Download - A3R Company Profile
Company Presentation
Summary
• Company profile• Unmanned Systems
– STRIX– SIXTON– Precision Airdrop System– Ground Software
• Electronics– Autopilots
• Guidance, Navigation and Control• Space • Advanced Research
Integrazione
Elettronica
Software
UAS
Ricerca Avanzata
Computer Vision
A3RProfile
• Objectives– Develop and sell Unmanned Systems.– Design Guidance, Navigation and Control Systems in aeronautics.– Research and Develop new technologies in mecatronics– Advanced research in aerospace and robotics engineering
• Partnership with Alpi Aviation– Development, marketing and sales of Unmanned Aerial Systems
• Young and dynamic SME focused in research and new technolohies.
• Engineering background in the following fields:– Aeronaunatics and Space– Microelectronics– Unmanned Systems– Mecatronics– Computer Vision– Real time computations
• Offices– Rome and Pordenone
A3RActivities
• New technologies in house – Research– Design– Development
• Know-how and IPR
• Partnership with other companies in manifacturing
A3RProduct Flow
Research
Engineering
Testing
Know-how
Computation
Prototype
PARTNERS
Project
Manifacturing
PRODUCTS
Unmanned Aerial Systems
UAS SystemsKnow - how
• Ground Segment (CUCS + CDT)– System Design– Ground Software & Hardware – System Integration– Data & Video Communications – HRI & Simulators
• Flight Segment (UAV)– On board systems design – On board software– Autopilots– Power Supply & Monitoring Unit– Communication boards – Payload– Propulsion design
Core UAVControl Station Control Data
Terminal
Telemetry/CommandVideo Downlink
IWUAV
Unmanned AerialSystems
• Joint venture with Alpi Aviation• A3R
– System design– Autopilot– onboard Avionics– Airborne Software– Ground Segment Software– Systems integration
• Alpi Aviation– Airframe design and manufacturing– Systems integration– Marketing and sales
UAS Products
• Currently main focus in the Mini-UAV market• Fixed Wing UAV
– STRIX– Currently in use with Italian Airforce– Military Type Certificate (AERP-2)
• Rotor Wing UAV– SIXTON– March 2010 entry into service with Italian Army– Military Type Certificate (AERP-2)
• Strix UAV– Electric Propulsion– Maximum Takeoff weight = 8.6kg– Range = 12.5km– Endurance = 135min– Cruise Speed = 60 km/h
• Features– Auto-takeoff (Catapult)– Auto landing– Way point navigation– Payload Target Tracking
UAS ProductsStrix
• Payload Pan/Tilt– Pan ± 80°– Tilt ± 70°
• Day-time Cartridge– Zoom 10x
• Night-time Cartridge– IR Camera– Zoom 2x
UAS ProductsStrix
• Strix Core UAV Control Station– Moving Map– Control of 3 UAV in flight– Real Time Video Display & Recording– Warning system
• Strix Control Data Terminal– Video data terminal– Telemetry data terminal– Wi-Fi access point
UAS ProductsStrix
• SIXTON UAV– Max takeoff weight = 2 kg– Max Range = 7 Km (video link)– Max Endurance = 30 min
• Features– Auto Vertical Takeoff and Landing– Hovering– Perch and Stare
• Strix Commonalities– Common Core UAV Control Station– Common Control Data Terminal– Common Payloads
UAS ProductsSixton
Core Uav Control Station (CUCS)
• Sixton Core UAV Control Station– Ruggerized Pc with touch screen– Dynamic control keys– Moving Map– Terrain Elevation Data– Control of 3 UAV in flight– Mission variations during flight– Real Time Video Display & Recording– Loiter & Fly-By Waypoints– Route informations (time to go)– Geographic data importation– Warning system– Mission Debriefing and Analysis
Remote Video Display
• External Unit– Light and portable– Touch screen– Plug & Play– Low battery consumption
• Video autonomous operator – Complete camera control– Autonomous target tracking– Recording management– MUAV video control
Precision Airdrop System
• Partnership with Aerosekur• The ability to deliver accurately a
payload by means of a steerable parachute
• Motivations– Reduce dispersion due to wind– Increase standoff (protection for Air
Vehicles. – Resupply of Special Operations Forces– Soft Landing Capabilities– Resupply behind enemy lines
• Composed of three main elements– Ram Air Canopy– Airborne Guidance Unit (AGU)– Payload
• Ram Air Canopy– Has a glide ratio between 2 – 4 – This means that for every 1 Km of vertical
descent the system can travel up to 4 Km horizontally
– Deploying the system from 5km altitude one has at least 20km standoff (can be increased with wind)
Ram-AirCanopy
PayloadAirborneGuidance
Unit
Precision Airdrop System
• Airborne Guidance Unit (AGU)– Autopilot – 2 DC motors – Batteries
• Autopilot– Inertial Measurement Unit– 3 Axis Magnetometer– GPS– Barometric Sensor
• Airborne Software– Sensor fusion Kalman Filter– Trajectory generation and following– Wind Estimation
DCMotors
Batteries
Precision Airdrop System
• Mission Planner (MP)– Laptop PC with MP software– Target is given– Dispatch Point is determined by
wind conditions and canopy performance.
– All above aspects are automatically taken care of by the mission planner
• Feasible Area– Area from which it is possible to
reach the target given the wind and canopy characteristics.
Dispatch Point
Target Point
Feasible Area
Precision Airdrop System
3D Simulation Environment
• Back-end simulator– 6DOF vehicle dynamics– Sensors emulation– Vehicle Data terminal emulation– Real embedded GNC C code– Network communication
protecol over UDP
• Front-end visualiser– 3D terrain model– Real terrain elevation data– Real time data fetching over
local /remote server– HUD visualization
Guidance, Navigationand
Control
Guidance
• Mainly applied to UAV systems• Trajectory Generation: dynamic optimization• Path Planning• Obstacle Avoidance• Online recursive • Auto landing
– terminal area energy management– Minimum time optimal trajectories
• Waypoint & Loiter guidance
Navigation
• Mainly applied to UAV systems• Sensor Fusion
– Inertial sensors– Magnetic sensors– GNSS– Air data sensors
• Techniques– Extended Kalman Filtering (UD Filtering)– Adaptive Kalman Filtering
A3R AHRS software implementedon Eclipse by Flybox (Microel)
Control System Design
• Linear Control– Optimal Control: LQR, LQG, LMI– Robust Control: H, -syn, LMI
• Non Linear Control– Back stepping– Dynamic inversion
• Adaptive Control– Model Reference Adaptive– Neural networks
• LPV• Model Predictive Control
C Pu
y
er
Electronics
YAAP AutoPilot
• Characteristics– 3 axis accelerometer– 3 axis gyro– 3 axis magnetometer– Barometric Pressure sensor– Differential Pressure sensor– All sensors are temperature compensated
from -20 °C to +70 °C– Dimensions: 9.2[cm] x 6[cm] x 3.6[cm]– Weight: 60 [gr]
• Sensor Fusion Kalman Filter – Real time attitude (50 Hz)– Real time position (10 Hz)
YAAP+ AutoPilot
• Characteristics– 3 axis accelerometer, gyro and magnetometer– Barometric and Differential Pressure sensors– EEPROM– Dual Processor– SD Flight Data Recorder– All sensors are temperature compensated from
-20 °C to +70 °C– Dimensions: 7.4[cm] x 5.9[cm] x 2.7[cm]– Weight: 48 [gr]
• Sensor Fusion Kalman Filter – Real time attitude (100Hz)– Real time position ( 50Hz)
YAPSU
• Power Supply and Monitoring Unit (PMSU)– Input : 18V – 30V – Output:
• 12V, 6V, 3.3V & 5V• Current, 100Ah• Temperature, -55 °C – 150°C• RPM, Consumption
– Interfaces:• UART, I2C, SPI • ADC, DAC• PWM
– Dimensions: 8.0[cm] x 4.5[cm] x 1.7[cm]– Weight: 55 [gr]
Space
European Space Agency
• ESA ITT – Robust Model Predictive Control for Space Constrained Systems– Applications: rover locomotion, Formation Flying and lunar landing – A3R responsible for Formation Flying Yardstick application
European Space Agency - 2
• ESA ITT – Robust Flight Control System Design Verification & Validation Framework (RFCS)– Applications: Space Launchers, Re-usable Launch Vehicle , Re-entry
Vehicles.– A3R responsible for developments of advanced V&V techniques and
tools for analysis and design of Robust Control Systems for Space Launchers.
Launch Vehicles
• Consulting for ELV SpA• Lyra Launch Vehicle
– A3R responsible for GNC
• Vega Launch Vehicle– Thrust vector control algorithms – Attitude control algorithms– Simulations
Advanced Research
Computer Vision Research
• Mainly applied to UAS– Real time video processing– Stabilization– Target detection and tracking– Sensor fusion– Collision avoidance– Pattern recognition – Vision based Navigation and
Control
• Non UAS applications– Automatic Observation Systems – Traffic monitoring – Motion detection– Obstacle localization
Computer Vision Workflow
• Software development– Propriety base libraries – High level interface– Mobile devices implementations
• Hardware implementation– Better performance– On board computation– Embedded systems
Real Time Visualization
• Main specifications– MPG4, H.264, MJPEG– High frame rate: 25fps– High resolution: D1– Low latency: <80 ms
• High level operability– On Screen Display
(video post processing)– Head up Display
(manned vision based navigation)– Augmented Reality
(vision based mission planning)
Stabilization
• Main specifications– Real time processing– Translational– Rotational– Background projection
• Implementation– Ground software: CUCS– Ground hardware: GDT– On board hardware
STABILIZATION
BOARD
Target Tracking
• Main specifications– Real time processing– Low latency– Different algorithms
• High level operability– On video pointing and
selection
DEVELOPMENT
BOARD
Pattern recognition
• Main specifications– Real time processing– People tracking– Face recognition– Object counting
• Main application– Traffic monitoring– Border surveillance
Conclusions