VIA Technologies EPIA SN-Series Specifications download pdf (Page 103)

FASTER Engineering Model

currently can‟t be further modified) and read by the virtual tunnel block, but

only a subset of 20 at a time is used to create a small portion of the trajectory

which is transmitted via UDP connection to the Dynaworlds visualizer;

 Waypoints subset is refreshed every 5 seconds taking into account the actual

GPS position. GPS fix is compared to the entire waypoint list selecting the

nearest. Then the trajectory is generated using 13 waypoints in the front and 6

in the back, defining the 20 points subset, in order to avoid mistakes during

the waypoint interpolation process performed by the Dynaworld visualizer.

This solution avoid tunnel intersections in parallel tracks because the already

completed trajectory part is no more considered defining a unique direction in

which the tunnel can be pass through;

 The tunnel is forwarded only if the aircraft is within a range of 500 m from

reference waypoint, otherwise the position is maintained; the pilot is not

forced to exactly stay inside the guidance tunnel during course turnabouts or

transfers to decrease the workload in long-duration mission;

 A 5 s position predictor has been added using an EKF which calculates future

aircraft coordinates; this helps the pilot to maintain the aircraft inside the

tunnel. Using the predictor tunnel section dimensions can be reduced

improving the system effectiveness;

 Dynaworlds environment major changes are relative to the introduction of a

“re-entry” tunnel. This is a secondary tunnel that brings back the aircraft on

the trajectory defined by the main tunnel, every time it goes off the course

exceeding a defined error. Furthermore maneuvers are limited to a maximum

turn rate of 3 deg/s (standard turn rate); flight data (ground speed, altitude,

true course and roll angle) is also presented to the pilot;

The capability to insert additional waypoints during flight has been evaluated

together whit the possibility to select multiple trajectory, for example in case of more than

a target area. The last one will be implemented in the final system.

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VIA Technologies EPIA SN-Series Specifications Page 103