Resilient-EGI Prototype Pilot: Common Application Space Prototype Pilot

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1 Resilient-EGI Prototype Pilot: Common Application Space Prototype Pilot Robert P. decourcy Jeffrey Wallace 1, Sara J. Kambouris 1, Jacob Campbell 2, Christopher Garrett 3, M. Dean Garvey 1 1-Infinite Dimensions Integration, Inc., 2-AFRL/RIEBA, 3-AFRL/RYWN TA

explore a different Alt-Nav technique and create an appropriate app and modification of the baseline common application space App and

2 Resilient EGI Project Overview 3 Teams will collaborate to explore using the FACE standard for avionics systems development Teams will collaborate to create the initial common applications space data model and baseline Alt-Nav application Each team will then explore a different Alt-Nav technique and create an appropriate app and modification of the baseline common application space App and Data Model Results will be evaluated embedded in test vehicles and in a virtual Systems Integration Lab (vsil) hosted at the Hanscom milcloud

3 Operating System Segment Guidance App ATC Manager FACE Boundary Portable Components Segment TS Transport Services Segment Transport Capability Distribution Capability Platform Device Services EGI Aircraft Config Sensor Platform Specific Services Segment ADS-B Out ADS-B In Platform Common Services System Level Health Monitoring Configuration Service Graphics Services Graphics Service TS Configuration Capability IO GPU API I/O Services Segment I/O Service UDP Writer UDP Reader Operating System Language Runtime Application Framework Health Monitoring Device Driver Device Driver Graphics Driver Device Driver Pla$orm Displays Interface Hardware (e.g., MIL-STD-1553, Ethernet) Pla$orm Sensors Pla$orm Devices KEY FACE Defined Interface External Interface Non-Conformant Interface

4 R/C Truck Operation Use a single moderate constant speed. Read current position and heading and calculate steering angle and steering time required to reach next waypoint. Turn steering servo for the calculated steering angle and time. Initially, for simplicity, we will use four standard turn angles and with calculated turn times. If the initial location is more than 3 meters from the first waypoint, an error message will be displayed and the automatic navigation will not start. For example, if the stored waypoints are in California, and the RC truck is in Ohio, that would be an invalid condition. A single web page will be served from the RPi3 via WiFi that will contain the following control buttons and displays: Manual (use the RC transmitter to control steering and throttle). Record (records waypoints as you drive manually control the RC truck). Automatic (follows the most recent set of waypoint). Status and Error Messages such as " Ready" and "Error: too far from first waypoint". When performing a demonstration, the start location and end location will typically be the same so that the first stored waypoint will be within 3 meters of the RC truck's location when "Automatic" is started.

5 FACEbot-G I

6 FACEbot- G I Control Page The FACEbot is a mobile web server!

7 FACEbot-G I Control Page AutoNavigate the Waypoints Record Waypoints

8 R/C Truck Development

9 FACEbot-A I

10 FACE Conforming Test Suite Very simple, as the external API signatures are the exact same as the stock BALSA IS EGI IS EGI Navigation PCS App ATC PCS App Phase II (add IMU sensor) required extension of the data model and PCS app signatures Alt-Nav sensors and associates data model and app modifications are more complex BALSA will continue to be the Plug Test platform

11 Greatest Challenges Understanding all the details of conformance testing Understanding how the FACE standard description is translated into code Understanding how the data model is extended Understanding how the data model is implemented Understanding how the TSS operates in this implementation How would this look in alternate implementations?

12 Lessons Learned Very easy to work with FACE compared to other DoD standards Joint Unmanned Autonomous Systems High Level Architecture Very good factorization of the software Clever usage of DIS messaging to rapidly prototype the TSS Concise reference implementation of the FACE standard made it easy for our project to get to the productive work of EGI/At-Nav design

13 Starting BALSA Data Flow

Modified BALSA Data Flow Phase II PCS Naviga/on App R-EGI App (LC /INS) ATC Manager 12 11 10 4c 4a 4c 4a 4b 5 TSS 13 3c 3a 3b 6 PSSS Servo IMU AircraJ Config ADS-B Out OperaWng System Language RunWme

14 Modified BALSA Data Flow Phase II PCS Naviga/on App R-EGI App (LC /INS) ATC Manager c 4a 4c 4a 4b 5 TSS 13 3c 3a 3b 6 PSSS Servo IMU AircraJ Config ADS-B Out OperaWng System Language RunWme ApplicaWon Framework Health Monitoring I 14a 15a Servo API 2c IO Service IMU 1c 2a IO Service 1a 2b Local Config 7 UDP Writer 8 S Servo Drivers IMU CSV CSV Device Driver 9 Ethernet N.B. 14a, 15a Steering Servo

15 Modified BALSA Data Flow Phase IV PCS AutoNav App R-EGI App (LC /INS) ATC Manager c 4a 4c 4a 4b 5 TSS 13 3c 3a 3b 6 PSSS Servo IMU AircraJ Config ADS-B Out OperaWng System Language RunWme ApplicaWon Framework Health Monitoring 14a-g I 15a-g Servo API 2c IO Service IMU 1c 2a IO Service 1a 2b Local Config 7 UDP Writer 8 S Servo Drivers IMU CSV CSV Device Driver 9 Ethernet N.B. Servos: 14a, 15a Elevator; 14b, 15b Rudder; 14c, 15c Right Aileron; 14d, 15d; LeN Aileron; 14e, 15e Right Flap; 14f, 15f LeN Flap ; 14g, 15g Electronic Speed Control (ThroRle)

Modified BALSA Data Flow Phase V PCS AutoNav App R-EGI App (TC /INS) R-EGI App (LC /INS) ATC Manager 12 11 18 19 17 16a 16b 10 4c 4a 4c 4a 4b 5 TSS 13 20 3c 3a 3b 6 PSSS Servo IMU AircraJ Config

16 Modified BALSA Data Flow Phase V PCS AutoNav App R-EGI App (TC /INS) R-EGI App (LC /INS) ATC Manager a 16b 10 4c 4a 4c 4a 4b 5 TSS c 3a 3b 6 PSSS Servo IMU AircraJ Config ADS-B Out OperaWng System Language RunWme ApplicaWon Framework Health Monitoring 14a,b I 15a,b 21a,b Servo API 22a,b 2c IO Service IMU 1c 2a IO Service 1a 2b Local Config 7 UDP Writer 8 S Servo Drivers IMU CSV CSV Device Driver 9 Ethernet N.B. 21a, 22a Steering Servo; 21b, 22b ThroRle Servo

Modified BALSA Data Flow Phase VI PCS AutoNav App R-EGI App (TC /INS) R-EGI App (LC /INS) ATC Manager 12 11 18 19 17 16a 16b 10 4c 4a 4c 4a 4b 5 TSS 13 20 3c 3a 3b 6 PSSS Servo IMU AircraJ Config

17 Modified BALSA Data Flow Phase VI PCS AutoNav App R-EGI App (TC /INS) R-EGI App (LC /INS) ATC Manager a 16b 10 4c 4a 4c 4a 4b 5 TSS c 3a 3b 6 PSSS Servo IMU AircraJ Config ADS-B Out OperaWng System Language RunWme ApplicaWon Framework Health Monitoring 14a-g I 15a-g Servo API 21a-g 22a-g 2c IO Service IMU 1c 2a IO Service 1a 2b Local Config 7 UDP Writer 8 S Servo Drivers IMU CSV CSV Device Driver 9 Ethernet N.B. Servos: 21a, 22a Elevator; 21b, 22b Rudder; 21c, 22c Right Aileron; 21d, 22d; LeN Aileron; 21e, 22e Right Flap; 21f, 22f LeN Flap ; 21g, 22g Electronic Speed Control (ThroRle)

18 Summary Added the IMU sensor infrastructure (IS, PSSS) and modify the Nav PCS app to improve the R/C truck platform Next step to transition to a small R/C fixed wing airplane (June 6-8 BITS event) Employ the Open R-EGI PCS app and data model in conjunction with a stability augmentation system (SAS) and auto-launch and land capability. Build up the vsil capabilities for, IMU, and Alt- Nav sensor simulation for a robust virtual design and test capability BALSA is our test framework

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