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Challenges of the autonomous air vehicle project of ONERA

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Centre d' tudes et de Recherches de Toulouse. Challenges of ... FUJI F5000. PILOTING. GUIDANCE. NAVIGATION. CONTROL. STRATEGY. DECISION. INFORMATION. PAYLOAD ... – PowerPoint PPT presentation

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Title: Challenges of the autonomous air vehicle project of ONERA


1
Challenges of the autonomous air vehicle project
of ONERA
  • The RESSAC project
  • Search And Rescue (SAR) with a Co-operative
    Autonomous System
  • within a network of decision and information

Patrick Fabiani fabiani_at_cert.fr
2
Background VTOL UAV Automatic Ship Landing
System
  • Automatic Landing System for VTOL UAV at sea
    (landing on a Frigate by sea calm to rough gt4m)
  • CL227 ONERA / CANADAIR / DCN
  • system definition
  • control architecture
  • simulation
  • performance assessment
  • Automatic Landing Sensor and Strategy
  • sensor integration
  • control laws
  • landing strategy
  • real time tests at 1/4 scale

3
Background UAV Studies - overview -
  • MARC HALE ONERA / CS / SPOTI
  • COMINT intelligence system definition
  • data link and ground station
  • HALERTE - ONERA project
  • HALE UAV configuration optimization
  • platforms and payloads data base
  • USICO (EC - UAVNET Project)
  • CAPECON (EC - UAVNET Project)
  • Authority swapping problems between the
    operators
  • and autonomous UAVs (ONERA/STTC)
  • UCAVs combat UAVs

Ground Station EM intelligence
4
Background VTOL UAV Autonomous Flight and
Navigation
  • Autonomous Navigation System
  • VIGILANT - ONERA / TSI / SPMT
  • flight control system integration
  • autonomous navigation
  • out of sight flight Civil Aviation
    authorization (1998)

VIGILANT F2000
on ground
STRATEGY
DECISION
INFORMATION
NAVIGATION
DATA PROCESSING
PAYLOAD
GUIDANCE
on board
PILOTING
CONTROL
FUJI F5000
5
Background Autonomy
automatic functions
operator
level 5
supervision / cooperation
Strategy
Decision, planning
level 4
Navigation
target designation
Itinerary planning
level 3
route definition
Trajectory optimization
Guidance
level 2
trajectory control
Automatic Pilot
Piloting
remote piloting
level 1
Stabilization
Flight Control
remote control
level 0
6
The RESSAC project (just started
2002)
  • Why ?
  • synergies background current studies
  • new challenges
  • experimental demonstrator in flight
  • onboard decision capabilities
  • online information processing capabilities
  • generic mission management architecture
  • operator-system cooperation
  • new concepts of use for UAV (intervention)

7
Search and Rescue with an autonomous UAV ?
  • Exploration scenario in an unknown changing
    environment
  • online information processing
  • map updating, object detection
  • online decision
  • mission re-planning according to new information
  • target selection and motion planning
  • autonomous behaviour and automatic procedures
  • terrain following
  • landing in a non-equipped area
  • co-operation with the operator
  • choice of landing zone, landing decision,
  • Confront research challenges and new concepts

!!!
?
landing zone
?
!!!
?
decision point
final landing zone
8
The RESSAC project (just started
2002)
  • Onboard decision making for UAV systems
  • autonomous flight, navigation, information
    processing, mission control
  • decision aid and information visualisation tools
    for the operators,
  • Two experimental demonstrators
  • Uninhabited flight demonstrator Yamaha RMAX
    è
  • onboard information processing and decision,
    (May 2002)
  • behavioural autonomy, system integration.
  • Mission simulation demonstrator   ELIPS è
  • flight dynamics, flight management procedures
  • decision aid, man system interface,
  • civil air traffic scenarios,
  • Search and Rescue mission scenarios,
  • multi-UAV scenarios

9
The RESSAC project
  • Work packages
  • WP 1 Flight control and autonomous navigation
  • WP 2 Onboard decision and co-operative mission
    management
  • WP 3 Mission, system and payloads (ONERA/DLR
    common program )
  • WP 4 Information synthesis and visualisation
    for the operator
  • Project management is WP5.

10
The RESSAC project
  • Work packages and challenges
  • WP 1 Flight control and autonomous navigation
  • flight control demonstration of an exploration
    mission
  • flight control system security (proof) and
    robustness
  • integration of sensor, payload and flight control
    system
  • automatic flight and navigation functions and
    procedures (adapted sensors)
  • take off and landing automatic landing in an
    unequipped landing area
  • terrain following
  • provide a reliable test bed for
  • autonomous decision capabilities demonstrations

11
LE PROJET RESSAC autonomous helicopter out of
sight flight
Air vehicle
others sensors
GPS
  • 5 Km range (tested) data link
  • 2003 equipped flights

Camera
Security analog video link (5 GHz ). 5 Km to 10
Km range
Ground station
Avionics
Monitor
Altimeter
Navigation
Piloting
Payload
Security Control data link 2,5 GHz. 5 Km to 10
Km range
  • 2004 autonomous flight
  • 2005 test bed for autonomy

operator
Manual remote control
12
The RESSAC project
  • Work packages and challenges
  • WP 2 Onboard decision and co-operative mission
    management
  • generic flight control and mission management
    architecture (2003)
  • validation of the core architecture and
    reusability
  • modularity and test bed collection of
    alternative methods
  • mission management system security (proof) and
    robustness
  • integration of onboard information processing and
    autonomous decision (2004)
  • autonomous exploration mission demonstrations
    (2005)
  • search, reconnaissance, threat avoidance, landing
    and return
  • richer scenarios in simulation

13
The RESSAC project
ONERA/DLR
  • Work packages and challenges (helicopter
    specificity)
  • WP 3 Mission, system and payload
  • SAR mission analysis optical or radar payloads,
    UAV configurations, feasibility
  • flight dynamics modelling of VTOL aircraft
  • safe automatic approach and landing (simulation
    on ONERA ELIPS)
  • security procedures
  • man system interface for security procedure
    enforcement
  • flight tests on DLRs Helicopter
  • global system security analysis (proof?)

14
The RESSAC project
  • Work packages and challenges
  • WP 4 Information synthesis and visualisation
    for the operator
  • provide a flexible simulation test bed for
  • autonomy and operator-system co-operation
    scenarios
  • multi-sensor 3D scenes (2004) real time (2005?)
  • situation awareness of the operator (autonomous
    UAV behaviour) flight
  • control and security procedures what autonomy ?
    (2004)
  • man system interface for security procedure
    enforcement
  • authority swapping between operators and UAV
    (2005)
  • variable degree of on-board autonomy

15
The RESSAC project
  • Four Work packages 1
  • WP 1 Flight control and autonomous navigation
  • WP 2 Onboard decision and co-operative mission
    management
  • WP 3 Mission, system and payloads (ONERA/DLR
    common program)
  • WP 4 Information synthesis and visualisation
    for the operator
  • Project management is WP5.
  • Multidisciplinary project linked to Robotics
    (Robea , CNRS)
  • Open to collaborations
  • Two experimental demonstrators in flight and
    in simulation

16
The RESSAC Project
2002
2003
2006
2004
2005
autonomous UAV functions
  • Flight control and
  • autonomous navigation
  • Onboard decision and
  • co-operative mission management
  • Information synthesis and
  • visualisation for the operator
  • Mission, system and payload

autonomy flying test bed
mission management architecture
methods, algorithms
operator-system interaction
ELIPS simulation test bed
sensors, global system, security
17
Yamaha RMAX Helicopter
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