The document summarizes a flight test campaign conducted by Boeing in November 2007 using an Unmanned Little Bird (ULB) helicopter to demonstrate sensor and avionics technologies relevant for future lunar and planetary landers. Over 13 flight test hours were performed across 14 flights. Experiments included emulating lunar lander descent trajectories, testing a 3D imaging LADAR system, evaluating a passive imaging system for crater navigation, and demonstrating a precision radio beacon navigation system. All experiments were successfully completed and yielded satisfactory results, validating the technologies for real-time testing in environments simulating the moon or Mars.
This document summarizes the development and testing of a navigation system for precisely navigating an unmanned vertical takeoff and landing (VTOL) aerial system to land on a moving vessel. It describes how Boeing's Unmanned Little Bird program modified a helicopter to integrate and demonstrate a GNSS/inertial navigation system. This navigation system uses relative navigation techniques to autonomously guide the helicopter to a predetermined precision landing on a ship deck, regardless of deck size or ship motion. The document outlines the development history and phases of testing this navigation system, including motion platform testing, manual and automatic landings on a moving trailer rig designed to emulate a ship deck.
Development of Navigation and Automated Flight Control System Solutions for M...Mark Hardesty
1) The document describes flight tests of a navigation system to guide an unmanned helicopter to precision landings on ships.
2) Tests were conducted using a modified trailer rig emulating a ship deck, and showed the navigation system could successfully guide the helicopter to land and secure itself to the deck.
3) In preparation for maritime flight tests, the helicopter's cockpit instrumentation was upgraded to a glass cockpit display for improved visibility in varied environmental conditions expected over water.
Helicopter_Shipboard_Landing_System - ION 2005Mark Hardesty
1) The document describes a helicopter ship board landing system developed jointly by NovAtel and Boeing that uses integrated GPS and inertial navigation systems (GPS/INS) to provide precise relative navigation between a helicopter and ship.
2) The system consists of paired GPS/INS units on the helicopter and ship that communicate wirelessly. It can determine the relative position between the two vehicles to within 50cm accuracy.
3) The system provides critical navigation data to help pilots safely land on ships even during rough sea conditions, allowing for more consistent take-offs, landings, and supply operations.
The document provides an overview of various aircraft navigation systems throughout history, from early tools like stars, wind patterns and timekeeping to modern satellite-based systems. It discusses early radio navigation systems, celestial navigation using tools like sextants, dead reckoning through computations of speed and direction, map-matching systems, and global satellite systems like GPS. Modern area navigation systems are described as allowing aircraft flexible routing rather than direct routes between beacons, providing potential time, fuel and congestion benefits.
NAUTILUS-X Future in Space Operations (FISO) Group PresentationA. Rocketeer
Nautilus-X: A presentation at the Future In Space Operations teleconference on Jan 26th 2011, given by Mark Holderman and Edward Henderson of NASA JSC.
The document summarizes the system architecture of the Global Hawk unmanned aerial vehicle. It describes Global Hawk as a high-altitude, long-endurance aircraft system used for intelligence, surveillance, and reconnaissance missions. The key components of the Global Hawk system are the unmanned air vehicle, a common ground segment for command and control, and support systems. The air vehicle carries sensor payloads and has autonomous flight and navigation capabilities. The common ground segment includes a mission control element and launch/recovery element to monitor the vehicle and payload data and control missions.
The document discusses technologies that the FAA is implementing to improve air traffic control systems and safety. It describes the current air traffic control system and issues like increasing traffic. It then outlines the National Airspace System Plan from 1981 to modernize equipment through projects like new computer systems at ARTCC facilities. Finally, it discusses several new technologies being developed or implemented, such as terminal Doppler weather radar, GPS navigation, data link communications, and multi-mode receivers, to further improve safety, efficiency, and capacity of the national air traffic system.
This document summarizes the functions and components of a Mission Planning and Control System (MPCS) for unmanned aerial vehicles (UAVs). The MPCS controls launch, flight and recovery of the UAV. It processes sensor data and controls the payload. Key components include displays for vehicle and payload status, map displays for mission planning, a data link for communication, and computers for interface, navigation and calculations. The MPCS allows operators to plan missions, monitor the UAV's position, control the vehicle and payload, and save sensor data. Modes of control include full remote control, assisted remote control, exception control, and full automation. The document also discusses controlling payloads and missions.
This document summarizes the development and testing of a navigation system for precisely navigating an unmanned vertical takeoff and landing (VTOL) aerial system to land on a moving vessel. It describes how Boeing's Unmanned Little Bird program modified a helicopter to integrate and demonstrate a GNSS/inertial navigation system. This navigation system uses relative navigation techniques to autonomously guide the helicopter to a predetermined precision landing on a ship deck, regardless of deck size or ship motion. The document outlines the development history and phases of testing this navigation system, including motion platform testing, manual and automatic landings on a moving trailer rig designed to emulate a ship deck.
Development of Navigation and Automated Flight Control System Solutions for M...Mark Hardesty
1) The document describes flight tests of a navigation system to guide an unmanned helicopter to precision landings on ships.
2) Tests were conducted using a modified trailer rig emulating a ship deck, and showed the navigation system could successfully guide the helicopter to land and secure itself to the deck.
3) In preparation for maritime flight tests, the helicopter's cockpit instrumentation was upgraded to a glass cockpit display for improved visibility in varied environmental conditions expected over water.
Helicopter_Shipboard_Landing_System - ION 2005Mark Hardesty
1) The document describes a helicopter ship board landing system developed jointly by NovAtel and Boeing that uses integrated GPS and inertial navigation systems (GPS/INS) to provide precise relative navigation between a helicopter and ship.
2) The system consists of paired GPS/INS units on the helicopter and ship that communicate wirelessly. It can determine the relative position between the two vehicles to within 50cm accuracy.
3) The system provides critical navigation data to help pilots safely land on ships even during rough sea conditions, allowing for more consistent take-offs, landings, and supply operations.
The document provides an overview of various aircraft navigation systems throughout history, from early tools like stars, wind patterns and timekeeping to modern satellite-based systems. It discusses early radio navigation systems, celestial navigation using tools like sextants, dead reckoning through computations of speed and direction, map-matching systems, and global satellite systems like GPS. Modern area navigation systems are described as allowing aircraft flexible routing rather than direct routes between beacons, providing potential time, fuel and congestion benefits.
NAUTILUS-X Future in Space Operations (FISO) Group PresentationA. Rocketeer
Nautilus-X: A presentation at the Future In Space Operations teleconference on Jan 26th 2011, given by Mark Holderman and Edward Henderson of NASA JSC.
The document summarizes the system architecture of the Global Hawk unmanned aerial vehicle. It describes Global Hawk as a high-altitude, long-endurance aircraft system used for intelligence, surveillance, and reconnaissance missions. The key components of the Global Hawk system are the unmanned air vehicle, a common ground segment for command and control, and support systems. The air vehicle carries sensor payloads and has autonomous flight and navigation capabilities. The common ground segment includes a mission control element and launch/recovery element to monitor the vehicle and payload data and control missions.
The document discusses technologies that the FAA is implementing to improve air traffic control systems and safety. It describes the current air traffic control system and issues like increasing traffic. It then outlines the National Airspace System Plan from 1981 to modernize equipment through projects like new computer systems at ARTCC facilities. Finally, it discusses several new technologies being developed or implemented, such as terminal Doppler weather radar, GPS navigation, data link communications, and multi-mode receivers, to further improve safety, efficiency, and capacity of the national air traffic system.
This document summarizes the functions and components of a Mission Planning and Control System (MPCS) for unmanned aerial vehicles (UAVs). The MPCS controls launch, flight and recovery of the UAV. It processes sensor data and controls the payload. Key components include displays for vehicle and payload status, map displays for mission planning, a data link for communication, and computers for interface, navigation and calculations. The MPCS allows operators to plan missions, monitor the UAV's position, control the vehicle and payload, and save sensor data. Modes of control include full remote control, assisted remote control, exception control, and full automation. The document also discusses controlling payloads and missions.
Comprehensive Space Certification ListingsJames Howard
This document lists over 120 payloads, experiments, and certifications for the Space Shuttle mission led by James H. Howard. It includes payloads for the International Space Station as well as satellites, experiments studying topics like protein crystal growth, combustion, and astronomy. Many of the listed payloads have been approved or have undergone safety reviews.
Air traffic control systems have evolved over time to safely manage increasing air traffic. Early systems included transponders that identified friendly aircraft and provided altitude information. Current systems like Mode S allow discrete aircraft addressing and additional data transmission. Traffic Collision Avoidance System (TCAS) monitors nearby aircraft and advises pilots on collision avoidance maneuvers. Radar systems are also important, with altimeters measuring altitude and weather radar imaging storms. These technologies collectively enable air traffic control to direct aircraft efficiently and prevent accidents.
The AirMule is an unmanned aerial vehicle developed by Israel's Urban Aeronautics to meet the requirements of the Israeli Defense Forces. It has vertical take-off and landing capability and can transport cargo, evacuate wounded soldiers, and deliver supplies to remote areas that are inaccessible to other aircraft. The AirMule completed its first flight tests in 2010 and has since undergone several upgrades, including to its sensors, payload capacity, and avionics systems. Its design allows it to transfer troops and medical equipment without relying on runways.
Here you will find everything that you need to know about Aviation Charts right from their history, evolution and the type of charts that we use today.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
The document discusses the X-38 project, which is developing technology for a crew return vehicle (CRV) that would return astronauts from the International Space Station in an emergency. Three prototype X-38 vehicles are conducting atmospheric flight tests, and a fourth vehicle will be space-rated. The CRV is expected to be operational at the International Space Station by 2006. It will carry up to 7 astronauts back to Earth after detaching from the space station and gliding back through the atmosphere, guided by an onboard computer and parachute system.
Term Paper Submitted in partial fulfillment of the requirements for the award of the degree of Bachelor of Technology In Aerospace Engineering.
AMITY UNIVERSITY DUBAI
Early pilots navigated visually by looking for landmarks but as flying occurred at night and in poor weather, new navigation technologies were developed. In the 1920s, navigation aids helped pilots determine attitude and position even when the ground was not visible. In 1929, Sperry introduced the artificial horizon and other mechanical aids emerged in the 1930s. Today, aircraft are tracked by radar but GPS now allows pilots to determine their precise position without assistance from air traffic control. This has led to debates around who should control navigation - pilots using GPS or air traffic controllers.
The document discusses missile technology, providing definitions and describing the basic parts of missiles including guidance, flight systems, engines, and warheads. It explains the principles of tracking, guidance, and flight for different types of missile engines. The document also describes different types of missiles and their specifications, including air-to-air, air-to-ground, surface-to-air, and ballistic missiles. It discusses various guidance systems used in missiles like inertial navigation systems, terrain contour matching, and global positioning satellites. Active homing, passive homing and semi-active homing guidance methods are also summarized.
Last four/five decades have seen revolutionary development in the field of electronics, computer and automation. Naturally avionics and C.N.S facilities also have adopted these technologies to the best of their advantage. The present paper shows how these technologies have modernized the aircraft cockpit and how C.N.S facilities have been modernised to give smooth and safe flying. The description is based on author’s observation of the development in civil aviation for the last more than four decades and future trends in this field
The document summarizes projects conducted by NASA Ames Research Center's Aeromechanics Branch, including the development of the Tiltrotor Test Rig (TTR) since 2008. The TTR is being developed in collaboration with other organizations to evaluate full-scale tiltrotors and provide insight into technological requirements for future civilian tiltrotors. In Fall 2014, the TTR was moved onto a calibration rig using a complex lifting procedure to ensure safety. The calibration rig will be used to calibrate the TTR's internal balance system to accurately measure forces during testing.
The document summarizes research on small unmanned aerial vehicles (UAVs) and their use by the military. It outlines categories of UAVs from micro to tactical to medium-altitude types. Current UAV missions focus on intelligence, surveillance, and reconnaissance. While UAVs provide benefits like reducing risk to troops, current small UAV systems are manpower intensive with low reliability. The authors propose near-term improvements in areas like human roles and automation, command and control, training, and operating environments. Longer-term, the goal is to shift more functions to automation while ensuring appropriate human oversight.
Design,Construction And Structure Analysis Of Twinrotor UAVijics
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly
started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a miniature VTOL
twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications
such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of
one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust
vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The
paper deals with the design of a basic UAV based on application and the construction keeping in mind the
different concepts that govern its motion.
Unmanned aerial vehicles (UAVs), also known as drones, provide a low-cost platform for aerial photography, mapping, and remote sensing applications. They can carry various sensor payloads and be used for infrastructure inspection, wildlife monitoring, search and rescue operations, and more. Regulations currently require certification to operate drones commercially, but their utility is driving efforts to expand approved uses. This document discusses various drone types, payloads, examples of applications, and the training and equipment required.
This document is a senior design report for an observational tilt-rotor unmanned aerial system called Paparazzi. The report describes the design of the Paparazzi UAS, which combines the capabilities of fixed-wing aircraft and rotorcraft to take off and land vertically while also efficiently cruising long distances. Key aspects of the design include a 40 inch wingspan, 5.5 pound weight, ability to hover for 15 minutes and cruise 4 nautical miles at 40 knots. The report details the conceptual design process, mission profile, weight breakdown, and aerodynamic analysis performed to develop the Paparazzi UAS for applications such as military reconnaissance, search and rescue, and commercial delivery.
Conceptual design and architecture of turkish communication satellite turksat...Atılay Mayadağ
The document provides preliminary design details for the TURKSAT 6A satellite mission. Key points include:
- The satellite will operate in GEO at 42° East longitude and be able to function in an 8° inclined orbit. It must be able to de-orbit to at least 350km above GEO by end of mission.
- Two orbital transfer scenarios are considered: bi-elliptic transfer or Hohmann transfer. Orbital calculations are provided.
- The communication payload will include 16 active Ku-band transponders, 2 active X-band transponders, and telemetry transmitters. Mass and power budgets are estimated.
- An Ariane 5 ECA launcher is proposed to deliver the
Guided missiles have evolved significantly over time and now play a major role in modern warfare. They can be guided through various technologies including laser, infrared, radar and GPS systems to precisely target enemies. Future smart weapons are anticipated to have greater autonomy, using advanced sensors and software to identify and engage threats on their own.
Birth of UAVs
Classification
Advantages
Applications:
>Drones for agricultural crop surveillance
>Drones for disaster management
>Drones for supplying food and medicine in remote areas
>Drones for energy
UAV v/s manned aircraft
Disadvantages
Standards and Specifications for Ground Processing of Space Vehicles: From an...John Ingalls
Proprietary or unique designs and operations are expected early in any industry's development, and often provide a competitive early market advantage. However, there comes a time when a product or industry requires standardization for the whole industry to advance...or survive. For the space industry, that time has come. Here, we will focus on standardization of ground processing for space vehicles and their ground systems.
To successfully grow the viability of the space industry, all members, commercial and government, will need to engage cooperatively in developing and applying standards to move toward interoperability. If we leverage and combine the best existing space standards and specifications, develop new ones to address known gaps, and adapt the best applicable features from other industries, we can establish an infrastructure to not only accelerate current development, but also build longevity for a more cohesive international space community.
This document outlines NFPA 110 standards for emergency and standby generators. It discusses classification levels for emergency power supply systems, terms, control functions, safety indications, location requirements, fuel supply, acceptance testing, and maintenance requirements. Maintenance includes weekly inspections, monthly load testing under different conditions depending on the system, annual load bank testing, and load testing every 36 months. Transfer time for emergency lighting loads must be within 10 seconds.
Comprehensive Space Certification ListingsJames Howard
This document lists over 120 payloads, experiments, and certifications for the Space Shuttle mission led by James H. Howard. It includes payloads for the International Space Station as well as satellites, experiments studying topics like protein crystal growth, combustion, and astronomy. Many of the listed payloads have been approved or have undergone safety reviews.
Air traffic control systems have evolved over time to safely manage increasing air traffic. Early systems included transponders that identified friendly aircraft and provided altitude information. Current systems like Mode S allow discrete aircraft addressing and additional data transmission. Traffic Collision Avoidance System (TCAS) monitors nearby aircraft and advises pilots on collision avoidance maneuvers. Radar systems are also important, with altimeters measuring altitude and weather radar imaging storms. These technologies collectively enable air traffic control to direct aircraft efficiently and prevent accidents.
The AirMule is an unmanned aerial vehicle developed by Israel's Urban Aeronautics to meet the requirements of the Israeli Defense Forces. It has vertical take-off and landing capability and can transport cargo, evacuate wounded soldiers, and deliver supplies to remote areas that are inaccessible to other aircraft. The AirMule completed its first flight tests in 2010 and has since undergone several upgrades, including to its sensors, payload capacity, and avionics systems. Its design allows it to transfer troops and medical equipment without relying on runways.
Here you will find everything that you need to know about Aviation Charts right from their history, evolution and the type of charts that we use today.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
The document discusses the X-38 project, which is developing technology for a crew return vehicle (CRV) that would return astronauts from the International Space Station in an emergency. Three prototype X-38 vehicles are conducting atmospheric flight tests, and a fourth vehicle will be space-rated. The CRV is expected to be operational at the International Space Station by 2006. It will carry up to 7 astronauts back to Earth after detaching from the space station and gliding back through the atmosphere, guided by an onboard computer and parachute system.
Term Paper Submitted in partial fulfillment of the requirements for the award of the degree of Bachelor of Technology In Aerospace Engineering.
AMITY UNIVERSITY DUBAI
Early pilots navigated visually by looking for landmarks but as flying occurred at night and in poor weather, new navigation technologies were developed. In the 1920s, navigation aids helped pilots determine attitude and position even when the ground was not visible. In 1929, Sperry introduced the artificial horizon and other mechanical aids emerged in the 1930s. Today, aircraft are tracked by radar but GPS now allows pilots to determine their precise position without assistance from air traffic control. This has led to debates around who should control navigation - pilots using GPS or air traffic controllers.
The document discusses missile technology, providing definitions and describing the basic parts of missiles including guidance, flight systems, engines, and warheads. It explains the principles of tracking, guidance, and flight for different types of missile engines. The document also describes different types of missiles and their specifications, including air-to-air, air-to-ground, surface-to-air, and ballistic missiles. It discusses various guidance systems used in missiles like inertial navigation systems, terrain contour matching, and global positioning satellites. Active homing, passive homing and semi-active homing guidance methods are also summarized.
Last four/five decades have seen revolutionary development in the field of electronics, computer and automation. Naturally avionics and C.N.S facilities also have adopted these technologies to the best of their advantage. The present paper shows how these technologies have modernized the aircraft cockpit and how C.N.S facilities have been modernised to give smooth and safe flying. The description is based on author’s observation of the development in civil aviation for the last more than four decades and future trends in this field
The document summarizes projects conducted by NASA Ames Research Center's Aeromechanics Branch, including the development of the Tiltrotor Test Rig (TTR) since 2008. The TTR is being developed in collaboration with other organizations to evaluate full-scale tiltrotors and provide insight into technological requirements for future civilian tiltrotors. In Fall 2014, the TTR was moved onto a calibration rig using a complex lifting procedure to ensure safety. The calibration rig will be used to calibrate the TTR's internal balance system to accurately measure forces during testing.
The document summarizes research on small unmanned aerial vehicles (UAVs) and their use by the military. It outlines categories of UAVs from micro to tactical to medium-altitude types. Current UAV missions focus on intelligence, surveillance, and reconnaissance. While UAVs provide benefits like reducing risk to troops, current small UAV systems are manpower intensive with low reliability. The authors propose near-term improvements in areas like human roles and automation, command and control, training, and operating environments. Longer-term, the goal is to shift more functions to automation while ensuring appropriate human oversight.
Design,Construction And Structure Analysis Of Twinrotor UAVijics
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly
started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a miniature VTOL
twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications
such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of
one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust
vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The
paper deals with the design of a basic UAV based on application and the construction keeping in mind the
different concepts that govern its motion.
Unmanned aerial vehicles (UAVs), also known as drones, provide a low-cost platform for aerial photography, mapping, and remote sensing applications. They can carry various sensor payloads and be used for infrastructure inspection, wildlife monitoring, search and rescue operations, and more. Regulations currently require certification to operate drones commercially, but their utility is driving efforts to expand approved uses. This document discusses various drone types, payloads, examples of applications, and the training and equipment required.
This document is a senior design report for an observational tilt-rotor unmanned aerial system called Paparazzi. The report describes the design of the Paparazzi UAS, which combines the capabilities of fixed-wing aircraft and rotorcraft to take off and land vertically while also efficiently cruising long distances. Key aspects of the design include a 40 inch wingspan, 5.5 pound weight, ability to hover for 15 minutes and cruise 4 nautical miles at 40 knots. The report details the conceptual design process, mission profile, weight breakdown, and aerodynamic analysis performed to develop the Paparazzi UAS for applications such as military reconnaissance, search and rescue, and commercial delivery.
Conceptual design and architecture of turkish communication satellite turksat...Atılay Mayadağ
The document provides preliminary design details for the TURKSAT 6A satellite mission. Key points include:
- The satellite will operate in GEO at 42° East longitude and be able to function in an 8° inclined orbit. It must be able to de-orbit to at least 350km above GEO by end of mission.
- Two orbital transfer scenarios are considered: bi-elliptic transfer or Hohmann transfer. Orbital calculations are provided.
- The communication payload will include 16 active Ku-band transponders, 2 active X-band transponders, and telemetry transmitters. Mass and power budgets are estimated.
- An Ariane 5 ECA launcher is proposed to deliver the
Guided missiles have evolved significantly over time and now play a major role in modern warfare. They can be guided through various technologies including laser, infrared, radar and GPS systems to precisely target enemies. Future smart weapons are anticipated to have greater autonomy, using advanced sensors and software to identify and engage threats on their own.
Birth of UAVs
Classification
Advantages
Applications:
>Drones for agricultural crop surveillance
>Drones for disaster management
>Drones for supplying food and medicine in remote areas
>Drones for energy
UAV v/s manned aircraft
Disadvantages
Standards and Specifications for Ground Processing of Space Vehicles: From an...John Ingalls
Proprietary or unique designs and operations are expected early in any industry's development, and often provide a competitive early market advantage. However, there comes a time when a product or industry requires standardization for the whole industry to advance...or survive. For the space industry, that time has come. Here, we will focus on standardization of ground processing for space vehicles and their ground systems.
To successfully grow the viability of the space industry, all members, commercial and government, will need to engage cooperatively in developing and applying standards to move toward interoperability. If we leverage and combine the best existing space standards and specifications, develop new ones to address known gaps, and adapt the best applicable features from other industries, we can establish an infrastructure to not only accelerate current development, but also build longevity for a more cohesive international space community.
This document outlines NFPA 110 standards for emergency and standby generators. It discusses classification levels for emergency power supply systems, terms, control functions, safety indications, location requirements, fuel supply, acceptance testing, and maintenance requirements. Maintenance includes weekly inspections, monthly load testing under different conditions depending on the system, annual load bank testing, and load testing every 36 months. Transfer time for emergency lighting loads must be within 10 seconds.
Unmanned Little Bird Testing Approach - AHS Tech Specists Meeting Jan 2009Mark Hardesty
The document summarizes the Unmanned Little Bird (ULB) program approach. The ULB program leveraged an existing aircraft design, the MD 530F helicopter, to create a full-size unmanned aerial vehicle (UAV) for testing new technologies with minimal risk. The first ULB flight occurred in September 2004 and demonstrated fully autonomous flight six weeks later. Over 576 flight hours of testing have helped advance UAV subsystem development and operational concepts. The ULB approach of reusing an existing airframe provides a cost-effective way to develop and qualify new technologies for VTOL UAVs.
The Use of GPS Tracking & Guidance Systems for the Chicken LIttle Joint Proje...Mark Hardesty
The document discusses a flight test program called "Acoustic Week" that was conducted to collect sensor data from various aircraft, including acoustic, seismic, infrared, and human sound jury data. Precise GPS tracking data was important to provide guidance cues for test vehicles and acquire accurate source noise data. The test collected short-range acoustic data to develop source noise hemispheres, which are used as inputs for the Rotorcraft Noise Model (RNM) to predict long-range noise footprints and validate acoustic detection models. The tracking system used differential GPS to provide guidance and acquire precise position data for two test vehicles.
This document contains Brandon Lee's design portfolio, which includes summaries of three projects: a saxophone stand created using sand casting and woodworking, an RC hovercraft with circuit diagrams and controller design, and an autonomous racing machine with a drivetrain and ball shooting mechanism. The portfolio provides Brandon's contact information and outlines the projects, materials used, processes involved, diagrams, and challenges for each design.
This document outlines approval standards for automatic water control valves. It covers general requirements such as descriptions of valve types, required sizes and pressures, materials, markings, and tests. Valves must be single clapper designs maintained closed mechanically and released externally. They are often used in deluge and preaction sprinkler systems and must meet the requirements of those standards as well as tests for operation, friction loss, and hydrostatic pressure. Field experience is also considered in maintaining approval.
1) The document provides requirements and testing procedures for waterflow alarm indicators of the vane type to be approved by FM Global.
2) Key components of the alarm indicators are described including the vane, body, instantly recycling retard, and requirements are given for performance, friction loss, and testing of the vane assembly.
3) Indicators must be designed to operate within specific pressure and flow parameters and withstand various tests to evaluate design and mechanical strength.
Flow Control in a Diffuser at Transonic ConditionsJeremy Gartner
This document discusses an experimental study of flow control techniques in a transonic diffuser. A new diffuser design was created with an upper ramp and straight floor to decouple the secondary flow structures from separation. Different flow control actuators including steady and unsteady jets were tested at the ramp. The actuators were able to delay separation on the ramp and increase pressure recovery by up to 9.7% compared to the baseline case without flow control. Sweeping and pulsed jet arrays performed better than a two-dimensional jet when all were operated at their maximum mass flow ratios. The results provide insights into controlling flows in short inlet ducts used on aircraft.
Este documento establece los requisitos mínimos de competencia para el personal que responde a incidentes con materiales peligrosos. Define términos clave como zona caliente, tibia y fría, y describe tres niveles de personal de respuesta: primer respondiente, técnico en materiales peligrosos y especialista. El objetivo es reducir accidentes y exposiciones durante la respuesta a incidentes con materiales peligrosos a través de la capacitación y certificación adecuadas.
The document describes the process for proposing changes to NFPA committee documents and the sequence of events leading to the publication of an NFPA standard. It provides information on the NFPA 99 Technical Piping Committee, including who can be members and who some of the principal members are. It also notes some of the proposed changes between the 2005 and 2012 editions of NFPA 99 chapters 4 and 5, including changing the building system categories from levels to categories and amendments to requirements for central supply systems and controls.
Ever since your elementary school days, doing your homework has been the key factor in making the grade. Years later, it still counts. This time, your kitchen is the test... and you need to pass to keep people safe. Who’s giving the crash course to help you pass test? That would be the National Fire Prevention Association (NFPA). Educate yourself and your team on best ways to prevent Kitchen Exhaust Fires with the tips and tricks from our Certified Exhaust Cleaning Specialist.
Finite Element Analysis of the Beams Under Thermal LoadingMohammad Tawfik
This document presents the derivation of a finite element model for analyzing beams under thermal loading. It describes:
1) The displacement functions used in the model, including a 4-term polynomial for transverse displacement and 2-term polynomial for in-plane displacement.
2) Deriving the element matrices using the principle of virtual work, accounting for external and thermal loading.
3) The procedures and results of applying the model to analyze a panel subjected to thermal loading.
Lecture on “Aerodynamic design of Aircraft” in University of Tokyo 21st December, 2015. Optimization techniques, data-visualization and their applications are inclusive.
This document summarizes the 10 most important changes in the 2012 edition of NFPA 70E, which establishes safety requirements for electrical work. Key changes include:
1) Clarifying the difference between arc-rated and flame-resistant clothing by adding an informational note.
2) Requiring employers to annually determine employee compliance with safety practices.
3) Adding details to the electrical safety program requirements, including auditing the program every 3 years and documenting audits.
4) Adding requirements for identifying and marking underground electrical lines before excavation.
5) Clarifying when energized equipment must be put into electrically safe working conditions.
6) Specifying that energized work permits are required
The document summarizes major changes in the 2015 edition of NFPA 70E: Standard for Electrical Safety in the Workplace. Key changes include replacing terms like "harm" and "probablility" with more accurate terms, expanding definitions of terms like "qualified person" and "risk assessment", strengthening electrical safety program requirements, expanding training requirements, and modifying shock and arc flash risk assessment procedures and PPE categories. Changes aim to improve safety for electrical work by providing clearer guidance and better alignment with other safety standards.
This document describes Lawrence Livermore National Laboratory's effort to develop autonomous micro-satellites weighing tens of kilograms that can perform precision maneuvers like rendezvous, inspection, proximity operations, formation flying, and docking. It discusses the development of ground test vehicles and a dynamic air bearing test capability to demonstrate proximity operations. Initial tests successfully demonstrated soft docking on an air rail using cameras and a laser rangefinder. With stereo cameras, docking was also demonstrated on an air table with a moving target. The capabilities being developed could enable new space logistics missions like satellite servicing or debris removal.
This document describes Lawrence Livermore National Laboratory's efforts to develop micro-satellites capable of autonomous proximity operations and docking. It discusses the development of engineering test vehicles and a dynamic air bearing test capability to demonstrate key technologies in a simulated zero-gravity environment. Initial tests have demonstrated soft docking using imaging sensors and a laser rangefinder. The goal is to enable new space logistics missions like satellite inspection, servicing and debris removal.
Electrical systems in missiles and space vehiclesRajneesh Budania
The document discusses the evolution of electrical systems engineering for missiles and space vehicles. Early missile programs involved parallel subsystem design with minimal coordination, but the V2 program established the need for overall systems engineering. The Mercury program applied this approach and introduced additional safety systems to protect astronauts, including redundant abort systems. Electrical systems play a key role in integrating complex functions like engine control, flight sequencing, telemetry and more across multiple stages in large modern rockets like Saturn.
Rapid Development of a Rotorcraft UAV System - AHS Tech Specialists Meeting 2005Mark Hardesty
This document summarizes the development of a rotorcraft unmanned aerial vehicle (UAV) system by Boeing Phantom Works over less than one year. They selected the MD 530F helicopter due to its performance capabilities and military counterpart. The design integrated commercial off-the-shelf hardware and proprietary Boeing flight control software. Bench and flight testing were prioritized to rapidly expand the flight envelope from initial engagement of the electrical flight controls to autonomous takeoffs, landings and navigation. The manual override capability allowed high-risk prototype systems to be safely tested.
This document discusses several avionics applications including civilian aircraft like the Boeing 787 Dreamliner, military surveillance drones like the RQ-4 Global Hawk, and combat drones such as the MQ-1 Predator. It also covers the avionics systems used on the Space Shuttle. For the 787, it describes the flight system suppliers and the use of partitioned real-time operating systems. For drones, it provides background on their development and highlights key specifications. For the Space Shuttle, it outlines the hardware configuration and software architecture used in its data processing system.
This document discusses several avionics applications including civilian aircraft like the Boeing 787 Dreamliner, military surveillance drones like the RQ-4 Global Hawk, and combat drones such as the MQ-1 Predator. It also covers the avionics systems used on the Space Shuttle. For the 787, it describes the flight system suppliers and the use of ARINC 653 and VxWorks. For drones, it provides background on their development and highlights key specifications. The Space Shuttle section outlines its hardware, software architecture, and different application programs used.
Operational tests of three software-intensive military systems are examined: the UH-60M helicopter, UH-60M upgrade, and MQ-1C drone. The tests revealed that software issues impacted mission success and users prioritized improvements related to software functionality and interfaces. While users could often complete missions with workarounds, their feedback provided valuable insights for more efficient development and testing of future software systems.
Overview Of Unmanned Aircraft Systems (UAS)Mark Lewellen
The document provides an overview of unmanned aircraft systems (UAS), including their history and evolution from remote piloted vehicles (RPV) to unmanned aerial vehicles (UAV) to today's unmanned aircraft systems (UAS). It describes various UAS including the Raven, Shadow, Predator, and Global Hawk and discusses their missions, features, and technical specifications. It also discusses spectrum needs and challenges for integrating UAS into national airspace, including the need for protected aeronautical frequency allocations to ensure their safe operation.
Unmanned Aerial Vehicle for urban surveillanceAhsen Parwez
Unmanned Aerial Vehicles, also known as UAV's are used extensively for surveillance and rescue operations. We have fabricated a spherical UAV modelled for use in urban surveillance.
Team members: Ahsen, Utkarsh, Gagan, Riya, Deep
This document discusses advancing low visibility technologies through industry and government collaboration. It describes ongoing efforts by the FAA to implement new capabilities for low visibility flight operations using technologies like enhanced flight vision systems (EFVS). It proposes evaluating EFVS performance at the Volpe Center's outdoor weather test facility using collaborative agreements with EFVS manufacturers. The facility could assess EFVS visibility capabilities under different weather conditions and help standardize performance metrics.
This document discusses unmanned aircraft systems (UAS) and their potential uses for remote sensing and scientific research. It begins by classifying UAS based on size and capabilities into categories such as micro air vehicles (MAVs), vertical take-off and landing (VTOL), low-altitude short-endurance (LASE), and low-altitude long-endurance (LALE). Examples of platforms within each category are provided, along with their typical payload capacities, flight durations, and operational characteristics. The document concludes by noting that UAS offer advantages over manned aircraft for certain data collection applications, but that regulatory barriers currently limit their scientific use.
This document describes the development of an autonomous indoor blimp and its control system. A prototype was built using commercially available low-cost components, including a Raspberry Pi computer, camera, IMU, batteries and propulsion system. The blimp is 3.5 meters long and can fly untethered for up to 4 hours on a single battery charge. An onboard visual-inertial navigation system estimates the blimp's position and orientation to enable station-keeping and target following behaviors without external positioning systems or ground control. The system was tested and evaluated through indoor flight experiments.
This document provides an overview of the Instrument Landing System (ILS). It discusses the history and development of the ILS from the 1920s onwards. Key components of the ILS are described, including the localizer which provides horizontal guidance, the glide slope which provides vertical guidance, and marker beacons which help pilots check their height and distance from the runway. The document also covers ILS categories, critical areas, maintenance, and future developments. In summary, the ILS is a critical radio navigation system that guides aircraft to the runway during low visibility conditions, and remains the most accurate system for approaches and landings despite being in use for over 60 years.
The document discusses the flight characteristics of unmanned aircraft systems (UAS). It describes three groups of UAS based on altitude and endurance: high altitude and long endurance (HALE), medium altitude and long endurance (MALE), and tactical (TUAV). UAS are used for reconnaissance, combat, research and development, and civil/commercial applications. Their flight characteristics include flight control, navigation using GPS, various propulsion methods, payloads, launch and recovery techniques, and communication systems using satellite bands. The future of UAS looks promising, especially for military use over the next 20-30 years.
This document describes the development of a vision-based autopilot system for unmanned aerial vehicles (UAVs). The system uses a modular design with three main components: an autopilot to control low-level functions, a single-board computer for image processing, and a switching module to toggle between manual and autonomous control. Hardware tests show the switching module can reliably switch inputs and return control to the operator if needed. The system aims to provide an affordable, standardized platform for developing and testing vision-based control algorithms for UAVs.
UAV(unmanned aerial vehicle) and its application Joy Karmakar
This document discusses unmanned aerial vehicles (UAVs), including their definition, history, components, applications, and disadvantages. UAVs are aircraft without human pilots that can be controlled autonomously or remotely. They have various applications both militarily and civilly, such as aerial surveillance, search and rescue operations, agriculture, filmmaking, and more. The key components of UAVs are the payload, air vehicle, navigation systems, and communications systems. India has developed several UAVs domestically such as Rustom, Nishant, and Lakshya for military purposes. The future of UAV technology remains dynamic with new discoveries expected over the next 16 years.
This document summarizes the design and testing of an unmanned aerial vehicle (UAV) built by students to survey farmland by taking aerial images and recording GPS coordinates. The students followed an engineering design process, beginning with brainstorming how to survey large areas of rough terrain. They researched UAV types and flight principles and designed a flying wing platform suited for autonomous flight, first-person viewing, and ease of use. A quality function deployment analysis supported this design. The UAV was constructed of expanded polypropylene foam and tested through several flights. High definition video and images captured during test flights over a banana crop provided a valuable aerial view for monitoring the farm.
This document describes an unmanned aerial vehicle (UAV) system for searching and rescuing persons who have fallen overboard from ships. The system uses multiple UAVs equipped with sensors that are launched from ships to search large areas more quickly and effectively than surface vessels. An autonomous mission management system divides the search area among the UAVs and coordinates their search patterns. When a person is located, the UAVs alert rescuers and can deploy survival gear to the victim until rescuers arrive. The goal is to improve detection and rescue success rates compared to current methods.
The document summarizes a system requirements review for a university student project to design a rocket payload. The payload will measure conditions experienced by a deployable unmanned aerial vehicle during rocket flight and parachute deployment. It will gather telemetry data, test guidance and navigation with a parachute, and evaluate controlled landing. The summary reviews mission objectives, benchmark projects, physical requirements, components, design drawings, manufacturing methods, resources, safety considerations, cost analysis, and project plans.
Meghan Noonan has over 15 years of experience as an aerospace engineer specializing in guidance, navigation, and control systems. She has worked on projects for NASA, Boeing, and L-3 developing control algorithms, simulations, and flight software for various aircraft and spacecraft. Her background includes modeling, simulation, flight testing, and algorithm development for platforms such as UAVs, missiles, the Orion spacecraft, and tiltrotor aircraft.
Similar to Helicopter Flight Demonstration of Lunar & Planetary Lander Technologies - AIAA 2008 (20)
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II. Unmanned Little Bird Helicopter Flight Test Platform
The flight tests for this series of demonstration flights were performed using the Boeing ULB helicopter as the
test bed platform. The ULB helicopter, as shown in Figure 1, is a modified MD-530-FF two seat (pilot plus
passenger) helicopter with the tail number N7032C.
Figure 1. Boeing MD-530FF Unmanned Little Bird in Autonomous Flight.
The ULB is a Boeing developed, owned and controlled fully instrumented Unmanned Aerial Vehicle (UAV)
test-bed aircraft using an Autonomous Flight Control System (AFCS) with optional capability for piloted flight.
Associated components include AFCS actuators, an AFCS Flight Control Computer (FCC), an Embedded Global
Positioning System (GPS)/Inertial Navigation System (INS) (EGI) navigation system, Air Data Computers (ADC), a
Wide Area Augmentation System (WAAS) and Real Time Kinematic (RTK) differentially enabled dual freqency
NovAtel GPS, a Tactical Common Data Link (TCDL), system interface displays, and a nose mounted WesCam
Turreted Sensor.
Figure 2 shows the typical maneuver capability. The ULB is also one of the few helicopters that have an
approved negative g capability.
Figure 2. Typical Unmanned Little Bird Maneuver Capability.
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Cruise speed in the demonstration configuration is estimated at 110 knots. Flight time is about 1 hour 40 minutes
with a standard fuel load, depending on payload mass. With an equipped empty weight of 2159 lbs, a crew of two
estimated at 200 lbs each and a full fuel load of 400 lbs, experimental equipment payload at sea level can range up to
550 lbs. The aircraft has an on board power supply of 28 V DC with 250-300 A available for payload applications.
The complete ULB system includes a ground control station for uncrewed flight and allows the quick integration
of different prototype subsystems. The ULB can be readily equipped with additional sensors, hard- and software,
which can be integrated with the existing on board systems. Data measurements can be either recorded and retrieved
after landing for post flight analyses or transmitted to the ground in real time via communications downlinks. The
ULB can be deployed for either crewed or uncrewed operation, and the ‘optionally crewed’ capability allows it to be
operated as a crewed platform to travel from an airfield through controlled airspace to a point of uncrewed use.
Pilots can therefore ferry the ULB aircraft directly to the deployment point and release the aircraft for subsequent
autonomous operation as a UAV while passively monitoring flight operations. This capability provides significant
test and operational benefits. The critical attribute of a manual over-ride by an on-board safety pilot allows operating
high dollar or one-of-a-kind prototype systems even with limited maturity and technology readiness on the ULB
platform at the corners of the flight envelope in civil airspace with minimum safety and software concerns.
The ULB represents an asset with low operational costs that can be easily repositioned to any unique test
environment or customer location to minimize travel or integration expenses. It provides the opportunity to explore
concepts of operations, and to rapidly install and evaluate the performance of a vast range of sensor, communication,
and navigation devices and systems. Data from these efforts can enable rapid prototyping decisions that can allow
hardware and software modifications in time to retest while still on test location. System tests requiring on-board
operator intervention to effect real-time tuning and data acquisition are easily accomplished using an installed touch
screen equipped cockpit monitor interfaced with a Windows XP based Panasonic Toughbook computer.
III. Overview of Test Campaign
The test campaign described in the following comprised the installation and in flight operation of a variety of
hard- and software elements and components on the ULB helicopter during several individual sorties for flight
evaluation and data collection. The ULB was reconfigured repeatedly for performing different experiments on
separate sorties, and it was flown in a number of different flight configurations, conditions and profiles that
addressed specific demonstration objectives. The internal test equipment was generally mounted in the aft passenger
compartment on special pallets, while sensors were mounted on the outside of the aircraft, either on a chin mount in
front, beneath the fuselage or on pylons on either side. INS and GPS signals required for precision position data
were made available for recording purposes by the on board equipment, and relevant flight test data files were
recorded on board and processed for subsequent evaluation.
All flight testing was conducted via manual pilot control under visual meteorological conditions during daylight
hours. A total of over 13 flight test hours were accumulated during 14 flights over a space of six days. Flights ranged
from approximately 10 minutes to 2 hours in duration. The test campaign was flown from the Charles Lindbergh
Regional Airport (INW) in Winslow, AZ. Being situated in the northern Arizona high desert, the area surrounding
Winslow includes a number of geological and topological features, such as canyons, rock and hill formations and
mesas, which readily lend themselves as similes for lunar or Martian terrain.
The details of the different lunar lander related flight test experiments and their main results are outlined in the
following.
A. Lunar Lander Trajectory Emulation
The objective of this experiment was to assess the applicability of the ULB as a demonstration as well as training
platform for future lunar landers. This entailed determining the compatibility of the ULB flight envelope and
performance parameters with typical lander trajectory profiles in real time. For this experiment, ULB GPS/INS
position data were determined and recorded, using available on board equipment.
Several slanted descent trajectories with different approach angles and near constant deceleration were manually
flown, and precision position data were successfully recorded. The final segments (approximately comprising the
last 30 seconds) of several generic lunar lander trajectories with different approach angles were thus successfully
emulated by the ULB under manual control. The approaches were executed in straight line descent maneuvers with
velocity decreasing approximately linearly over time, until the ULB arrived at low altitude above the assumed
landing spot at zero velocity. The main flight path parameters of the final approach phase of an example trajectory
are shown in Figure 3. The flown approaches validated the viability of the ULB as a corresponding test bed, and the
ULB flight envelope and agility allow faithful real time emulation of crucial final descent phase of lunar landers.
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Repeatability during and quick turn around between flights enable the fast exploration of trajectory trade space, and
the ability for piloted as well as autonomous operations allows the stepwise implementation of GN&C capabilities
and provides significant risk reduction during ‘closing the loop’ under pilot oversight.
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Figure 3. Main Trajectory Parameters for Lunar Lander Final Approach Example.
B. LADAR Data Collection
The objective of this experiment was to assess the performance characteristics of a LADAR 3D imaging system
on a flying platform, for example with respect to eventual capabilities for full darkness terrain and landing zone
mapping and hazard avoidance.
Boeing configured the test bed components of the so-called Capital Equipment LADAR for Testing Integrated
Capabilities (CELTIC) 3D Flash LADAR into a flight configuration and successfully flew a Spectrolab Geiger
mode Avalanche PhotoDiode (GmAPD) array on the ULB. The LADAR experiment used the following sensors and
components, which were collocated on a Sagebrush Model 20 gimbal mount that was attached upside down on the
ULB chin mount on the lower front fuselage at a 60 degree down look angle with a swath of about 10 degrees, as
shown in Figure 4:
• Photon counting BSVS custom 3D LADAR GmAPD array camera with 10 mradians Field of View and
single photon sensitivity
• Imperx Lynx COTS visible camera with 0.1 radians Field of View
• Keopsys Commercial Off The Shelf (COTS) Model KULT pulsed laser with 1.064 microns wavelength
On board equipment not integrated on the gimbal was installed in the ULB backseat instrumentation rack area.
Flights were performed at 300 m altitude and 2 kts ground speed. Targets of interest included slanted ground
planes, uneven terrain, camouflage netting, buildings and vehicles, persons, and railroad tracks The CELTIC used a
continuous scan mode for the gimbal, with triggers from the data acquisition computer. GPS data, gimbal position
angles and visible camera data were recorded at the fastest possible rate, and the 3D LADAR data were archived as
well. The LADAR collection portion of the scan was found to be not optimally aligned, and only half of the array
was receiving returns. It was however possible to still generate partial imagery as shown in Figure 5. The visible
imagery yielded a very smooth stabilized scan, as shown in Figure 6.
The experiment flight design and packaging was found to be excellent, and the integration onto the helicopter
went extremely well. The LADAR test was a major step forward in moving this system from a ground test bed
towards operational applications and demonstrating flight operations.
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Figure 4. Flash LADAR Installation.
Figure 5. LADAR Imagery Example.
Figure 6. Visible Imagery Example.
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C. Crater Navigation System
The crater navigation system is based on Boeing Orbital Express sensor and avionics technologies, which
provide a baseline to support the development of Guidance, Navigation and Control (GN&C) approaches and
capabilities for the next generation of lunar and planetary landers. The Orbital Express sensor suite and Vision-based
Software for Track, Attitude, and Ranging (Vis-STAR) with LADAR integration enables data fusion for safe
landing and autonomous rendezvous and proximity operations and reduces the associated risk for future programs.
Crater (topography feature-based) navigation utilizes the relative position of known landmarks to help determine the
navigation state of a spacecraft or lander both in orbit as well as during descent to a lunar or planetary surface. The
application of this process has first been demonstrated in simulations utilizing available lunar surface maps as well
as artificial planetary surfaces. The selected features for the initial development of this capability have been craters.
It is however anticipated that the technique will be readily adaptable to other surface features such as rilles, ridges,
and dry fluvial topographies, e.g. dry river beds, canyons, or washes.
The objective of this flight test was to collect real terrestrial digital imagery data of relevant topographical
features over terrain which simulates extraterrestrial bodies, utilizing well characterized spacecraft sensors.
Specifically, the collection of both visible and infrared sensor imagery of craters and other surface features under
varying geometric viewing and lighting conditions was performed in the course of several passes over desired
surface features for correlation to 6-Degree of Freedom (6-DOF) platform (truth) data for the development of
navigation algorithms for planetary and lunar orbital and landing missions.
The crater navigation sensor package comprised the Orbital Express engineering development unit Infrared (IR)
and visible cameras and redundant COTS IR and visible cameras with the following specifications:
• Vionics VISCAM2 with 40° Field of View
• Vionics IRC with 50 mm lens and 19° x 14° Field of View
• Sony SX900 with 8 mm lens and 42° Field of View (backup for VISCAM2)
• Vionics AIR 18° x 14° Field of View (backup for IRC)
The sensors were rigidly mounted with parallel axes of view on an aluminum plate. The four cameras had a fixed
focus and were set to fixed exposure. The sensor platform was attached to the ULB chin mount with the cameras
pointing straight down, and vibration isolation was added at installation. Raw image data were recorded on
redundant laptop computers, which were accommodated in a flight-worthy container.
Figure 7 shows the installation of the sensor platform.
Figure 7. Crater Navigation Sensor Platform Installation.
Three laptop computers were accommodated in the backseat instrumentation rack area for data recording to
provide redundancy in case of a camera or hard drive failure:
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• Laptop #1 recorded VISCAM and IRC images at 2 frames per second (fps) into raw image files (16
GBytes/hr)
• Laptop #2 recorded Sony at 2 fps into raw image file (15 GBytes/hr) and ULB GPS/INS data (RS232)
at 115 kbps into raw data file (4 MBytes/hr)
• Laptop #3 recorded AIR at 30 fps (16.6 GBytes/hr) into Audio/Video Interleaved (AVI) file
The laptops were mounted in a metal case with vibration isolation material and cooling provisions and were
operated in a closed display configuration when airborne. They were initialized via ground computer and Local Area
Network (LAN), and data recording was started prior to ULB engine on (disconnected prior to flight). The internal
arrangement of the data recording unit in the ULB backseat instrumentation rack area is shown in Figure 8.
Figure 8. Crater Navigation Recording Unit Accommodation.
Topographic features which mimic lunar respectively Martian terrain, such as wrinkled ridges, pits resembling
craters, alluvial fans and scarps around a central basin, were identified and selected in the vicinity of Winslow as
targets for image collection, and flight patterns were defined to allow the recording of imagery showing several of
the features of interest in a single flight while performing continuous data collection at multiple altitudes as well as
on descending trajectories. Test site imagery in the Winslow vicinity was successfully collected along the defined
flight path, and data from two 90 minute flights at low and moderate sun angles were obtained. Four sites with
distinctive Mars-like terrain features were surveyed at three altitudes and two rapid descent trajectories in each
flight.
Clear, high-quality imagery data were gathered on both flights from the two visible cameras, while the two IR
cameras collected data of varying quality throughout the flights due to integration time settings for the larger IR unit,
causing some image smear, and temperature variations on the smaller IR camera, causing some stability concerns
relative to its on-the-ground calibration settings. All cameras and data recording equipment performed however
without failure and according to design. Figure 9 shows a representative example of the visible imagery, and Figure
10 presents an example of the infrared imagery.
The Winslow test site imagery met expectations for similarity to Martian terrain and can be employed to develop
and test orbital and landing algorithms for planetary navigation. The ULB platform was found to be well suited for
obtaining extra-terrestrial-like image data in this setting, and the ULB data eliminate the need to rely solely on
simulations or high-altitude planetary survey images with limited resolution for development of planetary navigation
solutions. The imagery collected is being used to advance the state of algorithms to support low altitude orbit
determination/navigation and Precision Landing and Hazard Avoidance capabilities. Real imagery such as what has
been collected as part of this effort is vital in providing a way to verify that all features of interest are identifiable
under a variety of lighting and terrain conditions in order to validate and enhance algorithm capabilities.
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Figure 9. Visible Imagery Example.
Figure 10. Infrared Imagery Example.
D. Pseudolite Navigation System
Pseudolites ("pseudo-satellites") are typically small transceivers that are used in an array to create a local,
ground-based GPS alternative by emitting ranging signals. A Pseudolite landing and surface navigation system
allows a user to perform precision navigation relative to a Pseudolite array without the use of or reliance on GPS.
The goal of the Pseudolite landing and surface navigation system test was to demonstrate the ability to acquire
Pseudolite signals and compute a navigation solution during a simulated lunar lander descent. Specific objectives
were to demonstrate precision navigation without GPS, both for surface vehicle navigation as well as flight vehicle
navigation and landing, to evaluate the suitability of the open frequency band (915 MHz), to evaluate the prototype
receiver/Pseudolite hardware with respect to signal performance, near/far susceptibility, and navigation algorithms,
and to collect raw navigation signals for post-processing with Boeing navigation algorithms. The on board setup
flown during the test included a receiver, a receiver power supply with cables, a 915 MHz receiver antenna with
mount and SubMiniature version A (SMA) cable, and a laptop with RS-232 port for monitoring and configuration.
Receiver control and data collection was provided by a Center for Remote Sensing (CRS) supplied program running
on a Boeing-supplied computer. The on board computer program could be initialized before vehicle power-up and
run without user intervention. The on board hardware equipment was accommodated in the backseat instrumentation
rack area of the helicopter, while the receiver antenna was attached underneath the fuselage of the helicopter pointed
down and as far away as possible from other objects on the bottom of the helicopter to minimize impact on visibility
and interference. The integrated flight hardware is shown in Figure 11.
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Figure 11. Pseudolite On Board Installation.
The Pseudolite ground array consisted of four transmitters placed roughly one mile apart at the corners of a
square on airport property respectively in its vicinity surrounding a designated helicopter landing zone. All four
Pseudolites were placed at ground level on approximately level terrain. For this initial test campaign the Pseudolites
initialized themselves using GPS. The configuration of each Pseudolite ground station comprised a transmitter, a
power amplifier, a transmitter antenna, a GPS antenna, and a laptop for data monitoring and recording. The
Pseudolite transmitter produces a GPS-like signal on a 915 MHz carrier. The signal is supplied to the adjustable
power amplifier for transmission with a maximum of 1 W of power. The transmit antenna and the GPS antenna were
mounted on tripods. The Pseudolite transmitter and power amplifier run on 115 V AC, which was provided by a
portable 2 kW gas generator at each ground station location. The Pseudolite transmitter and power amplifier were
packaged in a rugged case for shipping and operation. An actual ground station installation is shown in Figure 12.
Figure 12. Pseudolite Ground Station Installation.
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Two flight tests were performed, which constitute the first known rotorcraft Pseudolite navigation test and
produced useful data, based on the successful acquisition of all four ground stations. These flights demonstrated
tracking during simulated lunar landings as well as conventional rotorcraft landings and vicinity operations at
distances of up to 8 miles. The basic ability to perform precision navigation with Pseudolite-only signals was
successfully demonstrated. The effects of multipath and signal strength on navigation performance were also
studied. Data collected during the tests consisted of:
• Raw measurements and timing information collected by the navigation receiver from the Pseudolites
• Computed vehicle position and velocity information
• Received Pseudolite power levels and receiver health information
• Position and velocity information from the vehicle’s GPS truth system for comparison to the system
under test
• Pseudolite performance and GPS self-survey information
Pseudolite-based airborne navigation was found to be viable and capable of aiding GPS for autonomous/piloted
landings, precision navigation in GPS-denied areas or other high-integrity operations as well as for extraterrestrial
navigation applications.
IV. Conclusion
The Boeing ULB MD-530-FF rotorcraft platform successfully performed flight test demonstrations of a variety
of lunar lander navigation related experiments in November 2007 in Winslow, AZ. The ULB helicopter was found
to be an extremely effective, versatile and agile test platform that can be rapidly adapted and reconfigured for
different missions within short turn around time even under austere conditions. The lean ULB program approach
with minimum overhead and short and direct communication paths allows the extremely responsive implementation
and execution of test efforts. Flight testing in Winslow was found to offer an effective, low cost environment with
minimum air traffic and electromagnetic interference despite the relatively Spartan infrastructure.
Close coordination and collaboration between individual experimenters and the ULB project was vital for the
success of the test efforts. All experiments were successfully executed within the planned six day window of
opportunity and yielded good to excellent results. Most experiments functioned completely or predominantly as
planned on the first attempt. Minor issues on some experiments yielded important insights into potential failure
sources and associated improvements for follow on activities and operational applications. The Pseudolite precision
navigation experiment experienced an initial malfunction due to thermal problems of on board equipment, but the
fault was identified and a solution approach was developed, implemented, ground tested and successfully reflown
during the ongoing campaign.
The ULB proved to be a highly effective sensor/system test bed, with ample weight capacity, internal volume,
electrical power, and internal and external equipment attachment locations to accommodate all planned experiments.
The ULB AFCS was easily enabled to provide extremely low speed steady state lateral translation (1 meter/sec at
flight altitude) over potential landing areas. This capability allowed the carefully controlled performance evaluation
of optics and Radio Frequency (RF) based sensor systems intended for lunar lander navigation. Experiments
requiring in-flight system intervention were easily accommodated, as were experiments that functioned in a fully
autonomous nature. The successful flight test campaign of the ULB in the various configurations tested proved its
adaptability and viability in a wide range of sensor and avionics related technology demonstrations, especially
taking its capability to fly fully autonomously, but with a safety pilot on board to monitor operations and intervene
in potentially risky situations, into account. The ULB can therefore serve as a low cost, low risk, proven, highly
adaptive platform for stepwise sensor testing and evaluation of GN&C approaches and algorithms as well as early
demonstrations and maturation of other lunar lander related technologies, and it allows to build confidence in
GN&C approaches before implementing them for example in rocket based vehicles. It closes the cost, risk,
capability and schedule gaps between laboratory experiments and custom built demonstrators or full scale
applications and could also be used to provide safe, responsive, cost effective astronaut training for NASA.