Image-based Navigation for Shipboard L di (INAV SL)Landing (INAV-SL)

Navy TAP 2014Navy TAP 2014

June 1-4, 2014

www.ssci.com

NAVAIR Public Release 2014-335 Approved for public release; distribution is unlimited.

Ship based UAS require robust auto-landingShip based UAS require  robust auto‐landing capabilities:

• Wide range of environmental conditions• Under EMCON• Under EMCON• Range of operational conditions, including A2AD and 

GPS denied  • Redundant, preferably complimentary, systems

INAV‐SL:  Optical‐based landing system Optical‐based landing system 

uses pilot visual landing aids (VLA)l i l di f Alternative landing system for 

the Fire Scout MQ‐8x UAS Potential for non‐UAS equipped 

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q ppship and shore landing

All ship-based UAS can benefit from passive landing systems that use pilot VLA

Human pilots can land in a range of conditions without GPS and under EMCON using visual landing aids

NAVAIR Public Release 2014-335 Approved for public release; distribution is unlimited.

EMCON using visual landing aids

Existing solutions have limitations in some regions of the operational envelope

RADAR(Operational)

GPS‐based(In Development)

All weather All weather No ship-air communication or RF emissions

Denied S bilit

S bilit

Environments Some capability depending on denial

Some capability depending on denial

No Ship No Ship modifications or equipment

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Phase II SBIR Program Requirements

Phase II requirements based on existing Fire Scout CONOPS and landing system specification:

R P h 2ft

High Hover ±0.7ft

Recovery Perch ±2ft

Low Hover ±0.7ft

No ship modificationsp

No ship communications required

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No GPS required

INAV‐SL Concept Overview

INAV‐SL uses passive EO/IR sensors to detect and analyze existing ship deck markings to provide Relative Navigation (RelNav) measurements.

F t d b fit f INAV SLFeatures and benefits of INAV‐SL:• Uses low SWAP‐C COTS cameras to provide  RelNav measurements  to meet MQ‐8 accuracy requirements 

in visibility conditions similar to those required for manned‐helicopter operations.• No need for shipboard modifications / additional equipment.  Therefore INAV‐SL has the potential to 

enable Fire Scout to land on non‐VTUAV equipped air‐capable ships.

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INAV‐SL System Performance:  Key Take Away

Sea State 4RP‐HH HH‐TDP

Simulated oil spill

INAV‐SL has been tested in simulation and with full motion video.Simulation Analysis results are summarized below:

Partly ObscuredSea State

Error (ft) Rqmt (ft) Error (ft) Rqmt (ft)XZYRD (DRN) 1.22 2 0.66 0.7XYZ11 (DM) 1.01 ‐ 0.64 0.7

Mean 3σ error across X, Y, and Z

Simulation analysis was verified with video data from flight, in real‐time, using preliminary hardware design

INAV‐SL meets key Fire Scout landing requirements in simulationINAV‐SL can operate at night withg , , g p y g

EO between Recovery Perch and High HoverINAV‐SL can

night with deck lights or using SWIR

7:33pm 7:57pm 8:01pm 8:05pm 8:08pm

INAV SL can operate effectively with this level of light using

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of light using EO sensorsResults are reliable with up to 50% occlusions and in low light in video

4 Recovery

INAV‐SL System Performance:  Flight Test Highlights

5. High Hover

6. Low Hover

4. Recovery PerchINAV‐SL was successfully tested 

during flight on a manned R22 and an unmanned UAV2 Flight Events – Manned R22, Maverick VTUAV20 flights, 125 landing runs, 12 performance runsAll key components functionally verifiedSystem functionally verifiedSystem functionally verified

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Median Range Error on Performance Runs: 0.6ft (HH, LH), 4.6ft (RP)

Flight Test 3: Maritime Flight Testing, April 21‐25

Helicopter equipped research vessel Bell 407 (MQ‐8C Airframe)

Maritime data collect successfully completed in April 2014

Full CONOPS data on a relevant aircraft for comprehensive system 

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development in a follow‐on effort, offline evaluation

Performance Specifications

Feature Advantage Benefit

hINAV‐SL is an upgrade 

d lNo ship equipment or modifications

existing UAS, requires no upgrades to the ship

Potential to land on non‐UAS equipped ship

Lower deployment costsDoes not impact ship designSimpler approval process

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Independent of GPS Can recover UAV provided  it is within visual range

Robust to potential GNSS constellation disruption

R UAV ith i i l

No ship communications

Recover UAV with minimal radio traffic

Potential to recover UAV with lost comms

Robust operation in communication constrained 

conditions

Passive sensing* Ship and aircraft do not transmit location signals

Robust operation in RF constrained conditions

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*An narrow beam active altimeter (RF or Laser based) may be required for some CONOPS

Comparison with other options

RADAR(Operational)

GPS‐based(In Development)

INAV‐SL(Presented Technology)

All weather Most conditions OK

No ship-air i ti communication

or RF emissions

D i d DeniedEnvironments

Some capability 

depending on denial

Some capability 

depending on denial

No Ship modifications or equipment

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Current State of Development – SSCI Development Roadmap

Description

Production & Fleet Deployment

NAVAIR Flight Clearance (OPEVAL)Performance Validation in  MQ‐8C MQ‐8CRepresentative Environment EMD EMD

Performance Validation in FlightMQ‐8CEMD

MQ‐8CEMD

Testing in Representative Environment

MQ‐8CDemo

Testing in Simulated  HIL

Environment (Bench Validation)HIL

Detailed Spec / Sim Analysis Sim Only SIL

Interface DesignSW ICD only

Req irements Anal sis SWOnl SWOnlRequirements Analysis SW Only SW Only

Deck Relative Nav Nav Filter

Ship Detect / Modes Cameras

Processor, Laser Alt, Cables

Environ. Trades

SW/HW Integ

Rqmts & Design Docs EDRAPS

SW Dev & Test HW Dev & Test Systems Engineering

SBIR Phase I & IIPhase 2.5 Scoped at $1.7MPhase 2.5 w/Accelerated Transition

baseline 

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/Certification, Procurement & Deployment

Transition to MQ-8C GFY14 GFY15 GFY16 GFY17 GFY18

Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2

MQ-8C EMDMQ 8C EMD

Accelerated Transition

NGC HIL Int & Test

Demo

NGC HIL Int & Test

Demo

Transition

Release Candidate

Software Flown At-Sea

NGC SIL Int & Test

Preliminary Hardware and Release Candidate Software Flown At Sea

NGC SIL Int & Test Total Transition

Development

Preliminary Hardware and

Software Flown At-Sea

Preliminary Software Flown At-Sea

Advanced Software Flown At-Sea

Flown At-Sea

SBIR Ph 2

Baseline gets to here

SBIR Phase 2.5

SBIR Phase 2

SSCI h d l d t t ti l t iti th t EMD

gets to here

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SSCI has developed two potential transition paths to EMD 

About Scientific Systems Company Inc.• Scientific Systems Company, Inc (SSCI), a minority‐owned Small Disadvantaged Business 

(SDB), is among the Top 20 companies (out of 10,000) in the Small Business Innovation Research (SBIR) program.

‐ Founded in 1990, headquartered in Woburn, MA with 40 employees. Strong Advisory Founded in 1990, headquartered in Woburn, MA with 40 employees. Strong Advisory Board with expertise in transitioning advanced technologies to the warfighter.

‐ Focus on development of Intelligent Autonomy technologies that increase the effectiveness and decrease the operating cost of Unmanned Vehicles and Weapons.

‐ 15 year relationship with NAVAIR – transitioned CMARS auto‐router s/w into Tomahawk Planning System ; SSCI provides ongoing maintenance and support.

• Strong capabilities across the product development life‐cycle, from early‐stage R&D through to development and support of fielded SW products.g p pp p

• SSCI has successfully delivered SW products for mission planning, maritime UUVs and space flight systems:

NAVAIR CMARS (2003‐ongoing)

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NASA ST6 (2001‐03), XSS‐11 DARPA / SPAWAR (2005‐ongoing)

Scientific Systems Company, Inc. (SSCI)Image-Based Navigation for Shipboard Landing

Visit us at booth A216Visit us at booth A216Independence Hall

Contact Information

Osa E. Fitch, Ph.D., CDR, USN (Ret.)Phone: 240-538-3456 (M)Email: osa.fitch@ssci.com

Kunal MehraPhone: 917-543-5500Email: kunal.mehra@ssci.com

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www.ssci.com