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unmanned aerial vehicles
1. SRI KRISHNA COLLEGE OF ENGINEERING AND TECHNOLOGY
DEPARTMENT OF MECHATRONICS ENGINEERING
Session: Unmanned Aerial Vehicles(UAVs)
7/22/2018 15MT409 Autonomous Vehicle Guidance
System
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MODULE 2
2. SESSION OBJECTIVES
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On the completion of this session, the students might
be able to understand,
Introduction
Types of UAVs
Elements of UAVs
Missions of UAV’s
UAV’s Navigation System
3. Topics
Introduction
Brief History
Elements of UAV’s
Types of UAV’s
Navigation system of UAV’s
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4. Introduction
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UAV – commonly known as ”Drone”
– aircraft without human pilot aboard
UAVs are a component of Unmanned
Aircraft Systems(UAS)
Basic components of UAS – UAV,
ground based controller and a
communication system between the
two
The UAVs may operate either under
remote control or autonomously with
on-board computers
General Atomics MQ-9 Reaper
AliGator – Civil Drone
5. Brief History
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Douglas Archibald,1883
Anemometer to kite, measured wind
velocity at altitudes up to 1200ft
Douglas Archibald,1887
Cameras to kite, one of world’s first
reconnaissance UAVs
William Eddy,1898
Photographs using kites during
Spanish American war - first uses of
UAV in combat
6. Brief History
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"The Kettering Bug” (1918)
was an experimental, unmanned
aerial torpedo, a forerunner of
present-day cruise missiles.
It was capable of striking ground
targets up to 121 kilometers (75 mi)
from its launch point, while traveling
at speeds of 80 kilometers per hour
(50 mph)".
7. Elements of UAV
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Air
Vehicle
Ground Control
Station
Data link &
Antenna
A typical UAV system comprises of
Air vehicles
One or more ground control
stations(GCS)
Mission planning and control
stations(MPCS)
Payload
Datalink
Launch and recovery
subsystems
Air vehicle carriers
Ground handling and
maintenance equipment
8. Air vehicle
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Airborne part of the system
Includes airframe, propulsion,
flight controls and electric power
system
Air data terminal mounted in the
vehicle
Payload is also onboard the air
vehicle – subsystem that often is
easily interchanged with
different air vehicles
Fixed Wing
Rotary Wing
Ducted fan
9. Mission planning and control station
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Also called as Ground control
station(GCS)
Operational control center of the
UAV system where video,
command, and telemetry data
from the air vehicle are
processed and displayed
Positions for both air vehicle and
mission payload operators
Communication
antennaPilot & Payload
operator console
Shelter
Communications rack
Workstation
10. Mission planning and control station
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Small UAVs, GCS is hand
held hosted on a
ruggedized laptop
Some GCS are located in
permanent structures
1000 of miles away
Communication through
satellites
11. Launch and recovery equipment
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From conventional takeoff and
landing on prepared sites to
vertical descent using rotary wing
or fan systems.
Pyrotechnic (rocket) propulsion, or
a combination of
pneumatic/hydraulic arrangements
are also popular methods for
launching air vehicles.
Some small UAVs are launched by
hand, essentially thrown into the
air like a toy glider
12. Launch and recovery equipment
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Nets and arresting gear are used to
capture fixed-wing air vehicles in
small spaces.
Parachutes and parafoils are used
for landing in small areas for point
recoveries
13. Payloads
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Often include video cameras,
either daylight or night (image-
intensifiers or thermal infrared),
for reconnaissance and
surveillance missions.
Armed UAVs carry weapons to
be fired, dropped, or launched
“Lethal” UAVs carry explosive
or other types of warheads and
may be deliberately crashed
into targets
Flight
Computer
Gyro stabilized
observation
platform
Digital cameras and sensors
Mission and
payload control
Communication
subsystem
14. Payloads
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A laser may be added with additional
cost
Radar sensors, using Moving Target
Indicator(MTI) or Synthetic Aperture
Radar(SAR) are also important payloads
Electronic Warfare(EW) systems
Signal Intelligence(SIGINT) and jammer
Meteorological and chemical sensing
devices
15. Datalinks
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Two-way communication, either upon
demand or on a continuous basis.
An uplink with a data rate of a few kHz
provides control of the air-vehicle flight
path and commands to its payload.
The downlink:
low data-rate channel to acknowledge
commands and transmit status
information about the air vehicle
a high data-rate channel (1–10 MHz)
for sensor data such as video and
radar.
16. Datalinks
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The data link may also be called upon
to measure the position of the air
vehicle
This information is used to assist in
navigation and accurately determining
air-vehicle location
Ground data terminal microwave
electronic system transmitting
guidance and payload commands
Ground
control
station
UAV
Ground
terminals
17. Datalinks
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Multiple vehicle control with single
operator
Air data terminal – includes
transmitter and antenna for
transmitting video air vehicle data
and receiver for receiving
commands form the ground
18. Ground support equipment
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GSE may include:
test and maintenance
equipment,
a supply of spare parts and
other expendables,
a fuel supply and any
refueling equipment required
by a particular air vehicle,
handling equipment to move
air vehicles
generators to power all of the
other support equipment.
19. Size Classes of UAV
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UAV
Very small Small LargeMedium
Micro sized –
30-50cm
Flapping wings
type
Conventional
aircraft type
Size>50cm
Fixed wing
type
too large to be
carried around by
one person but
smaller than an
aircraft
Larger than a
typical one
manned aircraft
Long distances
capability
20. Very small UAVs
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Israeli Mosquito
35cm long and 35cm span
40mins flight
Parachute for recovery
US Aurora Flight Sciences Skate
33cm long and 60cm span
Payload of 227g
Australian Cyber Technology
CyberQuad Mini
20cm diameter
Small camera
21. Small UAVs
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US AeroVironment Raven
1.4m span and 1m long
Less than 2kg
Electrical propulsion
Carry visible, infrared and
thermal imaging systems
Control station carried by
operator
Bayraktar Mini UAV
2m span and 1.2m long
5kg weight
Electrical propulsion
20km range
Night and day camera can
be attached
25. Large UAVs
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Predator A
Wingspan 17m
336kg payload
220kph speed
40h endurance
Max. altitude 24,521 ft
real-time surveillance using high-
resolution video, infrared imaging, and
synthetic aperture radar.
Global Hawk
Wingspan 40m
1460kg takeoff weight
32h endurance
575kph max speed
radar, electro-optical, and
infrared sensors
26. Range and Endurance Classes of UAV
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UAV
Very Low Cost
Close Range Close Range
Range of 5km
$10,000 cost
Eg: Dragon Eye and Raven
Used by Marine Corps
50km range
1-6h endurance
Air force – for damage assessment
Army and Marine corps- look over
the next hill
Navy – want to operate from ships
reconnaissance and surveillance,
day and night
27. Range and Endurance Classes of UAV
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UAV
Short Range Mid Range
All of the services
150km range
Endurance time 8-
12h
Reconnaissance and
surveillance, day
and night
All services except
army
650km range
Day/night
reconnaissance and
surveillance and
gathering of
meteorological data
Endurance
All services
300km range
36h endurance
Day/night
reconnaissance and
surveillance and
gathering of
meteorological data
28. The Tier System
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Tier I: Low altitude, long endurance
Tier II: Medium altitude, long endurance (MALE).
An example is the MQ-1 Predator.
Tier II+: High altitude, long endurance (HALE) conventional UAV.
Altitude:60,000–65,000 ft (19,800 m),
Less than 300 knots (560 km/h) airspeed,
3,000- nautical-mile (6,000 km) radius,
24 h time-on-station capability
Tier III: HALE low-observable (LO) UAV.
Same as the Tier II+ aircraft with the addition of LO.
An example is the RQ-3 DarkStar
29. Missions
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UAV
Reconnaissance Surveillance
Obtain by visual or other
detection methods information
about what is present or
happening at some point or in
some area
Systematic observation of
aerospace, surface or subsurface
areas, places persons or things by
visual, aural, electronic,
photographic or other means
30. Missions
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Surveillance implies long endurance and, for the military, somewhat stealthy
operations that will allow the UAV to remain overhead for long periods of
time
Military :
Detection and identification of stationary and moving targets both day
and night
Target or artillery spotting
Electronic Warfare(EW)
Listening to an enemy transmission
Weapon delivery
31. Guidance, Navigation & Control(GNC)
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Guidance :
Determination of the desired path of travel (the "trajectory") from the
vehicle's current location to a designated target, as well as desired
changes in velocity, rotation and acceleration for following that path.
Navigation :
Determination, at a given time, of the vehicle's location and velocity (the
"state vector") as well as its attitude
Control :
Manipulation of the forces, by way of steering controls, thrusters, etc.,
needed to execute guidance commands whilst maintaining vehicle
stability
32. Navigation Systems
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Navigation Systems
Global
Positioning
System(GPS)
TACtical Air
Navigation
(TACAN)
LOng RAnge
Navigation
(LORAN)
Inertial
Navigation
Radio
Tracking
Way-point
navigation
33. Global Positioning Systems(GPS)
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Developed by US DOD and
named as NAVSTAR GPS
Uses primarily 4 satellites
orbiting at 20,000 km to
locate
Satellite – atomic clock and
transmits radio signals (1.1-
1.6GHz) that travel at a
known speed
Receiver – uses the received
signal time to calculate its
range from each satellite and
so its position on earth
S1
S2
S3
S4
34. Global Positioning Systems(GPS)
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GPS enables the operation of
MALE and HALE UAV systems
effectively
Dead Reckoning(DR system) –
discrete positions based on
previous location based on
speed, time and direction
GPS may have some local
errors, local radio frequency
interference
Can be improved using filters
35. Global Positioning Systems(GPS)
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GPS
Standard
Positioning
System(SPS)
Precise
Positioning
Service(PPS)
Civilian users
L1 frequency -
1575.42 MHz
Positional
accuracy of 10m
Military users
L1 and L2 frequency
- 1575.42 MHz &
1227.60 MHz
Positional accuracy of
3m
Differential
GPS(DGPS)
Fixed, ground based
reference stations
Accuracy of 0.2m per
100km
36. TACAN
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Based on range measurement from
ground bases radio transmitters (15
Hz and 135 Hz)
Terrestrially based
Stronger than GPS but still can be
jammed
For military operations, stealth could
not be achieved
T/R(Transmit/Receive), REC(Receive
Only), A/A (Air to Air)
US Air Force
TACAN
TACAN
at Shemy,
Alaska