Image-based Navigation for Shipboard

Transcription

1 Image-based Navigation for Shipboard Landing (INAV-SL) Navy TAP 2014 June 1-4,

2 Ship based UAS require robust auto-landing Ship based UAS require robust auto landing capabilities: Wide range of environmental conditions Under EMCON Range of operational conditions, including A2AD and GPS denied Redundant, preferably complimentary, systems INAV SL: Optical based landing system uses pilot visual landing aids (VLA) Alternative landing system for the Fire Scout MQ 8x UAS Potential for non UAS equipped ship and shore landing 2

3 All ship-based UAS can benefit from passive landing systems that use pilot VLA Human pilots can land in a range of conditions without GPS and under EMCONusingvisual landingaids aids

4 Existing solutions have limitations in some regions of the operational envelope All weather RADAR (Operational) GPS based (In Development) No ship-air communication or RF emissions Denied Environments Some capability depending on denial Some capability depending on denial No Ship modifications or equipment 4

5 Phase II SBIR Program Requirements Phase II requirements based on existing Fire Scout CONOPS and landing system specification: High Hover ±0.7ft Recovery Perch ±2ft Low Hover ±0.7ft No ship modifications No ship communications required No GPS required 5

6 INAV SL Concept Overview INAV SL uses passive EO/IR sensors to detect and analyze existing ship deck markings to provide Relative Navigation (RelNav) measurements. Features and benefits of INAV SL: Uses low SWAP C COTS cameras to provide RelNav measurements to meet MQ 8 accuracy requirements in visibility conditions similar to those required for manned helicopter operations. No need for shipboard modifications / additional equipment. Therefore INAV SL has the potential to enable Fire Scout to land on non VTUAV equipped air capable ships. 6

7 INAV SL System Performance: Key Take Away INAV SL has been tested in simulation and with full motion video. Simulation Analysis results are summarized below: Sea State 4 RP HH HH TDP Error (ft) Rqmt (ft) Error (ft) Rqmt (ft) XZY RD (DRN) XYZ 11 (DM) Mean 3σ error across X, Y, and Z Simulated oil spill Partly Obscured INAV SL meets key Fire Scout landing requirements in simulation Simulation analysis was verified with video data from flight, in real time, using preliminary hardware design EO between Recovery Perch and High Hover INAV SL can operate at night with deck lights or using SWIR INAV SL can operate effectively with this level of light using EO sensors 7:33pm 7:57pm 8:01pm 8:05pm 8:08pm Results are reliable with up to 50% occlusions and in low light in video 7

8 INAV SL System Performance: Flight Test Highlights INAV SL was successfully tested during flight on a manned R22 and an unmanned UAV 4. Recovery Perch 2 Flight Events Manned R22, Maverick VTUAV 20 flights, 125 landing runs, 12 performance runs All key components functionally verified System functionally verified 5. High Hover 6. Low Hover Median Range Error on Performance Runs: 0.6ft (HH, LH), 4.6ft (RP) 8

9 Flight Test 3: Maritime Flight Testing, April Helicopter equipped research vessel Bell 407 (MQ 8C Airframe) Maritime data collect successfully completed in April 2014 Full CONOPS data on a relevant aircraft for comprehensive system development in a follow on effort, offline evaluation 9

10 Performance Specifications Feature Advantage Benefit No ship equipment or modifications Independent of GPS No ship communications INAV SL is an upgrade existing UAS, requires no upgrades to the ship Potential to land on non UAS equipped ship Can recover UAV provided it is within visual range Recover UAV with minimal i radio traffic Potential to recover UAV with lost comms Lower deployment costs Does not impact ship design Simpler approval process Robust to potential GNSS constellation disruption Robust operation in communication constrained conditions Passive sensing* Ship and aircraft do not transmit location signals Robust operation in RF constrained conditions *An narrow beam active altimeter (RF or Laser based) may be required for some CONOPS 10

11 Comparison with other options RADAR (Operational) GPS based (In Development) INAV SL (Presented Technology) All weather Most conditions OK No ship-air communication or RF emissions i ti Denied Environments Some capability depending on denial Some capability depending on denial No Ship modifications or equipment 11

12 Current State of Development SSCI Development Roadmap Description Production & Fleet Deployment NAVAIR Flight Clearance (OPEVAL) Performance Validation in MQ 8C MQ 8C Representative Environment EMD EMD Performance Validation in Flight Testing in Representative Environment Testing in Simulated Environment (Bench Validation) MQ 8C EMD MQ 8C EMD MQ 8C Demo HIL Detailed Spec / Sim Analysis Sim Only SIL Interface Design SW ICD only Requirements Analysis SWOnl Only SWOnl Only Deck Relative Nav Nav Filter Ship Detect / Modes Cameras Processor, Laser Alt, Cables Environ. Trades SW/HW Integ Rqmts & Design Docs SW Dev & Test HW Dev & Test Systems Engineering EDRAPS SBIR Phase I & II Phase 2.5 Scoped baseline at $1.7M Phase 2.5 w/accelerated Transition Certification, Procurement & Deployment 12

13 Transition to MQ-8C GFY14 GFY15 GFY16 GFY17 GFY18 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 MQ-8C EMD Demo Demo SBIR Phase 2 Accelerated Transition Preliminary Hardware and Software Flown At-Sea Release Candidate Software Flown At-Sea NGC SIL Int & Test NGC HIL Int & Test Advanced Software Flown At-Sea Preliminary Software Flown At-Sea NGC SIL Int & Test Preliminary Hardware and Release Candidate Software Flown At-Sea NGC HIL Int & Test Baseline gets to here Total Transition Development SBIR Phase 2.5 SSCI has developed dtwo potential ti ltransition paths to EMD 13

14 About Scientific Systems Company Inc. Scientific Systems Company, Inc (SSCI), a minority owned Small Disadvantaged Business (SDB), is among the Top 20 companies (out of 10,000) in the Small Business Innovation Research (SBIR) program. Founded in 1990, headquartered in Woburn, MA with 40 employees. Strong Advisory Board with expertise in transitioning advanced technologies to the warfighter. Focus on development of Intelligent Autonomy technologies that increase the effectiveness and decrease the operating cost of Unmanned Vehicles and Weapons. 15 year relationship with NAVAIR transitioned CMARS auto router s/w into Tomahawk Planning System ; SSCI provides ongoing maintenance and support. Strong capabilities across the product development life cycle, from early stage R&D through to development and support of fielded SW products. SSCI has successfully delivered SW products for mission planning, maritime UUVs and space flight systems: NAVAIR CMARS (2003 ongoing) NASA ST6 ( ), XSS 11 DARPA / SPAWAR (2005 ongoing) 14

15 Scientific Systems Company, Inc. (SSCI) Image-Based Navigation for Shipboard Landing Visit us at booth A216 Independence Hall Contact Information Osa E. Fitch, Ph.D., CDR, USN (Ret.) Phone: (M) Kunal Mehra Phone: