Avionics-based GNSS integrity augmentation for unmanned aerial systems sense-and-avoid

This paper investigates the synergies between a GNSS Avionics Based Integrity Augmentation (ABIA) system and a novel Unmanned Aerial System (UAS) Sense-and-Avoid (SAA) architecture for cooperative and non-cooperative scenarios. The integration of ABIA with SAA has the potential to provide an integrity-augmented SAA solution that will allow the safe and unrestricted access of UAS to commercial airspace. The candidate SAA system uses Forward-Looking Sensors (FLS) for the non-cooperative case and Automatic Dependent Surveillance-Broadcast (ADS-B) for the cooperative case. In the non-cooperative scenario, the system employs navigation-based image stabilization with image morphology operations and a multi-branch Viterbi filter for obstacle detection, which allows heading estimation. The system utilizes a Track-to-Track (T3) algorithm for data fusion that allows combining data from different tracks obtained with FLS and/or ADS-B depending on the scenario. Successively, it utilizes an Interacting Multiple Model (IMM) algorithm to estimate the state vector allowing a prediction of the intruder trajectory over a specified time horizon. Both in the cooperative and non-cooperative cases, the risk of collision is evaluated by setting a threshold on the Probability Density Function (PDF) of a Near Mid-Air Collision (NMAC) event over the separation area. So, if the specified threshold is exceeded, an avoidance manoeuver is performed based on a heading-based Differential Geometry (DG) algorithm and optimized utilizing a cost function with minimum time constraints and fuel penalty criteria weighted as a function of separation distance. Additionally, the optimised avoidance trajectory considers the constraints imposed by the ABIA in terms of GNSS constellation satellite elevation angles, preventing degradation or losses of navigation data during the whole SAA loop. This integration scheme allows real-time trajectory corrections to re-establish the Required Navigation Performance (RNP) when actual GNSS accuracy degradations and/or data losses take place (e.g., due to aircraft-satellite relative geometry, GNSS receiver tracking, interference, jamming or other external factors). Various simulation case studies were accomplished to evaluate the performance of this Integrity-Augmented SAA (IAS) architecture. The selected host platform was the AEROSONDE Unmanned Aerial Vehicle (UAV) and the simulation cases addressed a variety of cooperative and non-cooperative scenarios in a representative cross-section of the AEROSONDE operational flight envelope. The simulation results show that the proposed IAS architecture is an excellent candidate to perform high-integrity Collision Detection and Resolution (CD&R) utilizing GNSS as the primary source of navigation data, providing solid foundation for future research and developments in this domain

Avionics-based GNSS integrity augmentation for unmanned aerial systems sense-and-avoid

This paper investigates the synergies between a GNSS Avionics Based Integrity Augmentation (ABIA) system and a novel Unmanned Aerial System (UAS) Sense-and-Avoid (SAA) architecture for cooperative and non-cooperative scenarios. The integration of ABIA with SAA has the potential to provide an integrity-augmented SAA solution that will allow the safe and unrestricted access of UAS to commercial airspace. The candidate SAA system uses Forward-Looking Sensors (FLS) for the non-cooperative case and Automatic Dependent Surveillance-Broadcast (ADS-B) for the cooperative case. In the non-cooperative scenario, the system employs navigation-based image stabilization with image morphology operations and a multi-branch Viterbi filter for obstacle detection, which allows heading estimation. The system utilizes a Track-to-Track (T3) algorithm for data fusion that allows combining data from different tracks obtained with FLS and/or ADS-B depending on the scenario. Successively, it utilizes an Interacting Multiple Model (IMM) algorithm to estimate the state vector allowing a prediction of the intruder trajectory over a specified time horizon. Both in the cooperative and non-cooperative cases, the risk of collision is evaluated by setting a threshold on the Probability Density Function (PDF) of a Near Mid-Air Collision (NMAC) event over the separation area. So, if the specified threshold is exceeded, an avoidance manoeuver is performed based on a heading-based Differential Geometry (DG) algorithm and optimized utilizing a cost function with minimum time constraints and fuel penalty criteria weighted as a function of separation distance. Additionally, the optimised avoidance trajectory considers the constraints imposed by the ABIA in terms of GNSS constellation satellite elevation angles, preventing degradation or losses of navigation data during the whole SAA loop. This integration scheme allows real-time trajectory corrections to re-establish the Required Navigation Performance (RNP) when actual GNSS accuracy degradations and/or data losses take place (e.g., due to aircraft-satellite relative geometry, GNSS receiver tracking, interference, jamming or other external factors). Various simulation case studies were accomplished to evaluate the performance of this Integrity-Augmented SAA (IAS) architecture. The selected host platform was the AEROSONDE Unmanned Aerial Vehicle (UAV) and the simulation cases addressed a variety of cooperative and non-cooperative scenarios in a representative cross-section of the AEROSONDE operational flight envelope. The simulation results show that the proposed IAS architecture is an excellent candidate to perform high-integrity Collision Detection and Resolution (CD&R) utilizing GNSS as the primary source of navigation data, providing solid foundation for future research and developments in this domain

Assessing avionics-based GNSS integrity augmentation performance in UAS mission- and safety-critical tasks

The integration of Global Navigation Satellite System (GNSS) integrity augmentation functionalities in Unmanned Aerial Systems (UAS) has the potential to provide an integrity-augmented Sense-and-Avoid (SAA) solution suitable for cooperative and non-cooperative scenarios. In this paper, we evaluate the opportunities offered by this integration, proposing a novel approach that maximizes the synergies between Avionics Based Integrity Augmentation (ABIA) and UAS cooperative/non-cooperative SAA architectures. When the specified collision risk thresholds are exceeded, an avoidance manoeuvre is performed by implementing a heading-based differential geometry or pseudospectral optimization to generate a set of optimal trajectory solutions free of mid-air conflicts. The optimal trajectory is selected using a cost function with minimum time constraints and fuel penalty criteria weighted for separation distance. The optimal avoidance trajectory also considers the constraints imposed by the ABIA in terms of UAS platform dynamics and GNSS satellite elevation angles (plus jamming avoidance when applicable), thus preventing degradation or loss of navigation data during the Track, Decision and Avoidance (TDA) process. The performance of this Integrity-Augmented SAA (IAS) architecture was evaluated by simulation case studies involving cooperative and non-cooperative platforms. Simulation results demonstrate that the proposed IAS architecture is capable of performing high-integrity conflict detection and resolution when GNSS is used as the primary source of navigation data

Unmanned Aerial Vehicle (UAV)-Enabled Wireless Communications and Networking

The emerging massive density of human-held and machine-type nodes implies larger traffic deviatiolns in the future than we are facing today. In the future, the network will be characterized by a high degree of flexibility, allowing it to adapt smoothly, autonomously, and efficiently to the quickly changing traffic demands both in time and space. This flexibility cannot be achieved when the network’s infrastructure remains static. To this end, the topic of UAVs (unmanned aerial vehicles) have enabled wireless communications, and networking has received increased attention. As mentioned above, the network must serve a massive density of nodes that can be either human-held (user devices) or machine-type nodes (sensors). If we wish to properly serve these nodes and optimize their data, a proper wireless connection is fundamental. This can be achieved by using UAV-enabled communication and networks. This Special Issue addresses the many existing issues that still exist to allow UAV-enabled wireless communications and networking to be properly rolled out

Uncertainty Minimization in Robotic 3D Mapping Systems Operating in Dynamic Large-Scale Environments

This dissertation research is motivated by the potential and promise of 3D sensing technologies in safety and security applications. With specific focus on unmanned robotic mapping to aid clean-up of hazardous environments, under-vehicle inspection, automatic runway/pavement inspection and modeling of urban environments, we develop modular, multi-sensor, multi-modality robotic 3D imaging prototypes using localization/navigation hardware, laser range scanners and video cameras. While deploying our multi-modality complementary approach to pose and structure recovery in dynamic real-world operating conditions, we observe several data fusion issues that state-of-the-art methodologies are not able to handle. Different bounds on the noise model of heterogeneous sensors, the dynamism of the operating conditions and the interaction of the sensing mechanisms with the environment introduce situations where sensors can intermittently degenerate to accuracy levels lower than their design specification. This observation necessitates the derivation of methods to integrate multi-sensor data considering sensor conflict, performance degradation and potential failure during operation. Our work in this dissertation contributes the derivation of a fault-diagnosis framework inspired by information complexity theory to the data fusion literature. We implement the framework as opportunistic sensing intelligence that is able to evolve a belief policy on the sensors within the multi-agent 3D mapping systems to survive and counter concerns of failure in challenging operating conditions. The implementation of the information-theoretic framework, in addition to eliminating failed/non-functional sensors and avoiding catastrophic fusion, is able to minimize uncertainty during autonomous operation by adaptively deciding to fuse or choose believable sensors. We demonstrate our framework through experiments in multi-sensor robot state localization in large scale dynamic environments and vision-based 3D inference. Our modular hardware and software design of robotic imaging prototypes along with the opportunistic sensing intelligence provides significant improvements towards autonomous accurate photo-realistic 3D mapping and remote visualization of scenes for the motivating applications

UAV based distributed automatic target detection algorithm under realistic simulated environmental effects

Over the past several years, the military has grown increasingly reliant upon the use of unattended aerial vehicles (UAVs) for surveillance missions. There is an increasing trend towards fielding swarms of UAVs operating as large-scale sensor networks in the air [1]. Such systems tend to be used primarily for the purpose of acquiring sensory data with the goal of automatic detection, identification, and tracking objects of interest. These trends have been paralleled by advances in both distributed detection [2], image/signal processing and data fusion techniques [3]. Furthermore, swarmed UAV systems must operate under severe constraints on environmental conditions and sensor limitations. In this work, we investigate the effects of environmental conditions on target detection performance in a UAV network. We assume that each UAV is equipped with an optical camera, and use a realistic computer simulation to generate synthetic images. The automatic target detector is a cascade of classifiers based on Haar-like features. The detector\u27s performance is evaluated using simulated images that closely mimic data acquired in a UAV network under realistic camera and environmental conditions. In order to improve automatic target detection (ATD) performance in a swarmed UAV system, we propose and design several fusion techniques both at the image and score level and analyze both the case of a single observation and the case of multiple observations of the same target

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools