ISL-R 121/2015
ISL-R 121/2015
ISL-R 121/2015
Conception, manufacturing and tests of a projectile-drone hybrid system (GLMAV) P. GNEMMI, S. CHANGEY, B. BASCHUNG, L. BERNARD, C. BERNER, G. BOEGLEN, F. CHRISTNACHER, K. DAHHANI, V. GASSMANN, H. KAUFFMANN, A. KOEHL, J. KRCMAR, V. LIEBY, B. MARTINEZ, K. MEDER, N. METZGER, E. PECHEUR, C. REY, E. ROUSSEL, F. SAADA, S. SCHERTZER, H. SIMON, E. SPIESER, C. STEINBACH, S. THEODOULIS, P. WERNERT, D. WALCH, P. WEY M. BOUTAYEB*, A. DROUOT*, H. RAFARALAHY*, E. RICHARD*, H. SOULEY ALI*, M. ZASADZINSKI*, A. ZEMOUCHE* R. LOZANO**, P. CASTILLO**, C. CHAUFFAUT**, I. FANTONI** R. SYRIANI***, A. GUINAMARD*** * CRAN (University of Lorraine), Nancy, FR ** HEUDIASYC (University of Technology of Compiègne), Compiègne, FR *** SBG Systems SAS, Rueil-Malmaison, FR
October 2015
Title
Author(s)
Conception, manufacturing and tests of a projectile-drone hybrid system (GLMAV)
P. GNEMMI et al. (listing of the co-authors see cover and text)
Document number
Document date
ISL-R 121/2015
12/10/2015
Classification ✔
Unclassified
Restricted
Confidential
Other (please indicate) ……………………………………
Task number 02/14/04/000/0/00 Description of the contract
Deadline
Study not under contract ………………………………………………..
CIEEMG
Yes
✔
No
Scientist responsible for the contract Reference of the publication
Abstract Within the framework of the protection of the citizen and of the vital infrastructures and the networks, the French-German Research Institute of Saint-Louis (ISL) proposed an innovative concept of a miniature air vehicle: it is a question of launching from a dedicated portable tube, a subsonic projectile which is transformed into a Micro Air Vehicle (MAV) once arrived over the site to be observed. Such a hybrid system, named GLMAV for Gun Launch Micro Air Vehicle, is devoted to any forms of surveillance and control of people and infrastructures by air, because it is equipped with an embarked vision system with real-time image transmission. The ISL associated the CRAN (University of Lorraine), the HEUDIASYC (University of Technology of Compiègne) and the company SBG Systems SAS. The GIGN and the DGA as operational experts and MBDA-Systems in France as industrial expert were associated to the steering committee of the project. The assessment after forty five months of studies concerning that project is presented in this report.
Keywords Subsonic projectile, Launched miniature UAV, Miniature drone, Counter-rotating rotors, Hovering flight autopilot, Observation
Contact
Communication unit Tel. +33 (0)3 89 69 53 18 – E-mail:
[email protected]
Institut franco-allemand de recherches de Saint-Louis Deutsch-Französisches Forschungsinstitut Saint-Louis Adresse postale : BP 70034 Postanschrift: Postfach 1260 68301 SAINT LOUIS CEDEX - France 79547 Weil am Rhein - Deutschland 5 rue du Général Cassagnou - 68300 Saint-Louis – France Tél. +33 (0)3 89 69 50 00 - Fax +33 (0)3 89 69 50 02 – http://www.isl.eu This document and the information it contains are property of ISL. It shall not be used for any purpose other than those for which it was supplied. It shall not be reproduced or disclosed (in whole or part) to any third party without ISL prior written consent. French-German Research Institute – All rights reserved
Imprimé/Vordruck ISL 7/171E - 04/2009 - MOT/G/02/b
Conception, Manufacturing and Tests of a Projectile-Drone Hybrid System (GLMAV) P. Gnemmi* et al. ISL: S. Changey**, B. Baschung, L. Bernard, C. Berner, G. Boeglen, F. Christnacher, K. Dahhani, V. Gassmann, H. Kauffmann, A. Koehl, J. Krcmar, V. Lieby, B. Martinez, K. Meder, N. Metzger, E. Pecheur, C. Rey, E. Roussel, F. Saada, S. Schertzer, H. Simon, E. Spieser, C. Steinbach, S. Theodoulis, P. Wernert, D. Walch and P. Wey CRAN (University of Lorraine): M. Boutayeb**, A. Drouot, H. Rafaralahy, E. Richard, H. Souley Ali, M. Zasadzinski and A. Zemouche HEUDIASYC (University of Technology of Compiègne): R. Lozano**, P. Castillo, C. Chauffaut, and I. Fantoni SBG Systems SAS: R. Syriani** and A. Guinamard
* project coordinator ** scientific responsibles
Abstract Within the framework of the protection of the citizen and of the vital infrastructures and the networks, the French-German Research Institute of Saint Louis (ISL) proposed an innovative concept of a miniature air vehicle: it is a question of launching from a dedicated portable tube, a subsonic projectile which is transformed into a Micro Air Vehicle (MAV) once arrived over the site to be observed. Such a hybrid system, named GLMAV for Gun Launch Micro Air Vehicle, is devoted to any forms of surveillance and control of people and infrastructures by air, because it is equipped with an embarked vision system with real-time image transmission. The ISL associated the CRAN (University of Lorraine), the HEUDIASYC (University of Technology of Compiègne) and the company SBG Systems SAS. The GIGN and the DGA as operational experts and MBDA-Systems in France as industrial expert were associated to the steering committee of the project. The assessment after forty five months of studies concerning that project is presented in this report.
Key words Subsonic projectile, launched miniature UAV, miniature drone, counter-rotating rotors, hovering flight autopilot, observation
ISL-R 121/2015
1 1
Table of contents Abstract.................................................................................................................................................... 1 Key words ................................................................................................................................................ 1 Table of contents ..................................................................................................................................... 2 List of figures ........................................................................................................................................... 4 List of tables ............................................................................................................................................ 6 1
Introduction ....................................................................................................................................... 7
2
Launcher and GLMAV platform ...................................................................................................... 11 2.1 2.1.1
Laboratory launcher ........................................................................................................... 11
2.1.2
Ballistic launcher ................................................................................................................ 12
2.2
3
4
5
GLMAV platform .................................................................................................................... 14
2.2.1
Projectile configuration ...................................................................................................... 14
2.2.2
MAV configuration ............................................................................................................. 15
Embedded electronics .................................................................................................................... 26 3.1
Motherboard of the GLMAV, hardware part .......................................................................... 26
3.2
Motherboard of the GLMAV, software part ............................................................................ 28
3.3
Electronic system of the engine control ................................................................................. 32
3.4
Accuracy enhancement of the inertial measurement unit ..................................................... 32
3.4.1
Characterization and calibration of sensors ...................................................................... 33
3.4.2
Optimization of the data fusion filter .................................................................................. 36
3.4.3
Optimization of the data fusion filter .................................................................................. 36
Complete vision system with image transmission .......................................................................... 38 4.1
WiFi transmission system and antenna ................................................................................. 38
4.2
Sensor and optical prism ....................................................................................................... 40
4.3
Processing and software management ................................................................................. 41
Studies of flight phases .................................................................................................................. 44 5.1
Ballistic flight .......................................................................................................................... 44
5.1.1
Stability analysis ................................................................................................................ 44
5.1.2
Nominal ballistic trajectory analysis ................................................................................... 44
5.1.3
Experimental validation ..................................................................................................... 45
5.2 5.2.1
2 2
Launcher ................................................................................................................................ 11
Transient flight ....................................................................................................................... 48 First theoretical investigations ........................................................................................... 48
ISL-R 121/2015
5.2.2
Experimental investigations ............................................................................................... 49
5.2.3
Second theoretical investigations ...................................................................................... 53
5.2.4
Validation of the rotor-platform deployment ...................................................................... 54
5.3
6
Operational flight ................................................................................................................... 55
5.3.1
Mathematical model of the GLMAV ................................................................................... 55
5.3.2
Control strategy for the autonomous navigation ................................................................ 58
5.3.3
Control law implementation and performance evaluation ................................................. 64
5.3.4
Experimental validation ..................................................................................................... 66
Conclusion ...................................................................................................................................... 68
Acknowledgments ................................................................................................................................. 68 References ............................................................................................................................................ 69
ISL-R 121/2015
3 3
Please order the report to the Institut franco-allemand de recherches de Saint-Louis BP 70034 68301 SAINT LOUIS CEDEX - France
