Calspan Systems Engineering Group

Inertial Navigation Sensors
Mini-Flight Control Systems
Small Unmanned Aerial Vehicles
Unmanned Ground Vehicle
Unmanned Vehicle Proving Ground (UVPG)

Overview

Calspan Unmanned Vehicle Department provides services for developers and designers of UAVs (Unmanned Aerial Vehicles) and UGVs (Unmanned Ground Vehicles).

The unique in-flight simulators operated by Calspan possess the capabilities to host GN&C and Flight Control hardware and software and can combine those with simulations of the actual dynamics of the UV, providing a safe environment to test and validate those systems in a real world environment not possible in the laboratory environment. These capabilities have been used for the Ryan Compass Cope development and the X-38 Crew Rescue Vehicle.

In addition, internal Calspan funding has resulted in the development and testing of a miniaturized flight control system for use on vehicles less than 10 lbs. This flight control system allows autonomous operations for miniaturized airborne vehicles. Another program on the ground currently under development is a "Tri-Mode" UGV that will allow manned, remote, and totally autonomous operation

Inertial Navigation Sensors

An inertial guidance sensor (NAVCube) that is capable of accurately measuring 3 axis accelerations and 3 axis rotation rates has been developed by Calspan. Its novel design provides onboard filtering and direct digital data (via SPI interface), minimizing unwanted noise. The NAVCube has the following capabilities/features:

Maximum use of MEMS technology
Pitch rate, roll rate, yaw rate
Accelerations (normal, lateral, longitudinal)
On-board temperature compensation
BIT/Self Test
Small -- 1.25" x 1.25" x 1.25", 38 grams
Individual faces can be remotely mounted
Future size reduction to .75" x .75" x .75" with flex-rigid design

Mini-Flight Control Systems

Calspan internal research has produced a miniaturized flight control system allowing the autonomous operation of small aerial vehicles. This system consists of a primary flight control processor, interface with servos, sensors and a DGPS. The figures below illustrate the processor, and NAVCube (inertial guidance sensors). This inertial guidance data, combined with the DGPS data allows autonomous operations of small vehicles less than 10 lbs. Presently this system (without datalinks) weighs less than 2lbs. Smaller systems are under development for vehicles less than 5 lbs total weight. Datalinks presently in use are 2.4 GHz downlink of video and telemetry and 433 MHz uplinks for commands from the ground station.

System Features:

Matlab/Simulink autocode
M68332 16Mhz processor
MPC555 upgrade in work
128MB compact flash data storage

Onboard data recording - 30 parameters 2+ hours
Expandable to >300MB
Designed for multiple applications

Interface to NavCube
8 channels of 12-bit A/Ds
6 channel PWM outputs (control surfaces and cameras)
Additional Discretes (up to 16)
GN&C
Autonomous/External Pilot switchover
RS-232 with GPS & Up/Downlink
Servo Command and Power Interface
External Pilot Radio Interface
Power Distribution/Regulation
Airspeed & Altitude
Telemetry (Via L-Band video subcarrier)
Compact 5.4" x 2.5"
Weight : 6.1 oz/175 grams, ~5 oz without CF unit
Power Consumption : 150ma + EM actuators

Calspan's NavCube

Calspan's Mini-Flight Data Control System Processor & NAVCube

Small Unmanned Aerial Vehicle

Calspan has developed a small fixed-wing unmanned aerial vehicle that is used for research, development, and testing of its miniature flight control electronics systems. The aircraft has the following capabilities:

LT-40 airframe, Saito ST-80 motor, standard Electro-Mechanical servos,
7.0 lb w/o equipment, with all equipment installed 9.4 lbs
Real time Video & Telemetry with GPS Data overlay
Autonomous flight and navigation
Downlink of video and data
Uplink of directions (waypoints/altitudes)
Small Inertial sensors integrated with GPS and 3-Axis Compass
Based on off the shelf hardware and vehicle
Radio control takeoff, land and switchover

Calspan is currently developing a small rotary-wing version of its UAV for future research and development in the UAV field.

Pictures of Calspan's Fixed-Wing UAV

Unmanned Ground Vehicle

Calspan is currently in the process of the development of its own unmanned ground vehicle (UGV). This vehicle will be unique because it will be able to, at the flip of switch, operate in three modes: manned, remotely piloted (with obstacle avoidance), and totally autonomous. Stay tuned for the latest in developments for Calspan's Tri-Mode UGV.

Unmanned Vehicle Proving Ground (UVPG)

Located just 35 miles south of Calspan's Buffalo facility, Calspan's 600+-acre Ashford Facility offers both limited access and isolation from population centers and, therefore, has been extensively used for research and development. Its varying terrain includes a cleared plateau, steep grades, and a deep gorge; vegetative cover ranges from field grass to deep woods.

Calspan's Unmanned Vehicle Proving Ground (UVPG) is located at the Ashford, NY facility. As the picture below indicates, the UVPG has a large open plateau with a level roadway that can be used for small fixed-wing aerial vehicles. Both small fixed wing and small rotary wing unmanned aerial vehicles (UAVs) as well as full-sized unmanned ground vehicles (UGVs) can be tested onsite.

Portion of UVPG Plateau