无人机手持地面站设计报告.pdf-资料库

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GLARE GROUND CONTROL STATION (GCS) 1.1 SYSTEM OVERVIEW The Ground Control Station (GCS) provides a portable platform allowing the planning, control, and analysis of one or multiple UAV‟s and their associated missions. The system design is targeted at providing a high level of situational awareness coupled with the ability to easily and comprehensively carry out mission planning and data analysis routines in the field, without the need to relay the data back to a central command. The system has been designed to interface with an automatic tracking antenna system (ATAS) to provide short to medium range communications (<30km) to the GLARE UAV. Figure 1 GCS - GLARE Ground Control Station (GCS) The ATAS provides a low power, portable solution to provide this link over a small to medium range (<30km). The system will achieve this through the use of a series of hi-gain directional antennas coupled with signal amplifiers mounted to a highly accurate Pan-Tilt head (PTH). The PTH tracks the UAV based on a GPS telemetry feed using 3D flight path vectors to precisely estimate the position of the UAV. The link will provide live video feed via 5.8Ghz, telemetry and data link via MAVlink1 (Micro Air Vehicle link) protocol over 900MHz, and manual control override on the 2400MHz band. The whole system is powered via either 1 MAVlink is a lightweight, header-only message marshaling library created for micro-air vehicles see http://www.qgroundcontrol.org/mavlink/start for detailed information regarding the protocol, and its implementation. PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) by the internal Lithium Ion battery pack or an external 12V source. The GCS‟s control inputs include; two (2) 17" rugged multi touch monitors, weatherproof keyboard, and flight control joystick and throttle for manual mode (drone) operation. Data storage consists of an on-board hard drive with external high speed connectors for backup and redundancy. Primary specifications of the GCS are shown in Table 1 below: Table 1 - GCS Primary System Specifications Description Value Overall Dimensions 1282 mm x 343mm x 133mm Weight 35 kg Operational Frequencies 5800MHz, 2400MHz, 900MHz Range Antenna Types Tracking Accuracy Operational Temperature 7 km 2 Parabolic Dish, Yagi, Omni 3 ° 0°C - 40°C 1.2 BACKGROUND AND GOALS As the market for SUAV's (Small Unmanned Aerial Vehicles) has increased dramatically over the last 10 years, so too has the demand for portable Ground Control Stations (GCS's) that can aid in the independent deployment of these SUAV's from remote locations both near, or inside enemy territory. The aim of this project is to design, develop, and test a portable GCS in conjunction with the design and development of the GLARE UAV. Key design considerations include power consumption, ergonomics, situational awareness, and range. 2 Based on what has been verified through testing, maximum true range has not tested fully, expected true maximum range exceeds this value and is estimated at 15-20km LOS in a rural environment (see link budget in Appendix B for more detail) PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) Project goals for the development of the GLARE UAV Ground Control Station are as follow: 1. Design, build and test a Ground Control Station (GCS) capable of successfully handling the mission planning, control, and data analysis of the GLARE UAV. 2. Design, build and test a functional Automatic Antenna Tracking System (ATAS) 3. Develop and functioning software system to allow the tracking of the GLARE UAV by the ATAS module. 1.3 APPLICATIONS FOR PORTABLE UAV GROUND CONTROL STATIONS The applications of portable ground control stations has grown substantially as the applications for UAV use continues to be explored and expanded. UAV‟s are now used in a number of applications outside the military including natural disaster damage assessment, search and rescue, border patrol, crop monitoring, aerial photography and videography, and many more. In each case, there is application for a portable GCS to be used to deploy and control the UAV. 1.4 CHALLENGES Gun launched UAV's present a number of difficulties when considering methods of establishing solid and secure data links. The small size of the UAV means conventional methods of long range communication larger UAV's employ cannot be considered. The UAV is shielded inside the shell during the launch and prior to UAV deployment, this prevents communication being established with the UAV until after deployment. This presents the unique challenge of gaining a communications link with the UAV once it has been deployed in a minimal timeframe. Other challenges include keeping the system portable, while still maximising the operational awareness of the user(s), maximising stand-alone system endurance without compromising weight, and integrating all subsystems together inside a stand-alone module. PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) 1.5 REQUIREMENTS 1.5.1 Functionality Requirements Table 2 below describes the functional requirements for the Ground Station which have been derived from DYNAMIC REFERENCE. Table 2 Ground Station Functionality Requirements Description Backwards Traceability Have the functionality to allow the operator(s) to generate and process UAV mission plans. Permit dynamic mission and payload re-tasking (on- the-fly) during all phases of operational mission execution. Provide the functionality necessary to upload a flight route plan and payload plan to the UAV via 900MHz data link as well as direct ground link. Automatically check the validity of the intended mission plan prior to upload (including altitude constraints, payload constraints, data link range constraints, airspace restrictions, power limitations, threat constraints, and loss of link plan) Have the capability to control and monitor multiple UAV's. Pass/Take Control of a UAV to/from another GCS within range. Implement emergency action plan to control the UAV during equipment failures. Monitor payload and telemetry data in real time, and record all data for future review and processing. Receive process, display and exploit the payload output data. A2 A6 NL1 NL1 - - IE1 A5 A5 ID GS-1 GS-2 GS-3 GS-4 GS-5 GS-6 GS-7 GS-8 GS-9 GS-10 Be capable of restoring power in less than 5 IE1 seconds to avoid loss of UAV control during power outages. GS-11 Be designed to protect its communication and data - links against enemy Electronic Warfare (EW) threats (i.e. ARM's - Anti-Radiation Munitions) and physical destruction. GS-12 Be able to provide an operational range of at least IE1 10km (initially) PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) 1.5.2 Interface Requirements Table 3 below describes the interface requirements for the Ground Station which have been derived from DYNAMIC REFERENCE. Table 3 Ground Station Interface Requirements Description Have the capability to control and monitor AV, payload, data link, and C2 interfaces during mission execution Backwards Traceability SAI-6 Display data on the same monitor from more than one payload simultaneously SAI-6 Have appropriate visual and audible cautions and warnings if the UAV system enters an unsafe operating mode including low battery, motor overheat, motor failure, ESC failure, loss of signal and low altitude. Provide latitude, longitude, altitude, bearing, and velocity information to allow the operator to maintain a safe separation from other aircraft both manned and unmanned. Be able to provide the operator with the highest degree of situational awareness possible within the specified form factor restrictions. Have the functionality to display essential power system information, including instantaneous power consumption, average power consumption, predicted GCS system endurance and individual cell status information i.e. charge status and cell health. SAI-10 SAI-10 SAI-10 SAI-10 Provide audible and visual prompts and warnings at specified power reserve thresholds. SAI-10 Be able accept and utilise a wide range of connectivity options including the essential MIL standard power connections. - ID GS-13 GS-14 GS-15 GS-16 GS-17 GS-18 GS-19 GS-20 PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) 1.5.3 Physical Requirements Table 4 below describes the interface requirements for the Ground Station which have been derived from DYNAMIC REFERENCE. Table 4 Ground Station Physical Requirements ID System Description GS-21 Command Module Be able to provide an endurance for 50 minutes (20min mission planning, 10min prep, 20 min flight) Backwards Traceability System Operation GS-22 Command Module & ATAS Be capable of operation in a range of weather conditions including medium winds and light rain. - GS-23 ATAS GS-24 ATAS GS-25 Command Module & ATAS GS-26 Command Module & ATAS GS-27 ATAS GS-28 ATAS Be capable of pointing the antenna within 5 degrees of accuracy. Be capable of operating with a maximum slew rate of 3.2 °/s IE2 IE2 Be collapsible into a small portable form factor not more than 1.5x 0.3 for easy transportation within standard military transport vehicles System Operation Able to be set up and secured within 5 minutes. System Operation Be designed so that the system has an inherent LPI (Low Probability of Intercept). Be compliant with AMCA EIRP levels: - C4 900MHz: 1W 2400MHz: 4W 5800MHz: 1W PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) 1.6 DESIGN CONSIDERATIONS 1.6.1 Overview A number of design considerations were addressed in the ongoing design of the GCS and ATAS modules. The following design considerations are comprised of items that have affected the design but are not explicitly specified within the design requirements. 1.6.2 Cost As the project budget is restricted by the level of sponsorship from both the University of Queensland and Australian Aerospace (AA) the system was designed according to a set cost point. This has heavily influenced component quality selection during the design process. Prioritisation was hence key to ensuring the best system performance within budgetary constraints. 1.6.3 Ergonomics In order to ensure that the end human user can operate the system comfortably and in an efficient manner, much consideration has been given to the design of the overall layout and ergonomics characteristics of the module. 1.6.3.1 Size and Weight The overall size and weight of the GCS was considered during the design to ensure the system was easy to use and transport. Ergonomic statistics dictate that the average human is capable of lifting 95 kg, however if the individual needs to lift this weight several times, or the package is not conducive to lifting (i.e. requires bending) this is revised down to 20kg. As the total system weight was expected to exceed this value, it was necessary to consider designs that included transport aids to ensure the maximum ease of use. The overall size of the system was also considered in order to ensure that it is able to be transported around using standard methods of transport. PREPARED BY: MARC TREBLE

GLARE GROUND CONTROL STATION (GCS) Figure 2 GCS - Screen angle ergonomics 1.6.3.2 Human Interfaces The development, design, and integration of the human interface elements of the GCS were a major consideration throughout the course of the project. As the system‟s purpose is to most effectively link the human operator(s) with the UAV ease of use and layout were deemed critical. Many GCS‟s that are commercially available no longer keyboards, many manufacturers opting to only provide the user(s) with a touch interface. Touch interfaces hold many advantages over the conventional “mouse and keyboard” solution, providing intuitive manipulation of screen objects; however, they also inefficient when required to input raw data. With this in mind, integration of a keyboard has been deemed necessary, as the system is required to perform data input and analysis roles, as well as mission planning and control. The functionality of the GCS can be clearly defined in two main categories: 1. Functionality involved with the exchange of data and communications between the UAV and other ground based systems; 2. And functionality involved with the distribution and control of power. Given the defined clearly functional system boundaries, functionality segregation has been considered as part of the ergonomics analysis of the GCS. Functionality segregation involves grouping human interface devices that perform roles related PREPARED BY: MARC TREBLE

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