Mission Computer Research Articles

Towards Real-Time On-Drone Pedestrian Tracking in 4K Inputs

Over the past several years, significant progress has been made in object tracking, but challenges persist in tracking objects in high-resolution images captured from drones. Such images usually contain very tiny objects, and the movement of the drone causes rapid changes in the scene. In addition, the computing power of mission computers on drones is often insufficient to achieve real-time processing of deep learning-based object tracking. This paper presents a real-time on-drone pedestrian tracker that takes as the input 4K aerial images. The proposed tracker effectively hides the long latency required for deep learning-based detection (e.g., YOLO) by exploiting both the CPU and GPU equipped in the mission computer. We also propose techniques to minimize detection loss in drone-captured images, including a tracker-assisted confidence boosting and an ensemble for identity association. In our experiments, using real-world inputs captured by drones at a height of 50 m, the proposed method with an NVIDIA Jetson TX2 proves its efficacy by achieving real-time detection and tracking in 4K video streams.

Swarm Reconnaissance Drone System for Real-Time Object Detection Over a Large Area

Recent developments in drone technology have led to the widespread use of unmanned aerial vehicles (UAVs). In particular, UAVs are often used in reconnaissance to detect objects such as missing persons in large areas. However, traditional systems use only one UAV to search for missing persons in a large area. In addition, object detection is performed after flight or manually because detection requires high computing power. In this paper, a reconnaissance drone system using multiple UAVs is proposed. The proposed multi-UAV reconnaissance system performs real-time object detection on each UAV. The real-time object detection results from each UAV are received by the ground control system (GCS) to stitch the images. To enable real-time object detection in individual UAVs, the filter pruning method is applied to the YOLOv5 model, and the model uses 40% fewer parameters than the existing baseline model. The lightweight YOLOv5 model achieves approximately 11.73 FPS on the Jetson Xaiver NX using a mission computer. Moreover, the proposed image stitching method enables image stitching by effectively matching features using additional information generated by UAVs. The UAV flight tests show that the proposed reconnaissance system can monitor and detect objects in real time over large areas.

Energy Efficient UAV Flight Control Method in an Environment with Obstacles and Gusts of Wind

This article presents an energy-efficient method of controlling unmanned aircraft (fixed-wing UAVs), which consists of three groups of algorithms: aerial vehicle route planning, in-flight control, and algorithms to correct the preplanned flight trajectory. All algorithms shall take into account the existence of obstacles that the UAV must avoid and wind gusts in the UAV’s area of operation. Tests were carried out on the basis of the UAV mathematical model, stabilization and navigation algorithms, and Dryden turbulence model, considering the parameters of the UAV’s propulsion system. The work includes a detailed description of constructing a network of connection that is used to plan a UAV mission. It presents the algorithm for determining the actual distances between the different points in the field of action, which takes into account the existence of obstacles. The algorithm shall be based on methods for determining the flight trajectory on a hexagonal grid. It presents the developed proprietary UAV path planning algorithm based on a model from a group of algorithms of mixed integer linear problem (MILP) optimization. It presents the manner in which the pre-prepared flight path was used by UAV controllers that supervised the flight along the preset path. It details the architecture of contemporary unmanned aerial vehicles, which have embedded capability to realize autonomous missions, which require the integration of UAV systems into the route planning algorithms set out in the article. Particular attention has been paid to the planning and implementation methods of UAV missions under conditions where wind gusts are present, which support the determination of UAV flight routes to minimize the vehicle’s energy consumption. The models developed were tested within a computer architecture based on ARM processors using the hardware-in-the-loop (HIL) technique, which is commonly used to control unmanned vehicles. The presented solution makes use of two computers: FCC (flight control computer) based on a real-time operating system (RTOS) and MC (mission computer) based on Linux and integrated with the Robot Operating System (ROS). A new contribution of this work is the integration of planning and monitoring methods for the implementation of missions aimed at minimizing energy consumption of the vehicle, taking into account wind conditions.

Intelligent Early Warning Method Based on Drone Inspection

Commonly used UAV emergency inspection methods are executed by the instructions of the ground command center. The response rate depends on the stability of the communication network and the rapid response ability of the commander. The critical time window is fleeting, which is likely to cause unnecessary loss. Crisis rapid response capability has become the key to measuring system capabilities. In order to improve the system’s rapid response capability, a method of deploying decision-making agents on airborne computers and ground early warning systems is proposed. This early warning method uses key technologies such as multi-network integration, situation assessment, neural network architecture, deep learning, reinforcement learning, and intelligent cognitive reasoning to effectively ensure the effectiveness of crisis warning. The early warning method of the early warning system is as follows: the mission computer uniformly collects the flight control status parameters, the load status parameters and the load real-time data form a composite information flow. The task computer adopts the methods of protocol conversion, data classification, and danger recognition to the compound information flow to identify the crisis information and make a preliminary analysis and judgment of the crisis state. If it is determined that it is necessary to track the target in real time, the initial task assignment and parameter adjustment of the load are carried out, and the continuous tracking of the task target is carried out to realize the rapid response to the crisis on the edge side. At the same time, the composite data are downloaded to the command center. The command center performs the secondary crisis analysis and risk level determination and outputs the crisis plan deduced by the agent to realize the strategy assistance. The accuser refers to the plan strategy and issues instructions to the task computer, and the task computer receives it. Instruction and secondary adjustment and optimization of the load parameters. If there is a flight route adjustment instruction, the adjustment route will be sent to the flight controller, which greatly improves the flexibility and efficiency of handling the crisis in the UAV inspection process. By adopting this set of early warning methods, it can provide users with an updated, faster and more efficient way to realize the early warning requirements in drone inspections, which is a new breakthrough in the field of drone command methods.

Aeroload Simulation of Interceptor Missile using Fin Load Simulator

Interceptor missiles are designed to destroy enemy targets in air. Targets can be destroyed either in atmosphere or out of atmosphere. So for Air Defence scenario, a two layer protection system is required with one taking care of exo atmosphere and another endo atmosphere. In this Air Defence scenario, irrespective of target trajectory interceptor should neutralise it. So the control, guidance are to be designed and validated thoroughly with various scenarios of interceptor and target. These interceptors sense the rates from rate gyroscopes and accelerations from accelerometers which are fitted on board the interceptor. The navigation algorithm calculates the interceptor’s position and velocity from these rates and accelerations from time to time. Using these interceptor data and target information received from ground RADAR or on board seeker, guidance calculates accelerations demand and subsequently rate demand. The control algorithm runs in on board mission computer along with guidance. The control algorithm calculates the commanded rate and eventually commanded deflections to the control fins to move towards the target. The fins have to move as per commanded deflections to meet the mission objective of hitting the target. But the load known as aeroload which comes on the control fins during mission, causes control fins not to move as per command. Due to the difference between control command and physical movement of fin, the expected path towards target deviates. This increases the miss distance and also misses the target hit. This aeroload scenario is to be simulated on ground and some feature is to be designed to take care of it during mission. By studying the control system behaviour due to load, the control autopilot is to be automatically tuned to compensate for the loss in commanded deflections. This scenario can be carried out in Hardware-in-Loop simulation (HILS) setup. Mission load conditions can be applied on hardware actuation system in HILS setup and mission performance can be seen and also with different loads and different autopilot tunings.

Design of High-Power Dual-Redundancy Electro-Mechanical Actuator for Scout and Strike UAV

As the technology advance of UAV (Unmanned Aerial Vehicle), the large UAV is a prevalent trend, which is widely used for scout and strike in modern military battlefield. The flight safety is rather important because of the cost increase of UAV with various airborne devices equipped. EMA (Electromechanical Actuator) is one of the key components in UAV system. Whether its performance is reliable or not determines the flight safety. In this paper, in order to design high-power EMA for scout and strike UAV with fast response and high stability to ensure UAV safety, dual-redundancy technology is adopted. There are two communication interfaces between the actuator and the flight mission computer. The control circuit and the drive circuit are in the form of dual redundancy, while there are two sets of windings in the motor. The controller and actuator design are introduced in details one by one. Also, the paper presents the dual-redundancy design scheme. Several ground tests simulating the real flight conditions are conducted, proving that the EMA design is feasible and its performance is satisfactory. The UAV flight tests are needed later in the future to verify EMA performance in practice.

Research on Architecture Design with High Reliability of Network Nodes in the Amphibious Combating Simulation System

Upper-lower computer mode is the main architecture design of the amphibious combat simulation system (ACSS) at present. Through continuous improvement of real-time performance, software and hardware infrastructure, the exponential growth of operational network data scale is realized, but the availability performance of ACSS declines. The reliability of the working host as the key node has become the bottleneck of the overall availability of network nodes in the ACSS. To optimize the network node architecture of ACSS, this paper presents an effective optimization solution by designing the dual redundancy warm-standby module of the mission computer and I/O port, the algorithm of selecting output path of the mission computer in network nodes, the decision-making algorithm upon the on-duty host and output, and the video output decision-making algorithm upon the upper host. Lastly, the complete process of operational data from the input to output and the opposite is implemented well to guarantee the overall availability of network nodes in the ACSS. It has great advantages of wide applicability, strong reliability and high real-time switching speed.

A lightweight autonomous MAV for indoor search and rescue

AbstractMicro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM.

Actuator Controller Design for UAV Airborne Short Range Air-to-ground Guided Missile Based on DSP and CPLD

In order to tackle the problems existing in current actuator system for UAV guided missile such as not fast enough MCU as its core, PWM as its command and feedback signal, the obsolete 3-phase bridge driver, this paper studies an upgraded actuator controller and introduces a brand new design scheme. DSP and CPLD is selected as its core, the controller communicates with the flight mission computer via RS422 interface. After calculating the command signal, the controller drives the control surface to reach the expected position and then reports the feedback. The controller designed in this paper works better than the old version of actuator controller, and ground experimental tests show its advantages are low power consumption, great reliability and stability, high precision, and fast response. Later after successful flight tests, the controller can be equipped in UAV airborne short range air-to-ground guided missile.

무인기 충돌회피 알고리즘을 이용한 임무컴퓨터용 상용기성품 운영체계 성능 비교에 대한 연구

무인기 충돌회피 알고리즘을 이용한 임무컴퓨터용 상용기성품 운영체계 성능 비교에 대한 연구

항공전자 비행운영프로그램을 위한 메시지 기반 미들웨어 개발

It is require to design the next generation avionics system while considering applicability under open architecture where standerd communication module is used. In this situation, if the existing schemes cannot guarantee new requirement, new system development is demanded. In this paper, we present design, implementation, and testing procedure for message based middleware to support operational flight program on avionics. System architecture include mission computer (MC) and large area display (LAD) over standard socket communication based on reliable Ethernet. Finally, experimental results demonstrate that the proposed middleware can guarantee real-time with 20msec as well as reliability requirements with no lost packet.

상용 기성품 기반 항공기 임무컴퓨터 구현에 관한 연구

In the development of an avionics system, there is a trend of using commercial -off-the-shelf(COTS) equipments in order to reduce the development cost and time. In this paper, we present an implementation of an aircraft mission computer using the objected oriented software and the COTS equipments. We execute the aircraft guidance software on the system, and measure the calculation time and the used memory. To compare the guidance capability of the software program, we implement the same software logic on DS1104 system. The guidance software program executed on two different systems resulted in the almost identical simulation.

English

The paper presents advanced mission management system (MMS) for unmanned aerial vehicles, based on integrated modular avionics (IMA) architecture. IMA architecture enables the MMS to host high end functions for autonomous navigation and attack. MMS is a collection of systems to execute the mission objectives. The system constitutes mission computer (MC), sensors and other sub-systems. The MMS-MC needs to execute advanced algorithms like terrain referenced navigation, vision-aided navigation, automatic target recognition, sensor fusion, online path planning, and tactical planning for autonomy and safety. This demands high-end architecture in terms of hardware, software, and communication. The MMS-MC is designed to exploit the benefits of IMA concepts such as open system architecture, hardware and software architecture catering for portability, technology transparency, scalability, system reconfigurability and fault tolerance. This paper investigates on advanced navigation methods for augmenting INS with terrain-referenced navigation and vision-aided navigation during GPS non-availability. This paper also includes approach to implement these methods and simulation results are provided accordingly, and also discusses in a limited way, the approach for implementing online path planning. Defence Science Journal, Vol. 64, No. 5, September 2014, pp.438-444, DOI:http://dx.doi.org/10.14429/dsj.64.5992

헬기 운용환경을 고려한 가상 사격 통제 시스템 개발

Virtual Fire Control System(VFCS) in attack helicopter is developed. VFCS is comprised of multifunction display, store management computer, mission computer, target acquisition and designation system, mission planning system, weapon simulator and flight simulator. Weapon engagement process under the operational environment of helicopter was considered by using the VFCS. We considered hellfire missile, tow missile, unguided rocket and turret gun. The results of this study will be utilized efficiently on integrated fire control system SIL(System Integration Lab.) in attack helicopter.

Advanced Data-Transmission Scheme for a High-Performance Mission Computer

In this paper, an advanced data-transmission scheme is proposed to enhance the performance of a mission computer based on the ARINC-429 avionic data bus standard. The amount of flight data transmitted to the mission computer has continually increased due to the adoption of composite missions, new avionic systems, and advanced functionalities. This makes it difficult to obtain a high-performance mission computer because the mission computer should consume a large portion of the fixed time interval in receiving flight data. To overcome this problem, we developed a new data format and transmission method based on detailed analysis of the characteristics of flight data and the data format of ARINC-429. The proposed scheme was verified by observing its performance on a VxWorks-based test platform. Experimental results show that the proposed scheme achieves a computational time gain of 14% and transmission rate gain of 34%, without increasing the size, weight, and power. In addition, the proposed scheme is useful for extending the life of the mission computer without changing existing hardware.

한국형 기동헬기 다기능시현기의 이상시현 개선에 관한 연구

한국형 기동헬기(KUH) 다기능시현기(MFD)는 임무/시현계통을 구성하는 장비로서, 항공기 운용 중에 임무컴퓨터(MC)로부터 영상정보(항법, 비행, 생존, 전자지도 및 정비 관련 정보)를 입력받아 시현한다. 이러한 다기능시현기는 조종사가 임무를 수행하는데 있어 핵심적인 장비이며, 시현화면 제어 기능, 데이터 시현 기능, 자체진단 기능, 밝기조절 기능을 가지고 있다. 본 논문에서는 다기능시현기의 이상시현(MFD 4 Flickering) 현상이 발생한 원인을 분석하고, 이 현상에 대한 설계 개선사항을 정리하였다. 또한, 설계 개선사항에 대한 체계 안전성 분석 결과와 비행/지상시험 검증 결과를 함께 기술하였다. Multi Function Display(MFD) of Korean Utility Helicopter(KUH) is the component of mission management/display control system and displays image information(navigation, flight, survivability, digital map, maintenance) acquired from Mission Computer(MC) while the aircraft is operated. It is an essential equipment for pilots to perform flight mission and it has functions of display scene control, data display, built in test(BIT) and brightness control. In this paper, it is analyzed the cause of abnormal display(flickering) on MFD and summarized the design changes to solve the defect. It is also described system safety analysis and suggested verification results of flight/ground test.

Making the Mission Computer Intelligent – A Step Ahead

Increasing the complexity of fighter aircraft like modern cockpit environments, covering highly integrated, and complex automatic functions, pose various demands on the crew and adding a heavy workload. Cognitive systems appear to be a promising approach to overcome these deficiencies in future combat aircraft. Developing human-centered automation and designing advanced technology that will capitalize on the relative strengths of humans and machines, are key to the success. This paper presents the approach of applying the artificial intelligence (AI) techniques in the critical mission computer (MC). The mission computer is the central controller of the entire avionics and acts as the front end to the pilot and all other avionic systems by providing all the sensors information, presenting the pilot-vehicle interface and thereby helping a lot in reducing the heavy workload of the pilot. Hence cognitive processing in the MC will make MC to act as an electronic crew assistant sharing the workload of the pilot and helping him in severe situations. Intricate aircraft systems increase the need for intelligent cooperation between pilots and aircraft which will be fulfilled by making the MC as smart or intelligent MC. Defence Science Journal, 2013, 63(2), pp.174 -180 , DOI:http://dx.doi.org/10.14429/dsj. 63.4260

Flight Test Evaluation of Mission Computer Algorithms for a Modern Trainer Aircraft

A low cost integrated avionics system has been realized on a modern trainer aircraft. Without using an expensive inertial navigation system onboard, acceptable level of accuracy for navigation, guidance, and weapon aiming is achieved by extensive data fusion within mission computer. The flight test evaluation of mission computer is carried out by assessing the overall performance under various navigation and guidance modes. In flight simulation is carried out for weapon aiming modes. The mission computer interfaces with various subsystems and implements the functional requirements for flight management and mission management. The aim of this paper is to discuss the algorithms of a data fusion intensive mission computer and flight test evaluation of these algorithms, for a typical modern trainer aircraft. The challenges and innovations involved in the work are also discussed. Defence Science Journal, 2013, 63(2), pp.164 -173 , DOI:http://dx.doi.org/10.14429/dsj. 63.4259

System Software Abstraction Layer - much more than Operating System Abstraction Layer

Current and future aircraft systems require real-time embedded software with greater flexibility compared to what was previously available due to the continuous advancements in the technology leading to large and complex systems. Portability of software as one of the aspects of this flexibility is a major concern in application development for avionics domain for fast development and integration of systems. Abstractions of the hardware platform which have been already introduced by the operating system community allow the software modules to be reused on different hardware and with different physical resources. Now operating system community has come up with an abstraction layer called operating system abstraction layer (OSAL) which along with the hardware abstraction unifies the OS architecture too. It provides a common set of primitives independent of the underlying operating system and its particular architecture. Factors such as reliability, scalability and determinism of any application largely depend on the design and architecture of the application. This is the most important and critical factor of real time systems such as mission computers of avionics systems, missile control system or control computers of space shuttle. It demands developer to perform feasibility of different software architecture to select the best alternative. Authors’ analysis shows that to make any real time application more secure, scalable, deterministic, and highly portable, OSAL has to be extended to more than just operating system abstraction. This new view of OSAL will be called as system software abstraction layer (SSAL). In this paper, authors attempt to highlight the efficiency of SSAL as well as detailed description of its main features and design considerations. Authors have implemented the SSAL on top of two well known OS (WinCE and Vxworks) and performed extensive evaluations, which shows that it effectively reduces portability efforts while achieving simplicity, predictability, security and determinism. This paper presents in brief, the API functionalities, its components, implementation, interfaces, advantages and overheads along with a case study. Defence Science Journal, 2013, 63(2), pp.214 -222 , DOI:http://dx.doi.org/10.14429/dsj. 63.4267

Thermomechanical Impact of Polyurethane Potting on Gun Launched Electronics

Electronics packages in precision guided munitions are used in guidance and control units, mission computers, and fuze-safe-and-arm devices. They are subjected to highg-loads during gun launch, pyrotechnic shocks during flight, and highg-loads upon impact with hard targets. To enhance survivability, many electronics packages are potted after assembly. The purpose of the potting is to provide additional structural support and shock damping. Researchers at the US Army recently completed a series of dynamic mechanical tests on a urethane-based potting material to assess its behavior in an electronics assembly during gun launch and under varying thermal launch conditions. This paper will discuss the thermomechanical properties of the potting material as well as simulation efforts to determine the suitability of this potting compound for gun launched electronics. Simulation results will compare stresses and displacements for a simplified electronics package with and without full potting. An evaluation of the advantages and consequences of potting electronics in munitions systems will also be discussed.