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
NAVAIR Public Release 2014-335 Approved for public release; distribution is unlimited.2
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
q pp p
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: [email protected]
Kunal MehraPhone: 917-543-5500Email: [email protected]
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NAVAIR Public Release 2014-335 Approved for public release; distribution is unlimited.15
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