CanberraUAV UAV Outback Challenge 2014 飞行操作手册说明书_

2024年11月22日发(作者：)

CanberraUAV

Flight Operations

Manual

UAV Outback Challenge 2014

CanberraUAV Flight Operations Manual V3.4

1 Contents

2 Introduction .................................................................................................................................... 3

2.1

3

Version History ........................................................................................................................ 3

Roles and Responsibilities ............................................................................................................... 4

3.1

3.2

3.3

3.4

3.5

3.6

3.7

3.8

Pilot ......................................................................................................................................... 4

Assistant Pilot .......................................................................................................................... 4

Ground Control Lead ............................................................................................................... 4

Ground Control Secondary ..................................................................................................... 4

Camera and Imagery Control .................................................................................................. 4

Manual Antenna Tracker ........................................................................................................ 4

OBC Liaison ............................................................................................................................. 4

Named Roles ........................................................................................................................... 5

4

5

Checklists ........................................................................................................................................ 6

Flight Phases ................................................................................................................................. 11

5.1

5.2

5.3

5.4

5.5

5.6

Takeoff and cruise to search area (0:00 - 5:00) .................................................................... 11

Searching for Joe (5:00 - 35:00) ............................................................................................ 11

Joe Detected (35:00 - 40:00) ................................................................................................. 11

Bottle Drop (40:00 - 45:00) ................................................................................................... 12

Return to Airfield (45:00 - 50:00) .......................................................................................... 12

Landing (50:00 - 55:00) ......................................................................................................... 12

6 Emergency Procedures ................................................................................................................. 12

6.1

6.2

6.3

6.4

6.5

6.6

6.7

Loss of Datalink ..................................................................................................................... 12

Loss of GPS ............................................................................................................................ 12

Pixhawk Software crash (Failure of Autopilot software / Failure of SAS) ............................. 13

Loss of engine power ............................................................................................................ 13

Geofence breach ................................................................................................................... 13

GCS Software failure ............................................................................................................. 13

Commanded Destruction ...................................................................................................... 13

7 Annexes ......................................................................................................................................... 14

7.1

7.2

7.3

7.4

Waypoint ID’s ........................................................................................................................ 14

Bushmaster Performance Info .............................................................................................. 17

Area Map ............................................................................................................................... 18

Ground Station Network ....................................................................................................... 19

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CanberraUAV Flight Operations Manual V3.4

2 Introduction

This manual describes the operations of CanberraUAV in the Outback Challenge 2014 (OBC). This

includes roles and responsibilities, mission phases and emergency procedures.

The aim is to document everything that is needed to be done during the OBC Search and Rescue

Mission, so it can act as a reference point for team members.

It will also cover the OBC Scrutineering mission, with the relevant changes to waypoints and flight

phases.

2.1 Version History

Version

1.0

2.0

3.0

Date

10/08/2012

19/08/2012

01/08/2014

Comments

Initial Version

2012 OBC Final

Changes to account for new airframe and setup for the 2014

OBC

Cleaned up additional 2014 OBC changes

Updated waypoint information and usage of Porter as airframe

Various changes on feedback from 1

st

All Up Test – updated

waypoints, changes to airspeed calibration, labeling as to who

does each checklist item.

Add references to Bushmaster. Also added checklist item for

fuel breather hose.

Moved airspeed sensor calibration. Added radio range check

and Lidar check

3.1

3.2

3.4

08/08/2014

20/08/2014

04/09/2014

3.5 09/09/2014

3.6 15/09/2014

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CanberraUAV Flight Operations Manual V3.4

3 Roles and Responsibilities

3.1 Pilot

 Assembling the UAV (Wings, Tailplane, Hatches) and performing pre-flight checks

 The Pilot and the Assistant Pilot will be the only team members on/near the runway

 Flying the UAV in Manual or FBW mode. This may include takeoff, landing or during

emergency procedures (when the UAV is circling Airfield Home and needs to be landed)

 The Pilot will have the final decision on manual takeover whilst the UAV is in RC range.

3.2 Assistant Pilot











Assists the Pilot with their tasks

Has a CB radio to communicate with the Ground Control Station

Acts as a point of contact on the flight line during preflight checks

If the Pilot is unavailable, performs their tasks

The Pilot and the Assistant Pilot will be the only team members on/near the runway

3.3 Ground Control Lead











Assist with GCS Setup

Performs pre-flight checks of the Pixhawk and Imaging software

Monitors overall progress of the UAV through all phases of the mission

Issues commands to the UAV

Confirms bottle drop

3.4 Ground Control Secondary















Assist with GCS Setup

If the Ground Control Lead is unavailable, performs their tasks

Monitors the UAV’s progress through the mission waypoints

Ensures that the correct waypoints have been loaded

Monitors the state of the UAV - altitude, speed, roll, pitch, etc

During emergency situations, ensures the UAV diverts to the correct waypoint/loiter

Monitors the time, ensuring the UAV will finish the search pattern within the allocated time

limit. Watch ETR.

3.5 Camera and Imagery Control









Assist with GCS Setup

Confirms the Camera is capturing correctly

Monitors the camera capture and image processing

Makes the call as to where Joe is located

3.6 Manual Antenna Tracker

 Assists with GCS Antenna Setup

 In the event of the automatic antenna tracker failing, they will point the antenna manually.

Pointing directions will be given by Ground Control Lead

3.7 OBC Liaison

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CanberraUAV Flight Operations Manual V3.4

 Assist with GCS Setup

 Relays messages and queries between the OBC staff and GCS team

 Records Joe position and gives it to the OBC Staff

3.8 Named Roles

Team Member

Jack Pittar

Andrew Tridgell

Stephen Dade

Matt Ridley

Grant Morphett

Chris Gough

Greg Oakes

Jono Parrot

Role

Pilot

Ground Control Lead

Ground Control Secondary

Camera and Imagery Control

Assistant Pilot

Manual Antenna Tracker

OBC Liaison and Payload Master

General Help

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CanberraUAV Flight Operations Manual V3.4

4 Checklists

These checklists are to be performed before and during any flight with the CanberraUAV Bushmaster

airframe and full GCS setup.

Item

Before the Competition (the evening beforehand)

The full mission MUST be run in SITL beforehand to check for any typos

with waypoints

Confirm all batteries charged (avionics, ignition, GCS, RC Controller, CB

radios)

All GCS laptops charged and working correctly

UAV avionics tested for basic functionality

UAV and GCS equipment loaded in vehicles, along with spares and tools

Assembling the Bushmaster

CB radio active

Assemble wings and unfold fuselage

Check for physical damage to airframe

Check all electronics present and connected (no unconnected cables)

No physical damage to engine, propeller or avionics

Confirm avionics and engine ignition batteries fitted and charged

Confirm fuel tank full

Centre of Gravity within limits

Confirm water bottle correctly attached

Area and runway clear of unnecessary personnel and debris

Confirm air breather plug is in breather hose from header tank

Avionics power ON

Assembling the Ground Station

Radio mast erected

GCS table and chairs in correct position

Shading assembled

Who?

GCS

GCS

GCS

GCS

UAV and GCS

UAV and GCS

UAV

UAV

UAV

UAV

UAV

UAV

UAV

UAV

UAV

UAV

UAV

GCS

GCS

GCS

Done?

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CanberraUAV Flight Operations Manual V3.4

GCS laptops power and network connected

Radios (900 MHz,5.8 GHz, 433 MHz both ends) and tracker power

connected

Van Power ON

Internal LAN active

Confirm radios, laptops and TV powered

CB Radio placed in centre of GCS table

All laptop software working correctly

All Ground Station operators confirm their respective sections OK

Tracking antenna pointing to UAV

Confirm that 433 MHz tracker link is stable and a good SNR

Confirm that mission is a GO

Pre-Engine start checks

Airspeed calibration – Put cover on airspeed sensor, disarm then arm the

Pixhawk, wait for confirmation from GCS and remove cover

Verify

All servos and flight control surfaces responsive

PIXHAWK running

Odroid running

RC radio link working

Confirm GPS Lock (for both GPS modules)

Confirm altitude lock (Pressure, GPS and Lidar)

Pixhawk showing stable 5V power

Gyros and Accelerometers calibrated and showing sensible values

Compass calibrated and pointing in the correct direction

Correct Pixhawk parameters loaded

Confirm waypoint numbers for GPS loss, data loss failsafes are set in the

Pixhawk parameters

Confirm geofence loaded and active

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

UAV and GCS

UAV

GCS

GCS

UAV

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

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CanberraUAV Flight Operations Manual V3.4

Confirm failsafe termination action is set to “42”

2x Radio links active and working (with a decent SNR value)

Ensure flight mode FBWA

Check the Odroid has enough free SSD space

Flaps set to 0

Wait for permission to start engine

Post-engine start Checks

Engine running nominally

Radio range check

Confirm IMU gives the correct orientation (during taxi)

Start camera capture

Taxi to runway

Wait for takeoff permission

Pre-takeoff Checks

UAV pointed accurately down runway

Radio, Pixhawk show no errors or issues

Check Pilot is ready for manual takeover

Switch to AUTO and takeoff (wp set 1)

Post-takeoff Checks

Climb rate good

Airspeed good

Plane turning to waypoints

Camera capture good

Radio, Pixhawk show no errors or issues

Search Area (Cruise) Checks

Image detection working

Radio, PIXHAWK show no errors or issues

UAV is navigating through waypoints well

GCS

GCS

UAV and GCS

GCS

UAV and GCS

UAV

UAV

GCS

GCS

UAV

UAV

UAV

GCS

GCS

UAV

UAV and GCS

UAV and GCS

GCS

GCS

GCS

GCS

GCS

GCS

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CanberraUAV Flight Operations Manual V3.4

Joe found

UAV loitering in centre of search area or at Joe location

Pre drop Checks

Joe position written down and confirmed with OBC Staff (click on map,

MAVProxy console -> menu -> Show Position)

Pre-drop and drop waypoints moved to Joe position (click on map and

type in movejoe)

Command UAV to fly over Joe (wp set 15)

OBC Staff give permission to drop bottle

Switch to drop waypoints (wp set 20)

UAV navigating to drop points

Confirm bottle dropped

UAV returning to airport (wp set 31)

Return and Approach Checks

Radio, Pixhawk show no errors or issues

Pilot and Assistant Pilot returning to near runway

Landing permission given by OBC staff

UAV starting to lose altitude and airspeed as required

UAV in sight of Pilot

UAV lined up with runway and glideslope

UAV lands

Pilot takeover where needed for manual landing

UAV engine shutdown

Shutdown and Packup Checks

UAV recovered and returned to GCS by Pilot and Assistant Pilot

UAV ignition power shutdown

GCS confirms all flight data recorded

UAV avionics shutdown

GCS power shutdown

Page 9 of 19

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

GCS

UAV

UAV and GCS

UAV

UAV

UAV

UAV

UAV

GCS

UAV

GCS

CanberraUAV Flight Operations Manual V3.4

GCS packup

UAV packup

GCS

UAV

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CanberraUAV Flight Operations Manual V3.4

5 Flight Phases

5.1 Takeoff and cruise to search area (0:00 - 5:00)

● Takeoff may be automatic or manual, depending on weather conditions and how confident

we are feeling.

○ For automatic takeoff, the GCS needs the following inputs:

 RX Transmitter: Flight mode AUTO

 GCS: wp set 1

○ For manual takeoff, allow the pilot to set to FBWA mode. After takeoff and when the

UAV is at least 50m off the ground, track directly to the EL1 (Entry lane 1) point. The

GCS will need the following inputs:

 wp set 2; auto

● The UAV should reach a target altitude of 100m AGL early into the flight. Note the terrain

tracking will alter the UAV’s altitude AMSL.

● While the UAV is tracking to EL1, ensure that:

○ The UAV manoeuvres correctly (good parameters)

○ GPS has a solid lock (can we check for a signal strength / # of satellites locked?)

○ SNR on both radios is acceptable

○ Camera is showing good quality images

● Make a note of the wind speed/direction - this will affect our bottle drop waypoint

● The Odroid’s MAVProxy instance and image processing software should be monitored for

any errors and restarted if necessary

5.2 Searching for Joe (5:00 - 35:00)

● Both radio links will be stretched to its limits during this section. Keep a very close eye on it

● If the Camera GCS and GCS Lead are confident that Joe has been found part-way through the

mission, we may decide to abort the search pattern and go directly for the bottle drop (with

the organiser’s permission).

● The GCS Secondary should keep a monitor on any potential geofence breaches, in addition

to tracking the correct waypoints. It should be noted if a particularly strong crosswind is

attempting to blow the UAV off course.

5.3 Joe Detected (35:00 - 40:00)

● As soon as we decide to tell the organisers where we think Joe is, the GCS Lead should

immediately set up the cross-loiter and bottle drop waypoints. This is performed by clicking

on the main map as to Joe’s location and then typing in “joemove” in the console, which

will move all the appropriate waypoints.

● After the waypoints are laid in, the GCS Lead should change the loiter waypoints to be over

Joe’s position.

● While we wait for the organisers, the UAV should continue the search pattern. If it finishes

the pattern, it will loiter over the middle of the search area for 10 minutes and then return

to the airport.

● To command the UAV to cross-loiter over Joe:

○ wp set 15

Page 11 of 19

CanberraUAV Flight Operations Manual V3.4

5.4 Bottle Drop (40:00 - 45:00)

● The GCS Lead will order a waypoint jump to the bottle jump points.

○ wp set 20

● The GCS Lead will count down time to bottle drop

● The GCS Secondary will confirm the bottle drop mechanism activation

● The UAV will then go back to the cross-loiter over Joe in order to get a confirmation of the

bottle on the ground

5.5 Return to Airfield (45:00 - 50:00)

● To command a return and landing to the airfield, use

○ wp set 31

● Keep a general eye on the UAV - tracking to airfield, etc

● Ensure the OBC staff have given us permission to approach and land the UAV – preferably

whilst just entering the exit lane

● When getting close to the airport, the UAV should start descending and slowing down – the

GCS Lead and GCS Secondary should keep a close eye on this to ensure the UAV is on the

correct glideslope.

5.6 Landing (50:00 - 55:00)

● Landing may be automatic or manual, depending on weather conditions and how confident

we are feeling.

○ In automated mode, the GCS Secondary will keep a careful eye on the speed and

altitude of the UAV

○ The Pilot will confirm when the UAV is in visual range

○ If, at any point during the landing, we are not confident in the auto landing the pilot

will manually take over in FBWA mode (only if the UAV is in visual range though)

○ During a manual landing, the GCS Secondary will call out the speed and altitude for

the pilot.

6 Emergency Procedures

6.1 Loss of Datalink

● Occurs if the both datalinks are lost (no heartbeat) for more than 10 seconds

○ If combined with a loss of GPS, the UAV must terminate

○ If the RC link fails during manual flight, the UAV must terminate

● The UAV will fly to the Comms Hold waypoint (at 400ft (120m) AGL / 1900ft AMSL) and loiter

for 2 minutes

● The UAV will fly to the Airfield Home waypoint (at 400ft (120m) AGL / 1900ft AMSL) and

loiter for 2 minutes whilst manual recovery is attempted

● If the datalink is not re-established in this time, the UAV will terminate

● We are allowed a maximum of 2 datalink losses during the mission

● On the third datalink loss, we are to fly directly to the Airfield Home waypoint and land or

terminate

6.2 Loss of GPS

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CanberraUAV Flight Operations Manual

●

●

●

●

V3.4

If the both GPS modules report a loss of lock, the mode will be activated immediately

The UAV will loiter around the point of GPS lock loss (via dead reckoning) for 30 seconds

The UAV will navigate to the Airfield Home waypoint (via dead reckoning)

When at Airfield Home, RC control will be established and the UAV landed, otherwise flight

termination

● We are allowed a maximum of 1 GPS loss during the mission

● On the second loss of GPS lock, the UAV will navigate to the Airfield Home waypoint (via

dead reckoning) for landing

6.3 Pixhawk Software crash (Failure of Autopilot software / Failure of

SAS)

● If no heartbeat is heard from the PIXHAWK for more than 1 second, this mode is activated

● Flight termination must be immediately activated

6.4 Loss of engine power

● The PIXHAWK will attempt to glide the UAV towards airfield home

● If within range, RC control will be attempted and the UAV landed at the airport

● The UAV will land as best it can within the mission boundary

6.5 Geofence breach

● If the Fence is breached, flight termination will be immediately activated

● This includes the height restriction of 3000ft (914m) AMSL (referenced to QNH)

● In the case of barometer failure (loss of pressure altitude), the GCS will be notified and the

UAV will stay below 2000ft (609m) AMSL (1000ft below upper altitude limit), which is

approximately 500ft (152m) AGL.

6.6 GCS Software failure

● If the main GCS laptop fails, this mode is entered into

● Same as loss of datalink mode

6.7 Commanded Destruction

● All radio transmitters will be turned off, and the UAV will terminate in accordance with the

loss of datalink failure mode (it would return home)

● Will we instead send a terminate command to the UAV

○ param set AFS_TERMINATE 1

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CanberraUAV Flight Operations Manual V3.4

7 Annexes

7.1 Waypoint ID’s

ID# Name

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

Airfield Home

Auto Takeoff

Jump to Entry Lane 1 (22)

Landing approach

Change to 23 m/s

Change throttle to 20%

Landing approach 2

Landing

Comms Failure

Loiter 2 minutes

Airfield home

Loiter 2 minutes

GPS fail - loiter 30 secs

Airfield home

Loiter (no time limit)

Comments

Mission starts here (auto takeoff)

Mission starts here (after manual takeoff)

Begin landing sequence

End of landing sequence (and mission)

Begin Datalink Failure - go to Comms Hold point

Failsafe activated after this point

Begin GPS failure

Failsafe activated after this point

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CanberraUAV Flight Operations Manual V3.4

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

Cross 1

Cross 2

Cross 3

Cross 4

Loop Cross

Joe approach

Change to 20 m/s

Joe Drop location

Drop stage 1

Delay

Drop stage 2

Change to 28 m/s

Joe after

Jump to cross-loiter (15)

Entry Lane 1

Jump to search mission (34)

Exit Lane 1

Exit Lane 2

Cross-loiter over Joe

Begin Joe Drop

End Joe Drop

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CanberraUAV Flight Operations Manual V3.4

33

34

...

83

84

85

Jump to landing approach (6)

Search 1 (also Entry Lane 2)

Search 50

Loiter in search area for 10

minutes

Jump to exit lane (31)

Begin search

End search

At some point during this time, goto the Joe cross-loiter

(15)

Page 16 of 19

CanberraUAV Flight Operations Manual V3.4

7.2 Bushmaster Performance Info

Specification

Maximum Airspeed

Cruise Airspeed

Endurance at maximum airspeed

Endurance at cruise airspeed

Maximum take off weight

Competition take off weight

Wingspan

Airframe length

Identifying marks

Aircraft planform and configuration

Value

64 kts (115 Km/h)

56 kts (100 Km/h)

Estimated 60 minutes

90 minutes

20 Kg

15 Kg

2.6 m

2 m

White with red trim

High wing tractor aircraft

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CanberraUAV Flight Operations Manual

V3.4

7.3 Area Map

Page 18 of 19

CanberraUAV Flight Operations Manual V3.4

7.4 Ground Station Network

IP Addresses are statically assigned. All GCS computers should be in the range

Important IP Addresses:

Item

Odroid

Rocket Radio on UAV

Rocket Radio on Ground Station

Tridge’s Laptop

Steve’s Laptop

Matt’s Laptop

The MAXProxy server is on port 14550, on your IP address.

Address

192.168.16.2

192.168.16.3

192.168.16.4

192.168.16.30

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