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evolving systems consulting about

Unmanned systems HAES

R. Sysala, 1K. Hacker

evolving systems consulting s.r.o.,Nm. Dr. Holho 1052/11,

180 00 Praha 8,

Czech Republic;

tel.: +420-604-347-014,

e-mail: [email protected] Model Production a.s.,

Zahradn 465,

270 54 evniov,Czech Republic;

tel.: +420-603-439-412,

e-mail: [email protected] 400 aircraft

Hacker Model Production &

evolving systems consulting

Unmanned

systems HAES

Confidential information: Without the advance written permission of HAESGroup, any reproduction or disclosure of this information to any third partyin any form is strictly prohibited.

a.s.
mailto:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]

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Presentation outlines

Introduction

Hacker Model Production a.s.

evolving systems consulting s.r.o.

UAS Avionics: Autopilot

UAS Avionics: Sense & Avoid

General introduction

ARCA

MIDCAS



Unmanned

systems HAES


a.s.

HAES Scanner

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The company Hacker Model ProductionInc. was established January 1, 1990,

and started production of RC models in

version ARFAlmost Ready to Fly. TheARF models were unique in that time.

In 2000 the company moved into itsown building in the village evniov. Inthese areas, the production of new

aircraft models has been further

extended and improved, 90% of

production is exported to countriesaround the world.



Unmanned

systems HAES


a.s.

20 years of flying

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The company has gained developmentand construction of a new machinery

and technology, drawing in 3D, CNC

machining, building prototypes of 3Ddata, casting plastic, vacuum forming

plastics, construction of special CNC

machines and vacuum chambers.

New production technology enabled thedevelopment and production of

Unmanned Aircraft Systems, which

have a wide field of applications:mapping the terrain, guarding buildings,

monitoring traffic on the highways,

searching for missing people,

measurement of concentrations of

noxious gases, security patrol, etc.



Unmanned

systems HAES


a.s.

Selective Laser Sintering (SLS) used in aerospace

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ESC is a European company withoffices in Munich, Vienna and Prague.

ESC aerospace laboratories (including

HAES CCUAS LABS - The HackerModel Prod. and Evolving Systems'

Competence Center for Unmanned

Aerial Systems) are headquartered in

Prague. ESC specializes in electronics,

especially embedded microcontrollers,

data transmission and microwave high

frequency applications.

ESC is developing on-board controlunits ESCUCS (Unmanned Control

Systems) for all HAES UAV production

lines. In R&D development are included

S&A Collision Avoidance System

(ARCA).



Unmanned

systems HAES


a.s.

ESCUCS Control Unit on a design of UAV UCS

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UAS UCS modules according toSTANAG 4586 w/ C2 integration; UGV

and even UUV.

Besides above mentioned ESC is activein space projects (software design and

development of flight and/or ground

segment subsystems and embedded

software, complying with applicable

ESA software development standards;

AO6052 Reusable Payload On Board

SW Framework; Ground SupportEquipment software packages for

various satellites and payloads, and

data processing software); ATM projects

(AO6050 IRIS System Design Phase B

under ESA ARTES 10 program).



Unmanned

systems HAES

Confidential information: Without the advance written permission of HAESGroup, any reproduction or disclosure of this information to any third party

in any form is strictly prohibited.a.s.

IRIS, new Air-Ground Communication system for ATM

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HAES production lines

Four UAV (Unmanned aerial vehicle)

production lines have been introduced

within the HAES Group:

HAES 90

HAES 400

- 5 demonstrators

- 3 dimensions

HAES 700

HAES Scanner

There is a possibility in a long term vision

to create new brand lines:

HAES Bird, Solar, UCAVHAES 90


in any form is strictly prohibited.a.s.

evolving systems consulting aboutHacker Model Production &


Unmanned

systems HAES

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HAES 400 AERIAL TARGET

Mission

The HAES 400 is an autonomous aerial

target used to provide a threat-representative target drone to support

the Ground-to-Air Weapon System

evaluation and test programs.

Features

The HAES 400, manufactured by HAES

Group (a joint venture of the companies

Hacker Model Production and EvolvingSystems Consulting), is constructed of

carbon fiber and epoxy-based materials.

The HAES 400 is capable of speeds from 80

km/h (49 mph) to 400 km/h (244 mph)

true airspeed at sea level.HAES 400 on a rail system



Unmanned

systems HAES

a.s.Confidential information: Without the advance written permission of HAESGroup, any reproduction or disclosure of this information to any third party

in any form is strictly prohibited.

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The drone can achieve flight altitudes from

30 m (100 ft) above ground level to

3,000 m (10,000 ft) mean sea level.

Maneuvers include G-turns up to 12 Gs,

and other aerial acrobatic turns.

The drone is launched from a rail

system. The drone can be recovered

by a parachute recovery system.

Recovered targets are repaired,

tested and reused. The HAES 400can carry a full range of current target

payloads which include infrared and

radar enhancements and a chaff/flare

dispenser set.HAES 400 on a rail system



Unmanned

systems HAES



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Background

A realistically moving aerial target

provides efficient shooting practiceand combat firing for anti-aircraft

missile systems

SHORAD/VSHORAD, thus improving

the quality and efficiency of the

gunner/operator training.



Unmanned

systems HAES

a.s.

General Characteristics of HAES 400 V1.2

Primary function:Aerial target

Prime Contractor: HAES Group (Hacker ModelProduction and Evolving Systems Consulting)

Power plant:Combustion engine w/ propeller

Wingspan:1.9 meters (6.3 ft)

Length:1.35 meters (4.5 ft)

Height:0.56 meters (1.8 ft)

Weight:19 kg empty, 21.5 kg max.

Speed:400 km/h (244 mph)

Ceiling:3,000 meters (10,000 ft)Range:30 km (18 mi)

Inventory:Demonstrators, 2; Active force, 0

Anti-aircraft missile system



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HAES 400 System overview

Robust design of control SW

Modular design of on-board HW

Fully automatic operation mode

NATO STANAG 4586 capable

HAES 400 System overview



Unmanned

systems HAES



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HAES 400 UCScontrol station

Modular design of UCS

Unlimited No. of connectedUAVs / UCS devices

Virtual fence restrictions

Mission planning / real time re-

planning

Ability of flight with assistance

HAES UCS - Map view



Unmanned

systems HAES



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HAES Scanner

Mission

The HAES Scanner is a short endurance

unmanned aircraft system. The HAESScanner's primary mission is

reconnaissance and surveillance in

support of the operational commander.

Surveillance imagery from video cameras

and forward looking cameras are

distributed in real-time.

Features

The HAES Scanner is a system, not just an

aircraft. A fully operational system

consists of one aircraft (with sensors), a

Ground Data Terminal, an Image

Receiving System, a Satellite Link, along

with operations and maintenance crews

for deployed 24-hour operations.

Advanced UAS type HAES Scanner



Unmanned

systems HAES



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HAES Scanner

The basic crew for the HAES Scanner is a

pilot and a payload operator. HAES

Scanner follows a conventional launch

sequence from a semi-prepared surfaceunder direct line-of-sight control. The

take-off distance is typically 50 m (165 ft)

and landing 100 m (330 ft).

The mission is controlled through real-time

video signals received in the Ground

Data Terminal. Command users are able

to task the payload operator in real-timefor images or video on demand.

The surveillance and reconnaissance payload

capacity is 10 kg (22 lb), and the vehicle

carries electro-optical and infrared

cameras.HAES Scanner



Unmanned

systems HAES



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HAES Scanner

The aircraft can be equipped with

sensors as the mission requires. The

cameras produce full-motion video.

The system is composed of threemajor components, which can be

deployed for operations in the field.

The HAES Scanner aircraft can be

disassembled and loaded into a

container for travel.

Background

The HAES Scanner system was

designed in response to the needs of

police and military to provide long-

duration intelligence, surveillance

and reconnaissance information.CDAI Review awards the best new product of 2005



Unmanned

systems HAES



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HAES Scanner

It has many other uses: promotion, real estate

sales, technical documentation of historic

buildings, comparison of geological

changes, agriculture, detection of illegalbuildings and junkyards, searching for

missing persons or fugitives,

measurement of concentrations of noxious

gases, traffic monitoring, residential area

monitoring, and security patrol.



Unmanned

systems HAES

a.s.

General Characteristics of HAES Scanner V1.2

Primary Function:Reconnaissance, airborne

surveillance and target acquisition

Contractor: HAES GroupPower plant:Rotary engine w/ propeller; 1 x 11 hp

Wingspan:3 m (10 ft)

Length:2.15 m (7 ft)

Height:0.85 m (2.7 ft)

Maximum takeoff weight: 25 kg (55 lb)

Payload:10 kg (22 lb)

Speed:Cruise speed around 80 km/h (49 mph),

maximum up to 150 km/h (92 mph)

Camera



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HAES Scanner



Unmanned

systems HAES

a.s.

General Characteristics of HAES Scanner V1.2

Range:6.5 km (3.8 mi), limited by datalink range

Ceiling:1,000 m (3,300 ft)

Endurance: 2 hr

Crew (remote):Two (pilot, payload operator)

GSE (ground segment): Two suitcases, containing pilot

and payload operator consoles (GDT = Ground Data

Terminal, IRS = Image Receiving System)

Initial operational capability:March 2005

Unit Cost:TBD (includes one aircraft, ground

segment consoles, and Satellite Link)

Inventory:Demonstrator, 1; Active force, 1;

Reserve, 1

Terminal for Reconnaissance version of HAES Scanner



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Autopilotblokov diagram



Autopilot


a.s.

Altitude

Controller UAV model Sensors Sensor data processing

UAV model

Wing l L [ rad ]

Wing l R [ rad ]

Mo to r

V OP L [ rad ]1

V OP R [ rad ]

rho

V e [m/s ]

X e [m/s ]

E u le r [ rad ]V b [m/s ]

A i [m/s^2 ]

Omega [ rad /s ]

DC M

eps i lon [ rad /s^2 ]

E u le r do t [ rad /s ]

A t tack ang le [ rad ]

Wing l Lo

Wing l R o

V OP Lo

V O P R o

Scope1

RepeatingSequence

Position reconstructor

E u le r

A cc body

Position

Ai

Vi

Xi

Magnetic compass

In 1 O u t1

Gravinormal validity

MATLABFunction

Gravinormal to Euler

MATLABFunction

Gravinormalcheck

Goto2

[temperature ]

Goto1

[pressure]

GPS

Inertia position [m]

Ine r t ia speed [m/s ]

Lat,Lon,Alt

x ,y ,A l t

Fy Slider2

-0.44857

From4

[temperature ]

From1

[pressure] Flap position

Diff pressure speed

Controller

Pitch real

R o l l R ea l

S p e e d R e q

S p e e d R e a l

Altitude

A l t i tude R eq

A z imu th R eq

A z imu th

R o l l do t

A ng le o f a t tack

Flap L1

Flap R1

Pitch dot

Wing l L [ rad ]

Wing l R [ rad ]

Mo to r

V OP L [ rad ]

V OP R [ rad ]

1

1

1

100

Charting

xi [m]v i [m/s ]eu le r [ rad ]vb [m/s ]rb [ rad /s ]a i [m/s^2 ]eps i lon [ rad /s^2 ]

COESA

H e igh t

T empera tu re

S peed o f S ound

Air Pressure

Air Density

CAN Open export

In1

In2

In3

Temp erature[K]

P ressu re [P a ]

GPS

F lap po s i t ion

Barometric altitude meter

Azimuth

2.4055

Angular Reconstructor

A ngu la r acce le ra tion

E u le r guess 1

eps i lon

o m e g a

ph i

E u le r

E u le r do t

AltitudeSequence

Altitude

400.3272

Air density 1

Air density

Accelerometer

Ai

eps i lon

DC M

Acceleration

A ngu la r acce le ra tion

Acceleration1

Acceleration

Position in Inertial Axes

Position in Inertial AxesE u le r - mode l

E u le r f romgrav ino rma l

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Sense & AvoidIntroduction, Terminology

Adaptive Routing and ConflictmAnagement for Unmanned Aircraft

Vehicles

on-board flight system able to guide an Unmanned Aircraft

Vehicle

modifying its own flight trajectory inreaction to a variety of external

situations,

maintaining the separation withanother UAV or aircraft,

and optimizing its flight trajectory.



S&A


a.s.

Separation

UAS separation from aircraft

Aircraft separation from UAS

UAS separation from UAS

Collision avoidance

UAS collision avoidance from aircraft

Aircraft collision avoidance from UAS

UAS collision avoidance from UAS

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Sense & AvoidProjects

ARCA(Adaptive Routing and ConflictmAnagement)

MIDCAS(Mid Air Collision AvoidanceSystem)

The MIDCAS mission is todemonstrate the baseline of

solutions for the UAS Midair

Collision Avoidance Function

(including separation), acceptable

by the manned aviation communityand being compatible with UAS

operations in non-segregated

airspace by 2015

ARCA and MIDCAS logos




a.s.

S&A

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Automatic Dependent Surveillance-Broadcast (ADS-B)

Airship's location using satellite GPSnavigation, and allows the airship to

constantly broadcast its precise location

and other flight data (e.g. altitude,

velocity) to nearby airship and air traffic

controllers.

The typical surveillance datatransmitted by ADS-B are: flight

identification, position, time, worth

figure and the emitter category.

More accurate and cheaper atidentifying airship and determining

position.

GPS provides three-meter accuracy,updated by airship every second

ADS-B system example




a.s.

S&A

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ARCAIntegration to UAV, 1/2

Autopilotobtains a set of way-pointsfrom the simple ground control

According to the mission plan it

provides the actual way-point Commandingblock calculates required

flight angles and speeds, and

commands the lowest level of the UAV

Stabilizationis the fastest control loopof the UAV. Interprets received

commands. Knows the absolute

position and orientation




a.s.

AUTOPILOT

COMMANDING

STABILIZATION

SENSORICS

GPSMagnetometerFlight angles

...

ACTION UNITS

ServosMotors

...

Set flying angle to...Speed up to ...Act. pos

Actual way-point OK / KO

OK / KO

Set of Way-points

On-board SW for UAV

S&A ARCA

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ARCAIntegration to UAV, 2/2

The ARCA Arbiterreceives the actualway-points

ADS-B provides information about

UAVs surroundings Based on that re-routing is conducted

and provided the Commander




a.s.

On-board SW for UAVwith ARCA algorithms integrated

AUTOPILOT

COMMANDING

STABILIZATION

SENSORICS

GPSMagnetometerFlight angles

...

ACTION UNITS

ServosMotors

...

Set flying angle to...Speed up to ...Act. pos

Actual way-point

OK / KO

OK / KO

Set of Way-points

ARCA

Modified actualway-point

ADS-B

S&A ARCA

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GPS ALTI COMPASADS-B AGENT AGENT

ON BOARD

COMPUTER

DUAL CAN NETWORK

AIR TRAFIC INFOMATION


ARCAIntegration with flight controller

Functional modules connected viaredundant CANOpen

On-board computer processes only the

flight control loop the AGENT software with ARCA

algorithms is placed in a SEPARATE

module

ARCA Agent runs in separate module




a.s.

S&A ARCA

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Unmanned systems HAES

R. Sysala, 1K. Hacker

evolving systems consulting s.r.o.,Nm. Dr. Holho 1052/11,

180 00 Praha 8,

Czech Republic;

tel.: +420-604-347-014,

e-mail: [email protected] Model Production a.s.,

Zahradn 465,

270 54 evniov,Czech Republic;

tel.: +420-603-439-412,

e-mail: [email protected] 400 aircraft



Unmanned

systems HAES

Confidential information: Without the advance written permission of HAESGroup, any reproduction or disclosure of this information to any third party a.s.
mailto:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]

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