Military Communications and Information Technology: A Trusted ...

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310 Military Communications and Information Technology... Figure 2. The unmaned ground vehicle HANNA from the RTS, Leibniz Universität Hannover C. UAV PSYCHE 1000 The multi-robot system’s two UAVs are Psyche 1000 (see Fig. 3) modified drones MD4-1000 which originally were built by Microdrones. The UAVs are electronically driven helicopters with four rotors, so called quadrocopters that provide a maximum flying weight of 6 kg. Running four rotors means that such a UAV is controlled only by changes in rotational speed of each rotor. Every one of this rotors is driven by its own brushless engine, so that the UAVs are almost maintenance free. In comparison to a conventional helicopter design with a lot of moving parts like a swash plate, the possibility for technical failures is reduced significantly. Figure 3. The unmaned airial vehicle PSYCHE 1000 from EZLS, University of Siegen
Chapter 3: Information Technology for Interoperability and Decision... 311 The UAVs have high precision position stabilization as well as a location estimation system. As in most localization systems a GPS receiver provides information about the absolute position which is fused with measurements from accelerometers, gyroscopes, a magnetometer, and a barometer. For communication, a special chip running a specialized embedded Linux distribution is added. It supports both the communication channel with the base station and with the other robots, as well as autonomous flight control. Our control module utilizes the position and attitude estimations from the UAV, as provided by the manufacturer, and generates signals that are fed back into the proprietary control software of the drone. The interface we use is identical to the original radio control connection. This allows us to make use of all position stabilization functionalities provided by the manufacturer, as we electronically simulate a human operator. By the flick of a switch a real operator can obtain control over the UAVs at any given time. Communication from and to the UAV is realized with two wireless connections. The original radio control device is connected over a bi-directional low-bandwidth, but high distance 2.4 GHz channel. It sends control commands to the UAV and receives information about the height, attitude and the state of the battery. The second channel is a 5 GHz Wireless LAN connection used to transmit data with high bit rates. Since the project is mainly focused on reconnaissance, each UAV is equipped each with a 14.7 MP zoom camera. However, as the UAVs have to alter their attitude to make changes in movement, a fixed mounting of the cameras would result in blurry images. To prevent this, the cameras are mounted within a moveable frame, which is deflected by two servos. The angle control input is taken from the attitude estimation made by Microdrones. Pictures are accessible in two versions. One is the live video preview used on the camera display as default. Respective pictures have a resolution of 320 x 240 pixels, an average file size of 9 kB, and are available at 25 Hz. The second is the single picture mode by which high resolution pictures can be taken. High resolution pictures have a resolution of up to 4416 x 3312 pixels and an average file size of 4 MB. IV. Challenges using ROS The requirements of robot control software for MRS are a) the control of the MRS as one unit, and b) the separate control of specific robots. This demands self-sufficient control software on each robot but also communication between the robots. To be able to use the communication interface of ROS it must be compiled for the specific processor structure and operating systems of the robots. We used one ROSCore for all robots, which allows communication over ROS topics. For each robot there is a ROS node which listens to specific topics and controls the robots according to the given commands. Those commands are defined in BML. The robots communicate not only with the C2 system over BML but also with each other. This means an intelligent node, handling the commands
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Military Communications and Informa
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Contents Foreword .................
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Contents 5 Methodology for Gatherin
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8 Military Communications and Infor
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Building a Layered Enterprise Archi
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Chapter 1: Concepts and Solutions f
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Applying NAF for Performance Analys
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Openness in Military Systems Jessic
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The Concept of Integration Tool for
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CFBLNet: A Coalition Capability Ena
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Selected Aspects of Effective RCIED
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84 Military Communications and Info
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100 Military Communications and Inf
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Chapter 2 Communications and Inform
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Use of Cross Domain Guards for CoNS
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Chapter 2: Communications and Infor
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Chapter 3 Information Technology fo
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Run-Time Ontology on the Basis of E
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A Robust and Scalable Peer-to-Peer
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Development of High Assurance Guard
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Network Traffic Characteristics for
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Methodology for Gathering Data Conc
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On Multi-Level Secure Structured Co
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Generation of Nonlinear Feedback Sh
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Modern Usage of “Old” One-Time
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A Abut Fatih 161 Akcaoglu Ismail 11
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