand the control over the safety pilot from autopilot anytime. The switch circuit shown in the Figure 11, can switch to manual control from autopilot with a single switch flip on his remote controller. It also listens to a heartbeat signal generated by autopilot with a 100ms period. If this signal is lost due to an autopilot fail, control is handed to the safety pilot, preventing a possible crash Termination Figure 11: Switch circuit In case of an emergency, or according to termination rules, flight might be needed to get terminated. The termination process consists of 5 part. 1) Throttle closed 2) Full up elevator 3) Full right rudder 4) Full right aileron 5) Full Flaps down After these actions, air vehicle will start a spiral descend Operation Before flight, safety pilot tests the aircraft system s stability. We will use manual takeoff because of the additional complexity introduced by autonomous takeoff. When the aircraft is on level flight, autopilot is will take over. Figure 12 shows how aircraft will react to various events during autonomous flight. 12

15 Figure 12: Event reaction diagram 4.4. Data Processing & Target Recognition Data processing & target recognition are based on some operations on the original and refined images for the purpose of identification of target properties. All targets have particular characteristics such as location, orientation, shape, background color, alphanumeric symbols and alphanumeric color. These characteristics should be recorded. To record target characteristics, a sequential layer structure is developed in MATLAB. Image processing toolbox functions and written own MATLAB functions, are used in the sequential layer structure of data processing & target recognition. Targets may not appear in all images that are taken from air vehicle or more than one target may appear in one image. And also unexpected external or internal disturbances may have an negative impact in the image. These negative situations may cause to obtain incorrect results. Moreover, running of the whole data processing & target recognition algorithms on all images reduces the speed and accuracy of the performance. Therefore, before the whole data processing & target recognition operations, necessary preprocessing operations are performed on the image. Data processing & target recognition algorithms are given on Figure

16 Image Acquisition Preprocessing Morphologic Operations Mathematical Operations Target Identification Inner Part of Target Outer Part of Target Optical Character Recognition Color Detection Shape Recognition Color Detection Figure 13: Data Recognition & Target Recognition Steps First, original image is loaded and transferred to the MATLAB workspace. Proper size of original image is tuned to have better performance. Then, morphologic operations are performed to achieve the probable target regions. Original image is turned into grayscale image. Edge detection algorithm is utilized, thus binary images are obtained via detecting the differences of the grayscale image contrast. These binary images show edges. After eliminating outermost regions and tiny edges, more reliable probable target regions are achieved. 14

17 (a) (a) (b) (b) (c) (c) (d) (d) Figure 14: Steps of morphologic operations & mathematical operations. (a) Original image, (b) Grayscale image of original image, (c) Edge detected binary image of grayscale image, (d) Estimated possible target region after morphologic operations Remained regions are filtered by using the mathematical selection functions, desired target region is determined. Mathematical selection functions examine possible target regions by their size, area, ratio of length and width, connected component area and connected component size. This determined target region is named as target image and it is cropped from the original image. After these operations, recognition algorithms could be performed on the target image. Firstly target image separated into two parts. Therefore, color detection, optical character recognition and shape recognition algorithms are utilized on inner or outer parts of the target image. 15

18 (a) q (b) q (c) q Figure 15 : Target identification. (a) Estimated target region, (b) Outer part of target, (c) Inner part of target Color detection algorithm is applied to both parts, colors of background and alphanumeric symbol are obtained. Both parts of the target have three dimensional RGB space. According to this knowledge, approximated R-G-B values are compared with the R-G-B array that is defined in MATLAB code. Target shape is obtained by using shape features algorithms. All targets have unique shapes and properties. All shapes are easily noticed from shape database. According to this information, target shape could be obtained from the shape database. Optical character recognition algorithm gives alphanumeric letter/number. In this algorithm, alphanumeric data is compared with elements of alphanumeric database. After comparison, most similar solution is chosen. Optical character recognition also gives information about how many degrees the alphanumeric symbol is rotated from the initial axis. The goal of this action is to find exact rotation value. Data processing & target recognition operation includes morphologic operations, mathematical operations, optical character recognition, shape recognition and color detection algorithms. Alphanumeric symbols, alphanumeric color and background color of target characteristic is obtained successfully. Shape recognition algorithm is not fully ready. 16

19 5. APPENDIX Appendix -A Since we are not dealing with known values of wing area, it is more appropriate to look at the ratio of mass to areas. This is done by dividing all the masses by the wing area. With some simple rearrangement of the equation, we can isolate the payload ratio, as shown below. Now we can solve for the wing area from the payload mass-to-area ratio. The mass of the payload can be easily measured and the mass-to-area ratios of the total and airframe plus motor can be found with a simple calculation of the weight divided by a reference wing area. The battery ratio is slightly more complicated and involves such factors as mission duration, charge density, and efficiencies. In the above equation, and stand for the lift-to-drag ratio, mission duration, the efficiency coefficients of the motor and propeller used, respecitvely. By measuring the masses and areas of our components, we were able to find the values and ratios needed to solve the equation. The value used for the wing area was taken from an average of the three aircraft considered, seen below in Table. Senior Telemaster Piper Cup 120 Cessna 182 HK Average m Aircraft/Motor (kg) ,16 m Payload (kg) ,5 17

20 m Total (kg) 14,31 9,70 7,97 10,66 S (m 2 ) ,9 m Aircraft/Motor /S (kg/m 2 ) 1,16 1,25 1,5 1,3 m Total /S (kg/m 2 ) 16,6 15,1 19,92 17,2 Aircraft Performance Based on our mission and available components, we were able to choose values to estimate our battery ratio, as shown in Table. Mission Average Velocity Mission Duration 9,6m/s 40 min Aircraft Lift-to-Drag Ratio 8 Fuel Density 350 W-hr/kg Motor Efficiency 0.80 Propeller Efficiency 0.80 Mission Averages With all the values of the sizing equation known, we were able to determine the proper wing area for our aircraft. All of the models investigated for this selection have a wing area greater than that which would be ideal. The drawback with the Rascal aircraft was its tail dragger design, which introduced an additional challenge during aircraft take-off and landing. We, therefore, chose the Kadet Senior and Academy Hauler with their tripod gear configurations. 18

21 Appendix -B SHALL What have been done Rationale Expected Performance Takeoff Take off shall place within a designated area Air vehicle shall maintain steady flight between 100ft and 750ft MSL Waypoint Navigation Air vehicle shall autonomously overfly selected waypoints inside assigned airspace UAS shall not vary from the flight path given to take imagery Enroute Waypoints shall be achieved in order Area Search The air vehicle shall autonomously search for specific targets Characteristics of observed targets shall be recorded on a target data sheet Landing Landing shall be performed withind the designated area Safety Maximum takeoff gross weight of the vehicle shall be less than 55 lbs. The system shall provide sufficent information to determine if it is operating between no-fly/altitude boundaries The air vehicle shall be capable of manual override by the safety pilot during any phase of the flight The air vehicle shall automatically return home or terminate flight after loss of transmit signal for more than 30 sec. Takeoff tested with given specifications Flight tested within given limits Implemented navigation system Implemented gimbal system for camera Navigation system developed accordingly All area will be covered in flightpath Imagery operator will do the recording Landing tested with given specifications Vehicle lighter than the limit Flight parameters will be continously shown on GCS Manual RC link with override feature implemented Return home function implemented To be able to takeoff from specified area To be able to operate within boundaries To be able to photograph without effecting flight To control autopilot for proper waypoint navigation To be able to not miss any targets To be able to determine characteristics imagery software fails to do autonomously To be able to land in specified area safety To ensure proper operation and safety To avoid a crash in a system fail To ensure vehicle won't wander off and threat safety Successful takeoff from specified area Maintaining steady flight within boundaries Vehicle will be able to fly over given waypoints in assigned airspace Vehicle will not need to change its course for imagery Vehicle will achieve waypoints in order All targets will be detected and imaged All properties of all targets will be recorded Successful landing to specified area Vehicle will be lighter than the limit Flight parameters will be shown without interruption Safety pilot will be able to override the autopilot anytime by flipping a switch Aircraft will be able to return home 19

22 The air vehicle shall automatically terminate flight after loss of signal for 3 minutes. Return home system, if installed, shall be capable of activation by safety pilot Flight termination without an alternate recovery system shall select termination actions as given Maximum airspeed of the ait vehicle shall not exceed 100 KIAS. Batteries used in vehicle shall contain bright colors to faciliate locating them in the event of a crash. Takeoff shall not be from moving vehicles The system shall not exceed more than one motor vehicle and one trailer in the mission area Exotic, unusual fuels, batteries or components that might deem high risk shall not be used No objects shall depart from aircraft during flight Air Vehicle The system shall be limited to one air vehicle in air at any time The system shall not deploy or employ its own ground based sensors The system shall be capable of commanded altitude changes The air vehicle shall be capable of heavier than air flight The aircraft shall be free-flying, autonomous capable and have no entangling encumbrances such as tethers The aircraft shall comply with 2007 Official AMA Model Aircraft Safety Code with given exceptions Flight termination procedures implemented A switch will activate return home function on safety pilots controller Flight termination procedures implemented Vehicle operates within limits Yellow colored stickers applied to batteries No moving vehicles used in takeoff Only one motor vehicle and one trailer will be in the mission area Only tested and certified equipments used Everything fixed on plane properly There is only one vehicle No ground based sensors used Navigation system developed accordingly Vehicle is capable of heavier than air flight Vehicle is a fixed wing airplane Aircraft modified accordingly To ensure vehicle won't wander off and threat safety To ensure vehicle won't wander off and threat safety To ensure safe flight termination safety and obtain stable imagery Aircraft will be able to terminate flight safely Return home function will be able to triggered by safety pilot Aircraft will be able to terminate flight safely Vehicle will fly within speed limits Batteries could be easily spotted in an event of crash safety safety, not Vehicle will takeoff needed for our system on its own. Only one motor vehicle and one trailer will be in the mission area To ensure safe and stable operation To ensure safe and stable operation, not needed for our system, not needed for our system To be able to change altitudes during any emergencies or according to mission, stable imagery, longer flight time To ensure safe and stable operation under given conditions System will operate using only safe and known components No objects will depart aircraft during flight Only one vehicle will be on air in a given time System will operate without any ground sensors System will be able to change altitude on command Vehicle will perform heavier than air flight Vehicle will be able to perform autonomous flight Vehicle will comply with given safety specifications 20

23 The air vehicle shall be capable of takeoff and landing in crosswinds to the runway of 8 kts with gusts to 12 kts. The system shall be capable of completing mission objectives in temperatures up to 110 deg F at the surface. The system shall be cable of completing the mission after exposure to temperatures of 100 deg F for up to 10 hours. The system shall be capable of operating in fog conditions of visibility of 2 miles or greater with no precipitation The system shall be capable of operating during typical electromagnetic emissions at a military airfield, except at the frequency and channel used for command and control. Ground Control The ground control system displays shall be readable in bright sunlight conditions. The system shall display no fly zones to the operators and judges. The system shall display current air vehicle position with respect to the no fly zones to the operator and judges. The system shall display altitude (ft-msl) to the judges and operator. The system shall display indicated airspeed (KIAS) to the judges and operator. Payloads The UAS shall capture target images that can be displayed to the judges. Mission During the entire mission, air vehicles shall remain in controlled flight and within the no-fly Aircraft modified accordingly All subsystems are capable to work in given conditions All subsystems are capable to work in given conditions All subsystems are capable to work in given conditions Components that comply with specifications are used, power supplies are filtered, sensitive hardware enclosed Shades of displays bought GCS Software designed accordingly GCS Software designed accordingly GCS Software designed accordingly GCS Software designed accordingly Remote controllable imagery system with real-time downlink and on-vehicle storage implemented Navigation system developed accordingly To ensure safe and stable operation under given conditions To ensure safe and stable operation under given conditions To ensure safe and stable operation under given conditions To ensure safe and stable operation under given conditions To ensure safe and stable operation under given conditions To be able to operate in bright sunlight conditions and ensure safe and proper operation and ensure safe and proper operation and ensure safe and proper operation, process images during the flight and not to lose images in a communication fail Vehicle will be able to takeoff and land in given conditions Vehicle will operate in given conditions Vehicle will operate in given conditions Vehicle will operate in given conditions Vehicle will operate in given conditions Displays will be readable in bright sunlight No fly zones will be displayed on GCS screen Current vehicle position will be displayed on GCS screen Altitude will be displayed on GCS screen Airspeed will be displayed on GCS screen Images will be captured and send down to GCS Vehicle will not enter no-fly zones 21

24 boundary After takeoff, the air vehicles shall attain and remain in flight at an altitude between 100 and 750 ft MSL for the duration of the mission Once in autonomous flight, the vehicle shall operate with no direct pilot control to flight controls or power. The system shall be transported from the staging area to the mission site within 10 minutes of notification and availability of competition provided transportation The system shall be disassembled and transported off of the designated mission site within 20 minutes from the end of the mission. The system shall be capable of beginning the assigned mission within 40 min of arrival of the designated mission control sight. Navigation system developed accordingly Autopilot implemented System modified for easy assembly and disassembly System modified for easy assembly and disassembly System modified for easy assembly and disassembly Vehicle will remain in given limits during flight Vehicle will be able to fly autonomously during mission System will be transported to the site on time System will be transported off the site on time System will be able to begin assigned mission on time SHOULD Ground Control The system should be able to automatically detect/cue targets with a false alarm rate that does not exceed the detection rate. The system should be able to provide imagery and actionable intelligence in real time. The system should display search area boundaries to the operators and judges. The system should output target data (location (ddd.mm.ssss) & characteristics) in a format Implemented image processing software in Imagery system High-bandwith imagery link between plane and ground station, real time image processing GCS Software designed accordingly Imagery system designed to output in given format To quickly process received images and detect targets To be able to present imagery and actionable intelligence to judges real time in ground control station To ensure proper operation The system will be able to detect targets with a false alarm rate lower than %50 Images will be sent to ground and processed in real time to provide the data to the judges System will show search area boundaries in GCS screen Imagery system will output data in given format provided in attachment 2. Each identified target on the spreadsheet should contain an Spreadsheet will be To make a final Spreadsheet will have 22

25 embedded link to the associate image in a jpeg format. The ground control system should be able to output this target data to USB memory stick format. The system should have the capability to adjust mission search areas in flight Payloads The system should have the capability to capture imagery for up to 60 deg in all directions from vertically below the air vehicle Images should be provided to the judges in jpeg format The air vehicle should carry an RF communications relay payload capable of receiving data from a third party Simulated Remote Intelligence Center (SRIC) The SRIC has a directional antenna and will be located in the search area. The air vehicle should be capable of remaining within the beam width finalized by the imagery operator A Computer with a free USB port will be used in GCS Navigation system developed accordingly A gimbal system implemented for imagery Images are converted to desired format for judges A wireless access point configured as a bridge will be on air vehicle Air vehicle will circle above SRIC control on automatic identification data and ensure proper operation To be able to present the data in USB memory stick format To be able to cover a larger area without impacting flight To be able to provide connection between GCS and SRIC To ensure proper connection between GCS and SRIC links to the respected images Data will be able to provided in USB memory stick format System will be able to change search area during flight Gimball system will be able to direct camera with 60 deg pan and 60 deg tilt Judges will be presented jpeg images A stable link between SRIC and GCS will be able to maintained A stable link between SRIC and GCS will be able to maintained MAY Takeoff Systems utilizing launchers and/or not performing wheeled landing may utilize the grass immediately adjacent to the runway Will perform wheeled landing To ensure a more controlled and safe landing Vehicle will be able to land manually on wheels Area Search Air vehicles may search the area at any altitude between 100 and 750 ft MSL. Altitude will be decided depending on conditions on flight day To ensure proper imagery in flight days conditions Vehicle will be able to fly in any given altitude within limits Air Vehicle The aircraft may be of any Vehicle is a fixed Longer flight Vehicle will make heavier 23

26 configuration except lighterthan-air Ground Control Automatic target detection may be performed by any combination of the air vehicle side or the ground control side Payloads The images may be provided to the judges during the conduct of the mission or when handing in the mission report sheet. wing airplane Automatic target detection is done in GCS Images will be presented to judges with mission report sheet time and stable imagery To be able to process images faster To ensure all processing is done than air flight Images will be able to processed real time as they are acquired Images of all targets will be presented to judges on time Mission The sensor payload may be manually controlled while under autonomous flight Camera will be controlled by Imagery operator To ensure proper imagery for image processing software Camera will be directed to capture images of target 24