Unmanned Reconnaissance Research Articles

基于无人机空地协同城市反恐网络需求初探

目前城市中反恐网络部署以及无人机技术的提高仍是当下研究的重点。城市环境中地形复杂，侦查难度大，这也给城市反恐提出了难题。本篇论文基于现下城市反恐技术实现困难的特点，提出城市空地协同反恐网络的主要装备可由应急处突指挥车、旋翼无人侦察机、便携式信息共享终端组成。该设备网络与LTE技术相结合，提供全天候实时信息资源共享。 At present, the deployment of anti-terrorism network and the improvement of unmanned aerial vehicle technology are still the focus of current research. The complex terrain in urban environ-ment and the difficulty of investigation also raised the problem of urban anti-terrorism. Based on the characteristics of the city’s anti-terrorism technology, this paper puts forward the main equipment of urban air-ground cooperative anti-terrorism network, which is composed of emergency command vehicle, rotor unmanned reconnaissance aircraft and portable information sharing terminal. The device network and LTE technology are combined to provide all-weather real- time information resources sharing.

국가공역체계 내에서 군용 무인항공기 비행규칙에 관한 제언

Military UAV(Unmanned Aerial Vehicle) operated as a RC(Remotely Control) model level within the limit of the military special use airspace until now. However, the high and medium altitude of URA(Unmanned Reconnaissance Aircraft) which the ROKAF have been trying to import recently is at the UAV level and needs the criteria for the classified airspace flights. The required flight criteria includes operator location, mission operation limit, equipment, etc., which are the principle and standard applied based on the airspace use for UAV. Also, the general flight rules, visual flight rules, instrument flight rules are required in order to have to be applied to the actual flight. Besides, an appliance regulation needs to be arranged regarding two-way communication, ATC and communication issue, airspace and area in-flight between UAS( Unmanned Aircraft System) users. An operation of the UAV in the air significantly requires the guarantee of the aircraft's capacity, and also the standardized flight criteria. A safe and smooth use is ensured only if this criteria is applied and understood by the entire airspace users. For the purpose, a standardized military UAV flight operations criteria that is to be applied for each airspace by UAV is to be prepared through analysis of the present state, a legend UAV system, and a special character analysis.

URAV Simulation Training System Based on Aerosim and Google Earth

In order to solve the difficulties of traditional simulation training method on unmanned reconnaissance aerial vehicle, such as the low environment fidelity, difficulty of modeling and long cycle of development, a simulation training method based on Google Earth is put forward. The 6-DOF motion system of URAV is established through Matlab/Simulink. The visual simulation environment which is close to real scenes is formed though GE and software of SketchUp, and the visualization of flight data and elevation information of the region are also obtained through the software of GMS Aircraft Instrument and Measurement Studio. Experiments show that the method has satisfactory effects and its functions also can be strengthened, therefore it provides reference to related researchers.

Guest editorial: special issue on search and pursuit-evasion with mobile robots

Search problems (in which the objective is to find possibly mobile targets) and pursuit-evasion games (where one or more pursuers try to capture an evader who, in turn, tries to avoid capture) both have long histories in mathematics, operations research, and computer science. Classical results were sometimes driven by mere intellectual curiosity but more often by the wide range of applications, mainly in military settings. Only recently, however, have such tasks been performed by robotic systems. The increased capabilities of mobile robots are enabling autonomous search and rescue, robotic surveillance, unmanned reconnaissance, and other technologies. Beyond these applications, search and pursuit-evasion missions serve as catalysts for robotics research. That is, to develop autonomous systems for these tasks, it is necessary to build on classical tools and develop new ones which are capable of dealing with environmental complexity, sensing limitations, communication constraints, and robustness issues. The primary aim of this special issue entitled Search and Pursuit-Evasion with Mobile Robots is to bridge the gap be-

System of developing scale modeling and simulation for URAV

The unmanned reconnaissance aerial vehicle (URAV) plays an important role in battlefield monitoring and information acquiring because of its advantage of zero casualties, and has thus attracted considerable attention of the world. The URAV was developed rapidly in our country, however, no scientific assessment methods have yet been provided owing to different fight requirements of armed forces. Considering the demand of the missile artillery on the martial information, the model of information requirement of combat force, the reconnaissance ability of URAV, the survivability of URAV, and the task reliability of URAV were constructed, respectively. By synthesizing the mathematic models above, the model of developing demand was constructed on the URAV equipment. It simulated and calculated some URAV equipment developing scales, and explored a way of settling the problem of URAV equipment developing demand.

Hybrid ant colony algorithms for path planning in sparse graphs

The general problem of path planning can be modeled as a traveling salesman problem which assumes that a graph is fully connected. Such a scenario of full connectivity is however not always realistic. One such motivating example for us is the application of path planning for unmanned reconnaissance aerial vehicles (URAVs). URAVs are widely deployed for photography or imagery gathering missions of sites of interest. These sites can be targets in a combat zone to be investigated or sites inaccessible by ground transportation, such as those hit by forest fires, earthquake or other forms of natural disasters. The navigation environment is one where the overall configuration of the problem is a sparse graph. Unlike graphs that are fully connected, sparse graphs are not always Hamiltonian. In this paper, we describe hybrid ant colony algorithms (HACAs) proposed for path planning in sparse graphs since existing ant colony solvers designed for solving TSP do not apply to the present context directly. HACAs represent ant inspired algorithms incorporated with a local search procedure and some heuristic techniques for uncovering feasible route(s) or path(s) in a sparse graph within tractable time. Empirical results conducted on a set of generated sparse graphs demonstrate the excellent convergence property and robustness of HACAs in uncovering low risk and Hamiltonian visitation paths. Further, the obtained results also indicate that HACAs converge to secondary closed paths in situations where a Hamiltonian cycle does not exist theoretically or is not attainable within the bounded computational time window.

Dynamics and Stability of an Autorotating Rotor/Wing Unmanned Aircraft

The development of and results from a dynamic analysis of a hybrid autorotating rotor/wing aircraft are presented. The aircraft is intended for use as an unmanned reconnaissance vehicle to be air launched from the pylon of a base aircraft. The rotor/wing aircraft may be operated as a conventional, fixed-wing airplane or as an autogyro for low-speed surveillance and landing. Analysis presented includes dynamic stability and control features of the autogyro configuration. Generally, the autogyro exhibits dynamic modes characteristic of a conventional aircraft with the exception of an additional, slowly convergent mode associated with the rotor angular velocity degree of freedom. The rotor angular velocity also plays an important role in the unstable autogyro phugoid mode. Control effectiveness in the autorotating configuration is generally good, though it is recommended that the rotor longitudinal cyclic control be assisted by the elevons to enhance control power in pitch.

Image Exploitation-A Forefront Area for UAV Application

Image exploitation, an innovative image utilisation program uses high revisit multisensor, multiresolution imagery from unmanned air vehicle or other reconnaissance platform for intelligent information gathering. This paper describes the imagc exploitation system developed at the Aeronautical Dcvclopment Establishment, Bangalore, for the remotely piloted vehicle (RPV) Nishonr and highlights two major areas (i) In-flight imagc exploitation, and (ii) post-flight imagc cxploitatlon. In-flight imagc study includes real-timeenhancement of images frames during RPV flight. target acquisition. calculation of geo-location of targets, distance and area computation, and image-to-map correspondence. Post-flight image exploitation study includes image restoration, classtfication of terrain, 3-D depth computation using stereo vision and shape from shading techniques. The paper shows results obtained in each of these areas from actual flight trials.

The Lunar Orbiter Telecommunications Systems

The Lunar Orbiter is an unmanned lunar reconnaissance satellite which takes high-resolution photographs of large areas of the lunar surface to assist in selecting a landing site for Apollo. Because of various mission aspects and the fact that the Orbiter employs a film-type camera, the requirements placed on the telecommunications system are different from those of previous U. S. spacecraft. This paper describes the design of both the spacecraft and ground equipment of the Lunar Orbiter telecommunications system. Some of the unique features of the design include the use of vestigial sideband modulation for transmission of the picture data, a full-verification command system, a low-gain antenna system whose pattern approaches that of an isotropic radiator over a large portion of the radiation sphere, and a dual-power-level transmission system which does not use RF switching. Included in the paper is a link-design chart which shows the SNRs and performance margins obtained for all operating modes.