Unmanned Aircraft System (UAS) Exercise to Assess Common Data Link (CDL) Technology
Department of Defense Unmanned Systems Interoperability Profile and UAS Imagery and Data Dissemination Technologies
Jon Roth (The MITRE Corporation) Rob Gleich (The MITRE Corporation) Jose Ortiz (Mark Schon, LLC)
Mark Schon (Mark Schon, LLC) Dr. Bob Klenke (Mark Schon, LLC)
February 2009
Executive Summary执行总结
On Friday, 31 October 2008, a MITRE-led team that included MITRE and Mark Schon, Limited Liability Company (LLC) engineers, government and vendor personnel successfully exercised the Unmanned Systems Interoperability Profile (USIP) 1 in the field. Mark Schon, LLC in collaboration with Virginia Commonwealth University (VCU) provided the Unmanned Aircraft System (UAS) integration and flight services for the exercise. The exercise was conducted at Finnegan’s Field in the military restricted airspace of the Fort A.P. Hill ranges near Bowling Green, Virginia.
2008年10月31日，星期五，由MITRE 和Mark Schon有限责任公司工程师、政府和供应商人员组成的MITRE 引导的团队在现场成功实施了无人系统互操作性(USIP)1。Mark Schon有限责任公司与弗吉尼亚联邦大学(VCU)合作，为这次演习提供了无人机系统(UAS)的集成和飞行服务。演习是在弗吉尼亚州鲍林格林附近的p山堡山脉的芬尼根战场进行的。
Vendor participants in the exercise included Cubic Defense Applications (Cubic), the Mini- Common Data Link (CDL) provider; Cornet Technology, Inc (Cornet), the Moving Picture Experts Group (MPEG) – 2 and H.264 Video Encoder/Decoder provider; and Lead Technologies, a video Software Developers Kit (SDK) provider.
参与演习的供应商包括Cubic防御应用(Cubic)，迷你通用数据链接(CDL)供应商；Cornet技术公司(Cornet)，移动图像专家组(MPEG)-2和H.264视频编码器/解码器提供商；以及Lead Technologies，一个视频软件开发工具包(SDK)提供商。
The exercise was observed by key Marine Corps personnel from Marine Corps Systems Command (MCSC), the Marine Corps Warfighting Lab (MCWL), the Marine Corps Intelligence Activity (MCIA) and Headquarters, Marine Corps (HQMC). Key Navy and Marine Corps personnel from Naval Air Systems Command (NAVAIR) were also on hand to observe. Fort A.P. Hill Range Operations and Aviation Operations personnel were on hand to observe the exercise, as well. Vendor participants, who generously provided support and equipment for the exercise, and their company representatives, also attended for a total of more than forty people observing the exercise.
来自海军陆战队系统司令部(MCSC)、海军陆战队作战实验室(MCWL)、海军陆战队情报活动(MCIA)和海军陆战队总部(HQMC)的主要海军陆战队工作人员观察了这次演习。来自海军航空系统司令部(NAVAIR)的主要海军和海军陆战队人员也在现场进行观察。希尔堡山脉作战人员和航空作战人员也在现场观察演习。供应商参与者慷慨地为演习提供支持和设备，以及他们的公司代表，也参加了超过40人观察演习。
In June 2008, USIP 1 was approved by the Office of the Under Secretary of Defense (OUSD) for Acquisition, Technology and Logistics (AT&L), the Assistant Secretary of Defense (ASD) for Networks and Information Integration (NII), and the Joint Services UAS representatives. USIP 1 pertains to the direct communication and receipt of data from the Air Vehicle (AV) to the Ground Control Station (GCS) or Remote Video Terminal (RVT) operating in the Ku Band. The operational context for this profile is the Transmission, Collection, Production, Exploitation and Dissemination (TCPED) chain of operational activities. Accordingly, the USIP 1 profile specifically mandates, defines and standardizes the implementation conventions required for interoperability of line of sight transmission of motion imagery for battle space awareness using the Standard Common Data Link (STD-CDL). USIP 1 accomplishes this using the following layers of the Open Systems Interconnection Model: (1) Physical, (2) Data Link, (3) Network, (4) Transport, and (7) Application.
2008年6月，USIP 1获得了负责采购、技术和后勤的国防部副部长办公室(OUSD)办公室(AT&L)、负责网络和信息集成的助理国防部长(ASD)(NII)以及联合服务UAS代表的批准。USIP 1涉及到从飞行器(AV)到在Ku波段内运行的地面控制站(GCS)或远程视频终端(RVT)的直接通信和接收数据。该概况的业务背景是传输、收集、生产、开发和传播(TCPED)的业务活动链。因此，USIP 1配置文件明确要求、定义和标准化了使用标准公共数据链路(STD-CDL)实现战斗空间感知的运动图像的视线传输的互操作性所需的实施约定。USIP 1使用开放系统互连模型的以下层来实现这一点：（1）物理、（2）数据链路、（3）网络、（4）传输和（7）应用程序。
Team activities leading up to the exercise involved the integration of multiple USIP 1-compliant components into the Outlaw AV and the ground systems. Two Outlaw Unmanned Aircraft (UA) were outfitted with the VCU Flight Control System (FCS) autopilot and flight tested in July 2008. During this period, the FCS was also configured to output twelve of the USIP 1 standard Key Length Value (KLV) metadata keys to be time synchronized with the analog video from the onboard digital camera. In August 2008, the video and the corresponding KLV metadata were fed to the MPEG-2 encoder to generate the MPEG-2 transport stream on the encoder’s Ethernet output. In September 2008, the transport stream was provided to the Ethernet input on a commercial-off-the-shelf Microhard VIP 5800 digital data link for testing onboard one of the Outlaws.This data link served as a backup and was used for flight testing until the Cubic Mini- CDL and Team Portable CDL (TP-CDL) equipment was made available. The Cubic Mini-CDL is a miniature STD-CDL transceiver that is compliant with the STD-CDL Specification (Revision F, Annex B).
在演习前的团队活动包括将多个符合USIP 1标准的组件集成到“Outlaw”无人机和地面系统中。两架“Outlaw”无人机(UA)配备了VCU飞行控制系统(FCS)自动驾驶仪，并在2008年7月进行了飞行测试。在此期间，FCS还被配置为输出12个USIP 1标准键长度值(KLV)元数据键，以与来自车载数码相机的模拟视频进行时间同步。在2008年8月，视频和相应的KLV元数据被输入到MPEG-2编码器，以在编码器的以太网输出上生成MPEG-2传输流。在2008年9月，传输流被提供给一个商用现成的微硬VIP5800数字数据链路上的以太网输入，用于在机上测试其中一个“Outlaw”无人机。该数据链作为备份，用于飞行测试，直到Cubic公司Mini-CDL和团队，便携式CDL(TP-CDL)设备问世。Cubic公司Mini-CDL是一个微型的STD-CDL收发器，符合STD-CDL规范(修订版F，附录B)。
On 17 October 2008, an encoded transport stream was provided to the Ethernet input on the Mini-CDL platform communications equipment (PCE) and flight tested on the Outlaw with the TP-CDL equipment serving as the surface communications equipment (SCE) on the ground. This flight was the first time the Department of Defense (DoD)-mandated USIP 1 was flown on any UAS with synchronized video and KLV metadata in the MPEG-2 transport stream over the Common Data Link (CDL) Ku band link at 10.71 megabits per second (Mbps).
2008年10月17日，向Mini-CDL平台通信设备(PCE)上的以太网输入提供了编码传输流，并在Outlaw无人机上进行飞行测试，TP-CDL设备作为地面通信设备(SCE)。这次飞行是美国国防部(DoD)授权的USIP 1第一次在任何UAS上飞行，这些UAS通过公共数据链路(CDL)Ku波段链路以每秒10.71兆(Mbps)的速度在MPEG-2传输流中有同步的视频和KLV元数据。
MITRE engineers simultaneously developed applications to parse the metadata from the transport stream and generate Cursor-on-Target (CoT) messages, thus providing a “glass-to- glass,” sensor to Command and Control (C2) system implementation of the USIP 1 profile. The CoT schema was used to provide the metadata to the standard Marine Corps Joint Tactical Common Operational Picture (COP) Workstation (JTCW), FalconView and Google Earth 3-D displays. The video, metadata, and CoT messages were multicast on the Local Area Network (LAN) and displayed on multiple LAN clients.
MITRE 工程师同时开发了一些应用程序，从传输流中解析元数据，并生成目标上的光标(CoT)消息，从而提供了一个“玻璃到玻璃”，传感器到命令和控制(C2)系统实现的USIP 1概述。CoT纲要用于为标准的海军陆战队联合战术通用作战图像(COP)工作站(JTCW)、猎鹰视图和谷歌地球3d显示器提供元数据。视频、元数据和CoT消息在局域网(LAN)上进行多播，并在多个LAN客户端上显示。
For the final exercise on 31 October 2008, a total of three Outlaw flights were flown. The Outlaws were launched from the test site, flown at altitudes up to 4,000 feet above ground level (AGL), while successfully down-linking video and KLV metadata to various ground systems through an extended Internet Protocol (IP)-based LAN. Although the GCS client was able to control/update the FCS server and payload configuration over the Ku band extension of the IP- based LAN, a separate 900 Megahertz (MHz) UA control and status link was used to send commands and to receive status updates from the FCS. The primary focus of the USIP 1 implementation was to transport the video and associated metadata from the UA using IP over the Ku band CDL link to the TP-CDL terminals.
在2008年10月31日的最后一次演习中，Outlaw共飞行了三次。“Outlaw”从测试地点发射，飞到地面4000英尺的高空，同时通过基于扩展互联网协议(IP)的局域网成功地将视频和KLV元数据链接到各种地面系统。虽然GCS客户端能够通过基于ip的局域网的Ku波段扩展来控制/更新FCS服务器和有效负载配置，但一个单独的900兆赫兹(MHz)UA控制和状态链路用于发送命令和接收来自FCS的状态更新。USIP 1实现的主要重点是通过Ku波段CDL链路使用IP将UA的视频和相关元数据传输到TP-CDL终端。
The early preparations through the final exercise of the USIP 1 in operation on the Outlaw, with TP-CDL and the Combat Operations Center (COC) C2 systems receiving the video and KLV metadata for display, was completed in only four months time. The Outlaw UAs were made autonomous; USIP 1 protocols were implemented in the FCS; data link and payload equipment integrated and flight tested; and the exercise successfully conducted in record time while achieving the three goals and supporting objectives set in late spring of 2008. The resulting success of this MITRE Special Initiative is indicative of the kinds of achievements possible through innovative and challenging endeavors undertaken in close collaboration with our team partners.
进行USIP 1最终测试的早期准备工作，仅在4个月内完成，测试使用Outlaw无人机（携带TP-CDL、作战作战中心(COC)C2系统，能够接收视频和KLV元数据进行展示）。Outlaw无人机被设定为自主操控；在FCS中实施了USIP 1协议；数据链接和有效载荷设备集成和飞行测试；演习在创纪录的时间内成功进行，同时实现了2008年春末设定的三个目标和支持目标。这一MITRE特别倡议的成功表明了通过与我们的团队合作伙伴密切合作而进行的创新和具有挑战性的努力所可能取得的各种成就。
Table of Contents
1介绍…1-1
1.1目标和动机…1-1
2演习系统和架构… 2-1
2.1无人空中系统飞行器… 2-1
2.2飞行控制系统… 2-3
2.2.1飞行器控制… 2-3
2.2.2元数据生成… 2-5
2.3数字影像系统…2-7
2.3.1摄像头… 2-7
2.3.2视频编码器… 2-8
2.3.3Mini-CDL和TP-CDL… 2-8
2.4地面系统… 2-11
2.4.1C2 地面系统架构… 2-11
2.4.2指令控制 和视频开发系统… 2-12
2.4.3视频和元数据处理… 2-14
3演习测试计划… 3-1
4结果… 4-1
5附加研究建议… 5-1
List of Figures
Figure 1 CDL Exercise System Architecture… 2-1 Figure 2 CDL Griffon Aerospace Outlaw UA… 2-2 Figure 3 Flight Control System Architecture … 2-3 Figure 4 Digital Video Equipment Mounted in the Outlaw … 2-7 Figure 5 CDL Antenna Mounting and Landing Skid … 2-10 Figure 6 Digital Video Stream Ground Display – with Metadata … 2-11 Figure 7 Ground Systems Network… 2-12 Figure 8 Example CoT Message … 2-15 Figure 9 Jose Ortiz (Mark Schon, LLC), Randy Cross (Cubic), Dr. Robert Klenke (Mark Schon,
LLC) and Rich Wayman (Cubic) Integrate the Mini-CDL in Outlaw UA … 4-1 Figure 10 Jon Roth and Rob Gleich (MITRE E403), and Mark Schon Welcome Guests, Recognize
Key Participants, and Describe Exercise Goals and Objectives … 4-2 Figure 11 Key Personnel, Guests and Participants Receive Safety Briefing … 4-3 Figure 12 Outlaw is launched with USIP 1 Video, KLV Metadata and the Ku Band STD-CDL … 4-4 Figure 13 Possible Future Field Exercise with Outlaw and TP-CDL or OSRVT … 5-2
List of Tables
Table 1 USIP 1 Metadata KLVs Provided by the FCS … 2-6 Table 2 Mini-CDL and TP-CDL Configuration Settings… 2-9 Table 3 C2 and Video Exploitation Applications … 2-13 Table 4 Exercise Test Schedule… 3-2 Table 5 CoT Key from EG0601.1 … A- 1
1Introduction简介
This report describes the work performed and the results obtained from an Unmanned Aircraft System (UAS) Exercise conducted by The MITRE Corporation and Mark Schon, Limited Liability Company (LLC). The project was conducted to implement and investigate the state-of-the-art in miniature Common Data Link (CDL) terminal technology for digital video downlink from an operational UAS. The Department of Defense (DoD) – mandated Unmanned Systems Interoperability Profile (USIP) 1 for streaming UAS metadata with associated video was also implemented and investigated.
本报告描述了由MITRE公司和 Mark Schon有限责任公司进行的无人机系统(UAS)演习所进行的工作和取得的结果。该项目旨在实现和研究最先进的微型公共数据链路的数字视频下行链路(CDL)终端技术。国防部(DoD)授权的无人系统互操作性档案(USIP)1，用于流播(streaming)UAS元数据与相关的视频。
1.1Goals and Objectives目标和动机
The project had three high-level goals:该项目有三个高层次目标：
•Investigate the current state-of-the-art in miniature CDL transceivers for Category 3 (Tier II/Small Tactical UAS) unmanned aircraft (UA) data link terminals. This includes link robustness and speed, range and power tradeoffs, interoperability between different manufacturer’s miniature CDL transceivers, and ease of integration of miniature CDL equipment into existing UAS systems.
•研究第3类（二级/小型战术UAS）无人机(UA)数据链路终端的当前最优的微型CDL收发器。这包括链路鲁棒性和速度、范围和功率权衡、不同制造商的微型CDL收发器之间的互操作性，以及将微型CDL设备集成到现有UAS系统中的简易性。
•Evaluate the maturity and effectiveness of the DoD-mandated USIP 1 Implementation Convention designed and published in June 2008 to insure cross-platform interoperability of Full-Motion Video (FMV) and metadata.
•评估在2008年6月设计并发布的由国防部授权的USIP 1实施公约的成熟度和有效性，以确保全动态视频(FMV)和元数据的跨平台互操作性。
•Gain experience with the integration of back-end systems for UAS imagery and data dissemination.
•获得集成了UAS图像和数据传播的后端系统的经验。
The objectives in support of the goals were:支持这些目标的动机是：
•Integrate miniature and other CDL transceivers from multiple vendors into an existing surrogate UAS system with Electro-Optical (EO) sensor capability.
•将来自多个供应商的微型和其他CDL收发器集成到现有的具有光电(EO)传感器能力的替代UAS系统中。
•Provide USIP 1 – compliant video and metadata to the CDL link.
•向CDL链接提供符合USIP 1标准的视频和元数据。
•Receive, decode and display the UAS data and imagery on a Team Portable CDL (TP- CDL) ground terminal.
•在一个团队便携式CDL(TP-CDL)地面终端上接收、解码和显示UAS数据和图像。
•Provide the UAS imagery and metadata to ground Command and Control (C2) systems for immediate situational awareness (SA) and video services over a Local Area Network (LAN).
•为地面指挥和控制（C2）系统提供UAS图像和元数据，用于通过局域网(LAN)上的即时态势感知(SA)和视频服务。
2Exercise Systems and Architecture训练系统和架构
The hardware required for this project included a suitable UAS aircraft to carry the digital video and CDL equipment aloft; a Flight Control System (FCS) to make the aircraft autonomous and provide metadata for the video downlink exercise; a digital video system and a CDL; TP-CDL to receive, display and disseminate the down-linked video; and metadata and a Ground Control Station (GCS), operating at 900 Megahertz (MHz), to control and monitor the Outlaw during the exercise. The overall architecture of the system is shown in Figure 1.
该项目所需的硬件包括一架合适的UAS飞机，用于高空携带数字视频和CDL设备；飞行控制系统(FCS)，使飞机自主，并为视频下行演习提供元数据；数字视频系统和CDL；TP-CDL接收、显示和传播下行视频；以及元数据和地面控制站(GCS)，在900兆赫（兆赫）运行，在演习期间控制和监控Outlaw无人机。该系统的整体体系结构如图1所示。
Figure 1 CDL Exercise System Architecture
2.1UAS Aircraft无人机
The Unmanned Aircraft (UA) used for this exercise is the Outlaw Remotely Piloted Vehicle Target (RPVT) manufactured by Griffon Aerospace. The Outlaw, shown in Figure 2, has a 9 foot fuselage and a 13.6 foot wingspan. It is powered by a 17 horsepower (HP) gasoline engine mounted in the tail. As normally equipped, the Outlaw does not have landing gear. Instead, it is pneumatically launched from a rail launcher and it skids to a landing on its belly. That latter aspect of the Outlaw caused a few difficulties in this exercise and is described later.
用于这次演习的无人驾驶飞机(UA)是由格里芬航空航天公司制造的 Outlaw远程驾驶飞行器目标(RPVT)。如图2所示，Outlaw有一个9英尺的机身和一个13.6英尺的翼展。它由一个安装在尾部的17马力(HP)汽油发动机提供动力。作为正常装备，Outlaw没有起落架。相反，它是从轨道发射器气动发射，然后滑到腹部着陆。Outlaw的后一方面在这一工作中造成了一些困难，将在后面描述。
Figure 2 CDL Griffon Aerospace Outlaw UA
Compared to other similar-sized UAs, the Outlaw is fast and maneuverable. These characteristics are desirable in a target vehicle; however, one of the tradeoffs of this design is a limited payload. The Outlaw UA weighed approximately 84 pounds (lbs) for this exercise. The nominal video payload, flight control system, and batteries brought the empty weight up to 87 lbs. When fueled for a one hour flight, the Outlaw weighed approximately 97 lbs. The rated maximum takeoff weight is 120 lbs. Thus the Outlaw, in spite of its size, had a useful payload capacity of approximately 25 lbs. The manufacturer originally delivered the Outlaw with a fixed landing gear that allowed normal soft-field landings without skidding on the belly – although the aircraft still needed to be rail-launched for unimproved field operations. However, the performance of the aircraft with the landing gear in place was so degraded during hot, humid days that, in the interest of safety to the aircraft, the landing gear were removed early in the flight testing.
与其他类似大小的无人机相比，Outlaw具有快速和可操作性。这些特性在目标车辆中是理想的；然而，这种设计的权衡之一是有限的有效载荷。在这次演习中的Outlaw无人机体重约84磅（磅）。标称视频有效载荷、飞行控制系统和电池使空重量可达87磅。经过一个小时的飞行燃料后，Outlaw重约97磅。额定最大起飞重量为120磅。因此，尽管体积庞大，却有大约25磅的有效载荷。制造商最初交付的是一个固定的起落架，允许在正常的软场着陆而不会在腹部打滑——尽管飞机仍然需要通过轨道发射，以进行未改进的野外操作。然而，在起落架的炎热潮湿的天气里，飞机的性能非常下降，为了飞机的安全，起落架在飞行测试的早期就被移除了。
The Outlaw, as produced by Griffon Aerospace, is not an autonomous vehicle. It is equipped to operate manually (similar to a model Radio Control [RC] aircraft) using a Commercial-off-the- Shelf (COTS) RC controller. The RC controller provides six channels of proportional control and operates using a frequency-hopping spread-spectrum transmission mechanism on the 2.4 gigahertz (GHz) Industrial, Scientific and Medical (ISM) band.
格里芬航空航天公司生产的“Outlaw”不是自动飞行器。它配备使用商用货架(COTS)遥控控制器手动操作（类似于无线电控制飞机）。RC控制器提供6个通道的比例控制，并在2.4千兆赫(GHz)工业、科学和医学(ISM)频段上使用跳频扩频传输机制进行运行。
2.2Flight Control System飞行控制系统
The addition of an FCS to the Outlaw was required for the exercise. The FCS is needed to make the aircraft fly autonomously. While manual flying for an exercise like this is possible, it is very tedious for the controller/pilot, especially for an extended period of time and at the extended range and altitudes flown. It is also nearly impossible for a pilot to manually fly a repeatable pattern and maintain a stable altitude, which are optimal for testing antenna or payload effectiveness. In addition, an FCS is required to provide the metadata necessary to implement the USIP 1-compliant transport stream that includes both video and metadata.
这次演习需要在Outlaw无人机上附加一个FCS。需要FCS才能使飞机自主飞行。虽然在这样的演习中手动飞行是可能的，但对控制器/飞行员来说是非常乏味的，特别是在长时间和在延长飞行范围和高度飞行。飞行员也几乎不可能手动飞行一个可重复的模式，并保持一个稳定的高度，这是测试天线或有效载荷有效性的最佳选择。此外，FCS需要提供必要的元数据来实现符合USIP 1的传输流，该传输流包括视频和元数据。
2.2.1Aircraft Control飞行棋器控制
The FCS architecture implemented on the Outlaw is shown in Figure 3. This FCS has been under development at the Virginia Commonwealth University (VCU) since 2003.
在Outlaw上实现的FCS架构如图3所示。自2003年以来，它一直在弗吉尼亚联邦大学(VCU)的开发过程中。
Figure 3 Flight Control System Architecture
The FCS is based on a commercial single board computer called the Suzaku. The Suzaku includes a Field Programmable Gate Array (FPGA) device that allows the user to design and implement custom digital hardware. Inside this FPGA is a 32-bit microcontroller called a Microblaze. The Microblaze on the Suzaku runs a version of the Linux operating system called uCLinux.
FCS是基于一种叫做飞雀的商用单板计算机。朱雀包括一个现场可编程门阵列(FPGA)设备，允许用户设计和实现定制的数字硬件。在这个FPGA中有一个叫做微机的32位微控制器。朱雀上的微型机器人运行一个名为uCLinux的Linux操作系统。
The Microblaze receives navigation information at 4 Hz from a Ublox Global Positioning Service (GPS) receiver. The navigation information includes position, in the form of Latitude, Longitude, and Altitude (LLA), and velocity, in the form of East, North, and Up (ENU) speeds. This information is used to control the aircraft and navigate it to the specified waypoints in the desired flight path.
微波无线电从Ublox全球定位服务(GPS)接收器接收4Hz的导航信息。导航信息包括位置，以纬度、经度和高度(LLA)的形式，以及速度，以东、北、上(ENU)速度的形式。此信息用于控制飞机，并将其导航到所需飞行路径中的指定路径点。
Aircraft state information, including attitude (pitch, roll, and yaw), airspeed, and barometric altitude are provided to the Microblaze through Analog to Digital Converters (ADCs). The sensors for altitude and airspeed are standard pressure transducers used in most commercial, small UA autopilots. The sensors for aircraft attitude are somewhat unique for this application. Most commercial autopilots use a multitude of sensors such as rate gyros, angular accelerometers, and magnetometers to generate an attitude solution. However, this method, unless implemented carefully, can result in an attitude solution that can be “tumbled” by maneuvers of the aircraft often ending with disastrous results. In most cases this tumbling, or failure of the instrument to indicate the correct aircraft attitude, is caused by some aspect of the aircraft’s motion, such as angular rates or linear accelerations, going over that which the instrument can handle. This is a significant consideration with the Outlaw as it undergoes a longitudinal acceleration of over 12 G’s when pneumatically launched – which can tumble even the most robust attitude systems.
飞机状态信息，包括姿态（俯仰、滚动和偏航）、空速和气压高度通过模拟数字转换器(adc)提供给微波激光器。高度和空速传感器是大多数商业、小型无人机自动驾驶机中使用的标准压力传感器。飞机姿态传感器在这种应用中是有些独特的。大多数商用自动驾驶仪使用多种传感器，如速率陀螺仪、角加速度计和磁力计来生成姿态解决方案。然而，这种方法，除非仔细执行，可能会导致一个姿态解决方案，可以被飞机的机动“翻滚”，往往以灾难性的结果结束。在大多数情况下，这种翻滚，或仪器无法显示正确的飞机姿态，是由于飞机运动的某些方面引起的，如角速率或线性加速度，超过了仪器能够处理的东西。这是一个重要的考虑因素，因为当气动启动时，它经历了超过12g的纵向加速——即使是最强大的姿态系统也可能翻滚。
The FCS attitude solution was provided by Infrared (IR) sensors. The IR sensors sense the difference between the earth (warm) and the sky/space (cold) to determine the position of the horizon. This method of measuring pitch and roll is more robust, albeit somewhat less precise, than a gyro/accelerometer/magnetometer-based attitude solution. The Outlaw yaw or heading is derived from the velocity measurements provided by the GPS system and the determination that, in most cases, a fixed wing aircraft is generally pointed in the direction that it is traveling.
FCS姿态解决方案由红外(IR)传感器提供。红外传感器可以感知地球（温暖）和天空/空间（冷）之间的差异，以确定地平线的位置。这种测量俯仰和滚动的方法比基于陀螺仪/加速度计/磁强计的姿态解决方案更可靠，尽管有些不那么精确。非法偏航或航向是由GPS系统提供的速度测量结果得出的，即在大多数情况下，固定翼飞机通常指向其飞行的方向。
The FCS can communicate with a ground operator through a 900 MHz bi-directional data link. The operator views the state of the vehicle and communicates commands to the FCS through a GCS. The GCS, also developed by VCU, allows the operator to change the UAs altitude or airspeed. The flight path can be changed by providing a new sequence of waypoints to follow. The operator can also monitor the performance of the vehicle and the FCS through the GCS displays. These displays include an altitude, attitude, and airspeed indication, as well as a moving map display that shows the vehicle’s position and track over the ground and the current desired flight path determined by the waypoint sequence.
FCS可以通过一个900MHz的双向数据链路与地面操作员进行通信。操作员会查看车辆的状态，并通过GCS向FCS通信命令。GCS，也是由VCU开发的，允许操作员改变无人机的高度或空速。飞行路径可以通过提供一个新的路径点序列来改变飞行路径。操作员还可以通过GCS显示器监控车辆和FCS的性能。这些显示包括高度、姿态和空速指示，以及移动地图显示，显示车辆在地面上的位置和轨迹，以及由路径点序列确定的当前期望的飞行路径。
Finally, the FCS can monitor the aircraft commands from the ground-based safety pilot and provide commands to the aircraft’s control surfaces through custom designed Pulse-Width Modulation (PWM) interfaces. These interfaces, implemented in the FPGA along with the Microblaze, allow the FCS to read the safety pilot’s PWM commands from the RC receiver, including the command signal that allows it to take over aircraft control from the ground-based safety pilot. The interfaces also allow the Microblaze to generate the necessary PWM signals to control the aircraft surfaces when in autonomous mode.
最后，FCS可以监控来自地面安全飞行员的飞机指令，并通过定制设计的脉宽调制(PWM)接口向飞机的控制面提供指令。这些接口在FPGA中实现，允许FCS从RC接收器读取安全飞行员的PWM命令，包括允许它从地面安全飞行员手中接管飞机控制的命令信号。该接口还允许微无线电产生必要的PWM信号，以以自主模式控制飞机表面。
A COTS UA “safety switch” is used to select the command mode to the Outlaw’s surface actuators. This switch, manufactured by Electrodynamics, Inc., uses one input from the ground safety pilot receiver to switch command of the surface actuators between the remaining channels in the ground safety pilot receiver and the FCS. Thus, the ground-based safety pilot must “relinquish” control of the aircraft to the FCS for autonomous control and can take back command of the aircraft from the FCS at any time. This capability is needed as a safety feature to allow the ground-based safety pilot to steer the aircraft away from personnel and vehicles or to prevent a “fly-away” in the event of an FCS failure
一个COTSUA“安全开关”用于选择对Outlaw的表面执行器的命令模式。该开关由电动力学公司制造，使用来自地面安全先导接收器的一个输入，在地面安全先导接收器和FCS中的其余通道之间切换表面执行器的命令。因此，地面安全飞行员必须将对飞机的控制“放弃”给FCS以进行自主控制，并可以在任何时候从FCS手中收回对飞机的指挥权。这种能力需要作为一种安全特性，以允许地面安全飞行员驾驶飞机远离人员和车辆，或防止在FCS故障时“飞走”。
2.2.2Metadata Generation元数据生成
In addition to controlling the aircraft, the FCS is responsible for generating properly formatted metadata for inclusion in the Moving Picture Experts Group (MPEG)-2 transport stream (TS) transmitted to the ground. The metadata is transmitted using the USIP 1 format. The USIP 1 implementation convention uses the Standard-CDL (STD-CDL) waveform and includes standards for video compression, metadata format, and TS generation. For this exercise, the metadata was formatted in compliance with the Motion Imagery Standards Board (MISB) Engineering Guideline (EG) 0601.1, UAS Data link Local Metadata Set standard. EG0601.1 is a Key-Length-Value (KLV) metadata specification. It specifies an initial byte code (the key), which identifies the type of data to follow, the length (in bytes) of the data to follow, and then the bytes of the actual data. All of the KLVs outlined in the EG0601.1 standard need not be present in every implementation to be compliant with the standard. The subset of KLVs selected for implementation in this exercise is listed in Table 1.
除了控制飞机之外，FCS还负责生成正确格式化的元数据，以便纳入运动图像专家组(MPEG)-2传输到地面的传输流(TS)。该元数据将使用USIP 1格式进行传输。USIP 1实现约定使用标准-CDL(STD-CDL)波形，并包括视频压缩、元数据格式和TS生成的标准。在这个演习中，元数据的格式化符合运动图像标准委员会(MISB)工程指南(EG)0601.1，UAS数据链接本地元数据集标准。EG0601.1是一个键长度值(KLV)元数据规范。它指定一个初始字节码（键），它标识要遵循的数据类型、要遵循的数据的长度（以字节计），然后是实际数据的字节。EG0601.1标准中概述的所有klv不需要在每个实现中都能符合该标准。表1列出了在本演习中选择要实现的klv的子集。
Table 1 USIP 1 Metadata KLVs Provided by the FCS
Information Key
Value
(hex)
Length
(hex)
Decoding
Example value
Checksum
01
02
Lower 16-bits of summation. Performed on entire LDS packet, including 16-byte UDS key and 1-byte checksum length.
Unix Time Stamp
02
08 Microseconds elapsed since midnight, January 1, 1970
Mission ID
03
var
Null terminated string, maximum length is 127 bytes 4a 49 50 2f 55 41 53 20 44 65 6d 6f 00 = “JIP/UAS Demo”
Platform Tail Number
04
var Null terminated string, maximum length is 127 bytes
53 31 00 = “S1”
Platform Heading Angle
05
02
Map unsigned integer, 0…(2^16-1) to 0…360°
CC 15 = 286.99°
Platform Pitch Angle
06
02 Map signed integer,
-(215-1)…(215-1) to +/-20°
0b d8 = 1.851°
Platform Roll Angle
07
02 Map signed integer,
-(215-1)…(215-1) to +/-50°
0d 0a = 5.094°
Platform True Airspeed
08
01
0…255 meters/sec
1e = 30 m/s
Sensor Latitude
0d
04 Map signed integer,
-(231-1)…(231-1) to +/-90
36 2e 0b 00 = 38.095211
Sensor Longitude
0e
04 Map signed integer,
-(231-1)…(231-1) to +/-180
c9 0e 2a 00 = -77.265945°
Sensor Altitude
0f
02 Map unsigned integer, 0…(2^16-1) to -900m…19000m
0b 8f = -1.4862m below MSL
Platform Ground Speed
38
01
0…255 meters/sec
1e = 30 m/s
Because of the hardware and software architecture used by the FCS, it was relatively simple to add a serial port and the software required to generate accurate metadata in the EG0601.1 format.
由于FCS使用的硬件和软件体系结构，添加一个串口和以EG0601.1格式生成精确元数据所需的软件相对简单。
2.3Digital Video System 数字视频系统
The digital video system for the exercise was designed to meet specific requirements without being overly complex and expensive. The system was not intended to obtain actual actionable intelligence, just simulate the data requirements of such a system and have the necessary resolution to allow evaluation of the quality of the overall video delivered to the ground. The requirements included a system that supported a minimum 720 X 480 full D1 resolution, 30 frames per second, and had some type of optical zoom that could be externally controlled. The latter requirement was necessary to obtain useable pictures of the ground from an altitude of 4000 feet. For this exercise, an externally controlled pan and tilt camera/gimble was not needed.
演习的数字视频系统被设计以满足特定的要求，而不会过于复杂和昂贵。该系统的目的并不是为了获得实际的可操作的智能，只是为了模拟这样一个系统的数据需求，并有必要的分辨率以允许评估交付到地面的整体视频的质量。这些要求包括一个系统，支持至少720X480全D1分辨率，每秒30帧，并有某种类型的光学变焦，可以由外部控制。后一项要求对于获得4000英尺高度的地面图片是必要的。在这个演习中，不需要一个外部控制的底锅和倾斜相机/框架。
The video system consists of the camera, which outputs National Television System Committee (NTSC) analog video, an MPEG-2 encoder provided by Cornet Technologies, Inc., and the Cubic Defense Applications (Cubic) Mini-CDL downlink transceiver in the aircraft. On the ground, the TP-CDL transceiver serves as the Radio Frequency (RF) link to the aircraft for the video downlink. The complete video system, as mounted in the Outlaw aircraft, is shown in Figure4.
该视频系统包括摄像机，它输出国家电视系统委员会(NTSC)模拟视频，由Cornet技术公司提供的MPEG-2编码器，以及飞机上的Cubic防御应用（Cubic）迷你CDL下行收发器。在地面上，TP-CDL收发器作为射频(RF)连接到飞机的视频下行连接。安装在非法飞机上的完整视频系统如图4所示。
Figure 4 Digital Video Equipment Mounted in the Outlaw
2.3.1Camera摄像头
The camera installed in the UA was a Cannon PowerShot A460 Digital Camera. The A460 is a 5 mega pixel digital camera with a built-in optical zoom. The zoom lens has a focal length equivalent to 38 - 152mm in 35mm format. In addition, there is a 4X digital zoom. The camera was modified for this exercise to allow the optical zoom and still picture capture functions to be controlled from the ground via commands to the FCS. To do this, the firmware in the camera was replaced with a modified version (available on the web) that reads commands into the camera from PWM signals input to the power connection on the camera’s Universal Serial Bus (USB) port. The FCS was modified (both in hardware and software) to receive commands from the GCS, such as “zoom in,” or “zoom out,” and translate them to the appropriate PWM signals on a USB output connector. In addition, the camera could also be shut down upon command from the ground. This was done at the end of each flight so that the camera’s lens would be retracted into the case for landing, thus reducing the chance that the camera would be damaged during the Outlaw’s skid landing.The A460 can be setup in a mode where it outputs the picture in the viewfinder, which normally appears on the built-in Liquid Crystal Display (LCD) screen, as 720 X 480 resolution NTSC color video. This NTSC video stream is then fed into a digital video encoder before moving to the Mini-CDL.
安装在UA的摄像头是一个A460数码相机。A460是一款500万像素的数码相机，内置了光学变焦功能。变焦镜头的焦距相当于38-152毫米，35毫米格式。此外，还有一个4倍的数码变焦镜头。为此，我们对照相机进行了修改，允许通过对FCS的命令从地面控制光学变焦和静止图像捕获功能。为此，摄像头中的固件被一个修改版本（可在网络上使用）取代，该版本从PWM信号输入到摄像头通用串行总线(USB)端口的电源连接中读取命令。FCS被修改（硬件和软件），以接收来自GCS的命令，如“放大”或“缩小”，并将它们转换为USB输出连接器上适当的PWM信号。此外，摄像机也可以在来自地面的命令下关闭。这是在每次飞行结束时完成的，这样相机的镜头就会缩回到外壳中进行着陆，从而减少了相机在亡命之徒的打滑着陆时被损坏的机会。A460可以设置在一种模式下，它可以输出在取景器中的图片，这通常出现在内置的液晶显示器(LCD)屏幕上，作为720X480分辨率的NTSC彩色视频。在移动到Mini-CDL之前，这个NTSC视频流被输入一个数字视频编码器。
2.3.2Video Encoder 视频编码器
Obtaining an MPEG-2 encoder with the ability to combine both video and metadata into a transport stream was one of the more challenging tasks. Three vendors were identified as having products suitable for use with the Level 2, USIP 1: Cubic, Delta Digital Video, and L-3 Communications. These vendors had demonstrated some success with MPEG-2 transport stream encoding and decoding but were unable to support our exercise at the time the encoding/decoding equipment was needed.
获得一个能够将视频和元数据合并到传输流中的MPEG-2编码器是一个更具挑战性的任务之一。三家供应商被确定为产品适合用于2级，USIP 1：Cubic，Delta数字视频和L-3通信。这些供应商在MPEG-2传输流编码和解码方面取得了一些成功，但在需要编码/解码设备时无法支持我们的演习。
Fortunately, Cornet Technology, Inc (Cornet) was able to develop an MPEG-2 encoder in time to meet our demanding schedule. When Cornet was first contacted, their product line did not include an MPEG-2 encoder capable of metadata ingestion; however, they were developing a beta version H.264 (MPEG-4) encoder with this capability. Cornet was able to immediately provide this encoder, as well as a hardware decoder, for testing. Although the Joint Interoperability Profile (JIP) calls for MPEG-2 encoding rather than H.264, the technologies are similar, and the USIP 1 which expands on the JIP, calls for both MPEG-2 and H.264 capability. Availability of the H.264 equipment from Cornet allowed the team to move forward with field testing while waiting for development of the MPEG-2 capability.
幸运的是，短号技术公司(Cornet)能够及时开发出一个MPEG-2编码器，以满足我们的要求的时间表。当第一次联系Cornet时，他们的产品线不包括能够摄取元数据的MPEG-2编码器；然而，他们正在开发具有这种能力的beta版本H.264(MPEG-4)编码器。Cornet能够立即提供这个编码器，以及一个硬件解码器，以进行测试。尽管联合互操作性配置文件(JIP)需要MPEG-2编码，而不是H.264，但技术是相似的，而扩展了JIP的USIP 1，同时需要MPEG-2和H.264的能力。Cornet提供的H.264设备使团队能够在等待MPEG-2能力的开发的同时继续进行现场测试。
Concurrently, Cornet developed the metadata ingestion capability for their MPEG-2 iVDO Streamer M encoder. The initial implementation of this capability required some modification to handle the Packetized Elementary Stream (PES) format. PES packets, which are variable length, were initially forced into fixed–length packets and any remaining bytes were filled with 0xFF. This worked well with the Cornet-provided hardware decoder, but did not work as well with third party decoders. Cornet subsequently provided a revision of the iVDO encoder firmware that implemented a modified algorithm and enabled the metadata to be successfully decoded by third party decoders. Cornet also introduced new encoder firmware to enable the modification of Packet Identification (PID) for the elementary streams. The encoder firmware provided a capability to set the PIDs for both the video and metadata elementary streams to ensure compatibility with third party decoders looking for streams on specific PIDs.
同时，Cornet为他们的MPEG-2iVDO流线型M编码器开发了元数据摄取能力。该功能的初始实现需要进行一些修改来处理数据包化的基本流(PES)格式。PES数据包是可变长度的，最初被强制进入固定长度的数据包，任何剩余的字节都用0xFF填充。这与cornet提供的硬件解码器工作得很好，但不如第三方解码器工作。Cornet随后提供了iVDO编码器固件的修订，实现了修改后的算法，并使元数据能够被第三方解码器成功解码。Cornet还引入了新的编码器固件，以允许修改基本流的分组识别(PID)。编码器固件提供了一种为视频和元数据基本流设置pid的能力，以确保与在特定pid上寻找流的第三方解码器的兼容性。
2.3.3Mini-CDL and TP-CDL
The actual CDL RF link was implemented using a developmental Mini-CDL unit provided by Cubic. The Cubic Mini-CDL was developed under an Air Force Research Laboratory (AFRL contract designed to spur development of STD-CDL compliant terminals for smaller size tactical UAS. The Mini-CDL is compliant with the STD-CDL Specification (Revision F-1, Annex B).
实际的CDL射频链路是使用由Cubic提供的发展性Mini-CDL单元实现的。立方的Mini-CDL是在一个空军研究实验室下开发的(AFRL合同，旨在促进符合STD-CDL标准的小型战术UAS终端的开发。Mini-CDL符合STD-CDL规范（修订版F-1，附录B）。
Configuration settings for the Mini-CDL are provided in Table 2.
表2提供了Mini-CDL的配置设置。
Table 2 Mini-CDL and TP-CDL Configuration Settings
Parameter Setting
Forward Link Frequency 15250 MHz
Return Link Frequency 14615 MHz
Forward Link Waveform BR-0.2
Return Link Waveform BR-10.71B
Executive Function Handshake IDL
P/N Code A6
Data Processing Annex B (Ethernet/Generic Framing Procedure)
COMSEC N/A
Video Encoder/Decoder Multi-cast Address 239.192.168.1
Video Encoder/Decoder User Datagram Protocol (UDP) Port
16400
USIP Metadata Fields Displayed Automatically decoded- Mission ID, Vehicle Location (latitude, longitude and altitude) and Tail ID.
The CDL transceiver was installed in the Outlaw on the same mounting plate as the Cornet decoder. The aluminum plate also served as a heat sink for the CDL transceiver. During ground testing, it was found that this plate became quite warm in a fairly short period of time, so an air scoop to draw in cooling air in flight was fabricated on the side of the Outlaw just forward of the equipment mounting plate. Several holes were cut into the hatch cover of the equipment bay to allow the hot air to exit the compartment. No problems with equipment overheating occurred during the flight testing or exercise.
CDL收发器安装在非法在同一安装板上。铝板也可以用作CDL收发器的散热器。在地面测试中，发现这个板在相当短的时间内变得相当温暖，所以在设备安装板前面的歹徒的侧面制造了一个空气勺来在飞行中吸入冷却空气。在设备舱间的舱口盖上开了几个孔，以便让热空气离开隔间。在飞行测试或演习期间，没有出现设备过热的问题。
Cubic provided the CDL antenna, which was a ¼ wave dipole with an integral ground plane. For optimum performance, the antenna needed to be mounted on the bottom of the aircraft. However, this presented somewhat of a problem for the belly-landed Outlaw aircraft. To solve this problem, a raised skid was fabricated on the bottom of the Outlaw just forward of the antenna mounting area. This skid was approximately 1-1/2” higher than the antenna and was protected by replaceable aluminum scuff plates. This proved more than adequate to prevent any damage to the antenna during normal landings. The mounting of the antenna and the skid on the bottom of the aircraft is shown in Figure 5.
立方体提供了CDL天线，它是一个具有积分基平面的¼波偶极子。为了达到最佳的性能，天线需要安装在飞机的底部。然而，这给腹部着陆的非法飞机带来了一个有点问题。为了解决这个问题，在天线安装区域前方的底部制作了一个升高的滑板。这个打滑大约比天线高1-1/2英寸，并由可更换的铝磨损板保护。事实证明，这足以防止在正常着陆时对天线的任何损坏。天线的安装情况和飞机在飞机底部的打滑情况如图5所示。
Figure 5 CDL Antenna Mounting and Landing Skid
The CDL transmissions were received on the ground by the Cubic-developed TP-CDL transceiver. The TP-CDL was provided by the Marine Corps Systems Command’s TP-CDL Project Officer. The TP-CDL relayed the video transport stream onto a local network. The address of the transport stream was set to “broadcast,” so any address on the LAN could receive the stream. A local client program, running on the laptop used to control the TP-CDL transceiver, was used to display the video for the TP-CDL operators. This program was developed by the Cubic engineers and is an extended version of the VCD software viewer that includes the capability to de-multiplex, decode, and display the metadata in an MPEG-2 transport stream. A screenshot from one of the test flights is shown in Figure 6.
CDL传输信号由立方体开发的TP-CDL收发器在地面上接收。TP-CDL是由海军陆战队系统司令部的TP-CDL项目官员提供的。TP-CDL将视频传输流中继到一个本地网络上。传输流的地址被设置为“广播”，这样局域网上的任何地址都可以接收到传输流。在用于控制TP-CDL收发器的笔记本电脑上运行的一个本地客户端程序，用于为TP-CDL操作员显示视频。该程序是由Cubic工程师开发的，是VCD软件查看器的扩展版本，包括在MPEG-2传输流中去复用、解码和显示元数据的能力。图6显示了其中一个测试飞行的屏幕截图。
Figure 6 Digital Video Stream Ground Display – with Metadata
2.4Ground Systems
The Joint Tactical Common Operational Picture (COP) Workstation (JTCW) and VideoScout® ground systems used in the exercise represented the C2 situational awareness (SA) and Intelligence, Surveillance and Reconnaissance (ISR) visualization systems designed for battalion Combat Operation Centers (COCs) and Company–level Fires Support Teams. The exercise involved integrating these systems with the STD-CDL transceiver and USIP-formatted data stream to present the video and metadata in real-time.
演习中使用的联合战术通用作战图(COP)工作站(JTCW)和VideoScout®地面系统代表了C2态势感知(SA)和情报、监视和侦察(ISR)可视化系统。该演习涉及将这些系统与STD-CDL收发器和USIP格式的数据流集成起来，以实时呈现视频和元数据。
2.4.1C2 Ground Systems Architecture
The C2 ground systems architecture as shown in Figure 7 included multiple networked components to facilitate communication and data dissemination. The TP-CDL and a “controller” laptop comprised the ground receive station. The TP-CDL receives the data stream from the aircraft and multi-casts it on the network as a UDP stream. Using this multi-cast configuration, any number of devices can connect to the network and receive the data stream. For the exercise, C2 applications and data conversion software were hosted on two laptops. A desktop Personal Computer (PC) was used to host the VideoScout® system.
如图7所示的C2地面系统体系结构包括多个网络组件，以促进通信和数据传播。TP-CDL和一个“控制器”笔记本电脑组成了地面接收站。TP-CDL接收来自飞机的数据流，并将其作为UDP流多次传输到网络上。使用这种多播集配置，任意数量的设备都可以连接到网络并接收数据流。在这个演习中，C2应用程序和数据转换软件被托管在两台笔记本电脑上。使用台式个人电脑(PC)来托管视频侦察®系统。
Figure 7 Ground Systems Network
2.4.2C2 and Video Exploitation Systems
The software applications used in this exercise were divided into two main categories: C2 software and video exploitation software. The video exploitation applications are more than simple video players/viewers. These applications provide video clipping and still frame capture, Digital Video Recorder (DVR) functions, and display textual information contained in video metadata. A summary of the C2 and video exploitation applications evaluated in the exercise is provided in Table 3.
本演习中使用的软件应用程序主要分为两大类：C2软件和视频开发软件。视频开发应用程序不仅仅是简单的视频播放器/观看器。这些应用程序提供了视频剪辑和静态帧捕获，数字录像机(DVR)功能，以及显示视频元数据中包含的文本信息。表3提供了在练习中评估的C2和视频开发应用程序的摘要。
Table 3 C2 and Video Exploitation Applications
Software Version Capability
Command and Control PC (C2PC) 6.1.1 P4 Mapping
Joint Battlespace Viewer (JBV) 6.1.1 Mapping (3D) w/ Video Overlay
FalconView 3.3.1 Mapping
Google Earth 4.3.7284.3916 Mapping (3D)
VideoScout® Insyte 3.3 Video Exploitation/Server
PAR® GV™ 3.0 Build 945A Video Exploitation
VCD beta Video Exploitation
2.4.2.1C2 Applications 命令控制应用
The JTCW version 1.0 is a Windows XP – based suite of applications designed for battalion and above to facilitate military C2 functions by improving SA and enhancing operational and tactical decision-making. JTCW includes multiple COTS (e.g. Microsoft Office) and Government-off-the- Shelf (GOTS) [e.g. C2 Personal Computer (C2PC)] software applications, and application extensions that provide additional functionality. Hardware meeting the target system specifications for a complete software load of JTCW was not available at the time of the exercise, so specific C2 applications were selected and used. These were C2PC and Joint Battlespace Viewer (JBV). In addition, the Cursor-on-Target (CoT) injector application extension for C2PC was installed.
JTCW 1.0版本是一套基于Windowsxp的应用程序，为营及以上人员设计，通过改进SA和增强作战和战术决策来促进军事C2功能。JTCW包括多个COTS(如微软Office)和政府外货架(GOTS)[例如C2个人计算机(C2PC)]软件应用程序，以及提供附加功能的应用程序扩展。在演习时，没有满足目标系统规范的JTCW完整软件负载的硬件，所以选择并使用了特定的C2应用程序。这些数据分别是C2PC和联合战斗空间查看器(JBV)。此外，还安装了C2PC的目标光标(CoT)喷射器应用程序扩展。
The JBV is a 3-D visualization program that provides the user with a whole earth representation on a PC. It provides visualization capabilities similar to those offered with C2PC, such as the display of map and terrain data, tracks and overlays in a 3-D environment. JBV also provides video exploitation capabilities, such as the ability to display geo-rectified video overlaid on a map; however, JBV is not capable of interpreting the USIP EG0601.x format metadata. The JBV User Manual for version 6.6 states, “Currently, only video data streams which conform to Motion Imagery Standards Board (MISB) Engineering Guideline (MISB EG) 0104.4 and Predator Closed Caption Electronic Software Distribution (ESD) System have been tested.”
JBV是一个3d可视化程序，为用户提供了一个在PC上的整个地球表示。它提供了类似于C2PC的可视化功能，如地图和地形数据的显示、三维环境中的跟踪和覆盖。JBV还提供了视频开发功能，例如能够显示覆盖在地图上的地理修正视频；然而，JBV不能解释USIP EG0601。x格式的元数据。JBV 6.6版的用户手册指出：“目前，只有符合运动图像标准委员会(MISB)工程指南(MISB EG)0104.4和捕食者封闭标题电子软件分发(ESD)系统的视频数据流才进行了测试。”
While the primary focus of the exercise was to interface with JTCW applications, integrating other software tools (e.g., FalconView and Google Earth) was a fairly easy task because of simple CoT provided tools, such as the CoT FalconView Driver and the CoT Keyhole Markup Language (KML) Server (Beta).
虽然演习的主要重点是与JTCW应用程序接口，但集成其他软件工具（例如，猎鹰视图和谷歌地球）是一个相当简单的任务，因为CoT提供了简单的工具，如CoT猎鹰视图驱动程序和CoT钥匙孔标记语言(KML)服务器(Beta)。
2.4.2.2Video Exploitation Applications 视频开发应用程序
PAR® GV™ supports nearly all of the DoD formats for still and motion imagery. Its ability to parse KLV metadata was of particular interest. PAR® GV™ also provides an Application Programming Interface (API) so developers can create plug-ins to access the KLV metadata (e.g., a MITRE CoT tool described in Section 2.4.3 uses the API to generate CoT messages from video metadata).
PAR®GV™支持几乎所有的国防部的静止和运动图像格式。它解析KLV元数据的能力特别值得关注。PAR®GV™还提供了一个应用程序编程接口(API)，因此开发人员可以创建插件来访问KLV元数据(例如，第2.4.3节中描述的mitreCoT工具使用API从视频元数据生成CoT消息)。
VideoScout® Insyte is developed by L3 Communications, Inc. One important note about Insyte is that the DVR functions are only available when the software is on a system that contains the VideoScout® hardware. VCD is a video viewer developed by Cubic to accompany the TP-CDL. It is able to display a small subset of EG0601.x metadata keys.
®Insyte是由L3通信公司开发的。关于Insyte的一个重要注意事项是，DVR功能只有在软件在包含视频oscout®硬件的系统上才可用。VCD是由Cubic开发的伴随TP-CDL的视频查看器。它能够显示EG0601的一个小子集。x元数据键。
The primary challenge faced with the ground systems was the integration of the C2 and video exploitation systems with video containing metadata in the newer EG0601.1 format. CoT was identified early in the planning stages as key to system interoperability. Also of consideration was the fact that while the video exploitation systems could playback the USIP video, they could not make use of various capabilities that required metadata, such as Insyte’s geographic search capability.
地面系统面临的主要挑战是将C2和视频开发系统与包含较新的EG0601.1格式的视频元数据的系统集成。CoT在规划阶段的早期就被确定为系统互操作性的关键。同样需要考虑的是，虽然视频开发系统可以回放USIP视频，但它们不能使用需要元数据的各种功能，比如Insyte的地理搜索能力。
2.4.3Video and Metadata Processing视频和元数据处理
One approach for integrating the USIP-compliant video data with the C2 applications was to convert the video metadata from the EG0601.1 format to the older EG0104.5 format. The C2 and ISR applications were capable of exploiting video with EG0104.5 formatted metadata, either through native capabilities or through additional plug-ins and tools.
将符合USIP的视频数据与C2应用程序集成的一种方法是将视频元数据从EG0601.1格式转换为较旧的EG0104.5格式。C2和ISR应用程序能够利用EG0104.5格式的元数据，通过本地功能或通过其他插件和工具。
Collaboration with MITRE CoT engineers revealed that they had developed a method for generating CoT messages from metadata in MPEG-2 video. The method uses PAR® GV™ and its API that exposes KLV metadata. MITRE developed a prototype plug-in that uses the GV API to access the metadata, convert it to a CoT message, and publish the message via a UDP or Transmission Control Protocol (TCP) port. MITRE engineers had verified that this method worked for EG0104.5 metadata, but not for EG0601.1 because they did not have any videos containing EG0601.1 metadata. (The prototype was developed in 2007, prior to MISB posting sample videos with EG0601.1 metadata.) The exercise verified that while this method could be used for EG0601.1, it would require software changes to PAR® GV™ and the MITRE plug-in.
与mitreCoT工程师合作发现，他们开发了一种从MPEG-2视频中的元数据生成CoT消息的方法。该方法使用PAR®GV™及其公开KLV元数据的API。Mitre开发了一个原型插件，它使用GVAPI来访问元数据，将其转换为CoT消息，并通过UDP或传输控制协议(TCP)端口发布消息。Mitre工程师已经验证了这种方法适用于EG0104.5元数据，但不适用于EG0601.1，因为他们没有任何包含EG0601.1元数据的视频。(这个原型是在2007年开发的，在MISB发布带有EG0601.1元数据的样本视频之前。)该演习验证了虽然该方法可以用于EG0601.1，但它需要对PAR®GV™和mitre插件进行软件更改。
Concurrent with the exploration of the MITRE CoT approach, the team identified a Software Developers Kit (SDK)/Toolkit from LEAD Technology called LEADTools. The LEADTools suite provides functions and interfaces to process imagery: Coders/Decoders (CODECs), multiplexers, filters, etc. At that time, the software supported parsing and manipulation of KLV metadata, including specific tags for the EG0104.x metadata format.
在探索冠状冠技术方法的同时，该团队确定了一个来自LEAD技术的软件开发工具包(SDK)/Tools。LEADTools套件提供了处理图像的功能和接口：编码器/解码器(CODECs)、多路复用器、过滤器等。当时，该软件支持对KLV元数据的解析和操作，包括针对EG0104.x元数据格式的特定标签。
The lack of support for the new metadata format led to the team’s decision to integrate the systems by converting the EG0601.x metadata to EG0104.x to create an MPEG-2 transport stream compliant with the older standard. The EG0601.x document provides instructions on how to convert the data for each individual key; however, in order to be utilized by current C2 applications, the entire MPEG-2 transport stream has to be converted.
由于缺乏对新元数据格式的支持，该团队决定通过将EG0601.x元数据转换为EG0104.x来集成系统，以创建符合旧标准的MPEG-2传输流。EG0601.x文档提供了关于如何转换每个单独键的数据的说明；但是，为了被当前的C2应用程序使用，必须转换整个MPEG-2传输流。
Five major functions of the converter were identified: de-multiplex KLV Private Data Stream (PDS) from transport stream, parse KLV, convert keys, construct EG0401.x PDS, and multiplex PDS with MPEG-2 video stream. Using the LEADTools SDK, the team developed software to accomplish the first four functions; however, the team also determined that the functions available in LEADTools could not multiplex the streams into the required MPEG-2 transport stream (this was verified with LEADTools developers). Additional custom software would have to be developed to multiplex the PDS and video streams. However, time constraints dictated an alternative, stopgap solution to create CoT messages directly from the parsed EG0601.x metadata.
确定了该转换器的五个主要功能：从传输流中去多路KLV私有数据流(PDS)、解析KLV、转换密钥、构建EG0401.xPDS和具有MPEG-2视频流的多路PDS。使用LEADToolsSDK，团队开发软件来完成前四个功能；然而，团队还确定，LEADTools中可用的功能不能将流复合到所需的MPEG-2传输流中(这已由LEADTools开发人员验证)。必须开发额外的定制软件来复用PDS和视频流。然而，时间限制规定了另一种替代的临时解决方案，可以直接从解析的EG0601.x元数据中创建CoT消息。
Only a subset of the EG0601.1 keys was used in the CoT message. A sample CoT message is shown in Figure 8. The conversion from EG0601 metadata to CoT was done in accordance with MISB EG 0805 - CoT Conversions for KLV Metadata4 (a draft EG at the time of development). The complete set of EG0601.1 CoT keys is provided in Table 5 at Appendix A.
在CoT消息中只使用了EG0601.1键的一个子集。图中的示例如图8所示。从EG0601元数据到CoT的转换是按照MISB EG0805-CoT转换(开发时的EG草案)完成的。EG0601.1CoT键的全套信息见附录A中的表5。
Figure 8 Example CoT Message
As a parallel effort, the LEAD Technologies team developed software to parse and display EG0601.x metadata. LEAD Technologies also began developing a multiplexing capability with an end goal of parsing, converting, and multiplexing metadata from an MPEG-2 transport stream with EG0601.x metadata to an MPEG-2 transport stream with EG0104.x metadata.
作为一个并行的工作，LEAD技术团队开发了一种软件来解析和显示EG0601。x元数据。LEAD技术还开始开发多路复用功能，最终目标是从具有EG0601的MPEG-2传输数据流解析、转换和复用元数据。x元数据到具有EG0104.x元数据的MPEG-2传输元数据。
There are video systems that are EG0601 capable, but these are mainly found at the battalion and above. These systems include Global C2 System-I3 (GCCS-I3), Primary Image Capture Transformation Element (PICTE) from Science Applications International Corporation (SAIC), Multimedia Analysis and Archive System (MAAS) from General Dynamics, and Image Product Library (IPL) from National Geospatial-Intelligence Agency (NGA).
有一些视频系统是EG0601的能力，但这些主要是发现在营和以上。这些系统包括全球C2系统-i3(GCCS-I3)、美国科学应用国际公司(SAIC)的主要图像捕获转换元件(PICTE)、通用动力公司的多媒体分析和档案系统(MAAS)以及美国国家地理空间情报局(NGA)的图像产品库(IPL)。
3Exercise Test Plan演习测试计划
A test plan was developed for component testing, integration, and final flight testing, exercise and demonstration. A risk reduction plan that included backup subsystems and systems was implemented. It required the team to approach and gain the cooperation and material assistance of vendors who were working on prototype mini-CDL transceivers (air vehicle) efforts, and to leverage existing government development programs for ground CDL terminals to build the required end-to-end interoperability solution. Several CDL vendors were contacted and offered the opportunity to participate in the exercise, but few were willing to support the effort required.
为部件测试、集成和最终飞行测试、演习和演示制定了测试计划。实施了一个包括备份子系统和系统在内的风险降低计划。它要求团队接近并获得从事原型mini-CDL收发器（飞行器）工作的供应商的合作和材料援助，并利用现有的政府对地面CDL终端开发项目来建立所需的端到端互操作性解决方案。我们联系了几个CDL供应商，并提供了参加演习的机会，但很少有人愿意支持所需的努力。
The test plan included the requirement to have at least one Mini-CDL vendor with an MPEG-2 encoder/decoder to allow us to get started by late June 2008. As a backup, other vendors were asked to participate if they had components available and the resources to participate. Cornet Technology joined the effort in July by providing an H.264 encoder with a promise of an MPEG- 2 encoder to follow in August. Additionally, a COTS 5.8 GHz digital data link system was procured as a backup to cover those times when the Mini-CDL was not available. This allowed for all but the lowest layers of the USIP protocol stack to be exercised (Ku band STD-CDL replaced by surrogate C band link, if needed). This also helped to substantiate the claim that the end-to-end system was truly “plug and play” compliant.
测试计划包括要求至少有一个带有MPEG-2编码器/解码器的Mini-CDL供应商，以便我们在2008年6月底之前开始工作。作为备份，如果其他供应商有可用的组件和资源，则要求他们参与。短号技术公司在7月加入了这项努力，提供了一个H.264编码器，并承诺在8月推出一个MPEG-2编码器。此外，还采购了一个COTS5.8 GHz数字数据链路系统作为备份，以覆盖Mini-CDL不可用的时间。这允许执行USIP协议堆栈的最低层以外的所有层(如果需要，将Ku带STD-CDL替换为代理C带链路)。这也有助于证实端到端系统是真正符合“即插即用”的说法。
The test plan also included a desire for the government or a vendor to provide Remote Video Terminal (RVT) systems capable of receiving and processing the USIP 1 protocols. The Army PM UAS with their One System RVT (OSRVT) was invited to participate and showed early interest in the project, but later backed out due to other commitments. Fortunately, the TP-CDL project office made a substantial commitment to fully participate in the exercise after several planning meetings and discussions.
该测试计划还包括希望政府或供应商提供能够接收和处理USIP 1协议的远程视频终端(RVT)系统的愿望。陆军总理UAS和他们的OneSystem RVT(OSRVT)被邀请参与并对该项目表现出兴趣，但后来由于其他承诺而退出。幸运的是，TP-CDL项目办公室在几次规划会议和讨论后作出了充分的承诺。
The exercise test schedule is presented in Table 4 below.
演习测试时间表如下表4所示。
Table 4 Exercise Test Schedule
1 Install VCU autopilot system in the Outlaw UA, checkout, and flight test. 1-18 Jul
2 Outline the detailed metadata format (JIP/USIP) required for insertion into TCDL. 21-25 Jul
3 Outline the EO sensor and digitization/compression capability required to operate with JIP and USIP.
21-25 Jul
4 Determine the RVT requirements to receive and display the data and video from the Outlaw UA. Obtain/develop the capability to receive/display this data locally at the Mark Schon, LLC location for testing.
28 Jul - 8 Aug
5 Extend the VCU autopilot system to output the metadata in the format outlined in Task 2. 4-8 Aug
6 Outfit the Outlaw UA with the EO sensor identified in Task 3. 11-15 Aug
7 Benchtest and debug the complete system, minus the actual TCDL transceivers (wired bench test), using the RVT capability developed in Task 4.
18-22 Aug
8 Integrate the TCDL transceivers into the system and bench test. 18-22 Aug
9 Flight test the complete UAV-to-RVT system. 25-29 Aug
10 Determine the requirements to distribute the UAS video and data beyond the local RVTs to back end JTCW and video servers. FBCB2? Video Services Approach - USMC vs Army
25-29 Aug
11 Develop or obtain required capabilities determined in Task 10 locally within MITRE and/or Mark Schon, LLC.
25-29 Aug
12 Benchtest the backend systems with the system resulting from Task 7. 2-5 Sep
13 Flight test the complete distribution solution, with the JTCW and video server with the system resulting from Task 9.
8-12 Sep
14 Perform the final exercise at Ft. A.P. Hill for the entire team and invited observers. 22-26 Sep
15 Analyze the results and document the entire exercise and results in the final report. 29 Sep - 3 Oct
16 Flight Demonstration at Ft. A.P. Hill for the entire team and invited observers. 27-31 Oct
4Results结果
Team activities leading up to the exercise involved the integration of multiple USIP 1–compliant components into the Outlaw and the ground systems. Two Outlaws were outfitted with the VCU FCS autopilots and flight tested in July 2008. In addition, numerous flights were conducted specifically for pilot training, aircraft checkout, and launch and recovery training. A total of 25 Outlaw flights were conducted from July 2008 until the final exercise in October 2008.
演习前的团队活动包括将多个符合USIP 1标准的组件集成到歹徒和地面系统中。两名逃犯配备了VCUFCS自动驾驶仪，并在2008年7月进行了飞行测试。此外，还专门为飞行员训练、飞机检查、发射和恢复训练进行了许多飞行。从2008年7月至2008年10月的最后一次演习，共进行了25次非法飞行。
During this period, the FCS was configured to output twelve of the USIP 1 standard KLV metadata keys to be time synchronized with the analog video from the onboard digital camera. In August 2008, the video and the corresponding KLV metadata were fed to the Cornet provided encoders (MPEG-2 and H.264) to generate the MPEG transport stream on the encoder’s Ethernet output. In September 2008, the transport stream was provided to the Ethernet input on a COTS Microhard VIP 5800 digital data link for testing onboard one of the Outlaws. This data link would serve as a backup and be used for flight testing until the Cubic provided Mini-CDL and government provided TP-CDL equipment could be made available.
在此期间，FCS被配置为输出12个USIP 1标准KLV元数据键，以与来自车载数码相机的模拟视频进行时间同步。在2008年8月，视频和相应的KLV元数据被输入到Cornet提供的编码器(MPEG-2和H.264)，以在编码器的以太网输出上生成MPEG传输流。在2008年9月，传输流被提供给COTS微硬盘VIP5800数字数据链路上的以太网输入，用于对其中一个非法用户进行测试。这个数据链路将作为备份，用于飞行测试，直到Cubic提供Mini-CDL和政府提供TP-CDL设备。
On 17 October 2008 the Cornet encoded transport stream was provided to the Ethernet input on the Cubic provided Mini-CDL platform communications equipment PCE and flight tested on the Outlaw with the TP-CDL equipment serving as the SCE on the ground. This flight was the first time the DoD–mandated USIP 1 was flown on any UAS with synchronized video and KLV metadata in the MPEG transport stream over the STD-CDL Ku band link at 10.71 megabits per second (Mbps). Cubic engineers participated in the initial integration and testing efforts as shown in Figure 9.
2008年10月17日，小网编码的传输流被提供给Mini-CDL平台通信设备PCE，并在非法设备上进行飞行测试，TP-CDL设备作为地面上的SCE。这次飞行是国防部授权的USIP 1第一次在任何UAS上以10.71兆/秒(Mbps)的速度，通过STD-CDL Ku波段链路，通过同步视频和KLV元数据在MPEG传输流中进行同步飞行。立方体工程师参与了最初的集成和测试工作，如图9所示。
Figure 9 Jose Ortiz (Mark Schon, LLC), Randy Cross (Cubic), Dr. Robert Klenke (Mark Schon, LLC)
and Rich Wayman (Cubic) Integrate the Mini-CDL in Outlaw UA
The final exercise was conducted on Friday, 31 October 2008 at Finnegan’s Field in the military restricted airspace of the Fort A.P. Hill ranges near Bowling Green, Virginia. Vendor participants in the exercise included Cubic Defense Applications, the Mini-CDL provider, Cornet Technology, the MPEG-2 and H.264 Video Encoder/Decoder provider, and Lead Technologies, a video software development tool provider for the ground C2 systems integration completed by
MITRE engineers (Figure 10).
最后一次演习于2008年10月31日星期五在弗吉尼亚州鲍林格林附近的a山堡空域的芬尼根战场进行。参加演习的供应商包括立方防御应用程序，Mini-CDL提供商，Cornet技术，MPEG-2和H.264视频编码器/解码器提供商，以及领先技术，一个为地面C2系统集成完成的视频软件开发工具提供商
米特尔工程师（图10）。
Figure 10 Jon Roth and Rob Gleich (MITRE E403), and Mark Schon Welcome Guests, Recognize Key
Participants, and Describe Exercise Goals and Objectives
The exercise was observed by key personnel from Marine Corps Systems Command (MCSC), the Marine Corps Warfighting Lab (MCWL), the Marine Corps Intelligence Activity (MCIA) and Headquarters, Marine Corps (HQMC). Also present were key Navy and Marine Corps personnel from Naval Air Systems Command (NAVAIR), and vendor participants (and their company representatives) who generously provided support and equipment for the exercise. Finally, Fort A.P. Hill Range Operations and Aviation Operations personnel were on hand to observe the exercise in action. In total, more than forty people observed the exercise.
来自海军陆战队系统司令部(MCSC)、海军陆战队作战实验室(MCWL)、海军陆战队情报活动(MCIA)和海军陆战队总部(HQMC)的关键人员观察了这次演习。出席的还有来自海军航空系统司令部(NAVAIR)的海军和海军陆战队的关键人员，以及供应商参与者（以及他们的公司代表），他们慷慨地为演习提供了支持和设备。最后，p堡山场作战和航空作战人员在现场观察演习。总共有40多人观察了这项运动。
After receiving a briefing on the systems being demonstrated, the roles of the participants, and an outline of the exercise to be conducted, the assembled viewers were given a safety briefing on the day’s operations (Figure 11).
在收到关于正在演示的系统、参与者的角色和将要进行的演习大纲的简报后，集合的观众得到了关于当天操作的安全简报（图11）。
Figure 11 Key Personnel, Guests and Participants Receive Safety Briefing
A total of three Outlaw flights were conducted for the exercise. The first flight was conducted using the backup Outlaw configured with USIP 1 capability except for the CDL data link. It was configured with a commercial 5.8 GHz digital data link from Microhard and it displayed video at the GCS. The second flight was conducted using the Mini-CDL equipped Outlaw with the USIP 1 operational at altitudes of up to 2500 feet. The Outlaw was flown in various patterns above Finnegan’s Field (Fort AP Hill) so that the guests could view the video and metadata displays. Plenty of time was allotted for the guests to see each type of display and talk with the operators and ask questions. The Mini-CDL Outlaw was recovered after a flight of approximately 30 minutes.
这次演习共进行了三次非法飞行。第一次飞行使用除CDL数据链路外，配置了USIP 1功能的备份歹徒。它配置了一个来自微硬盘的商业5.8 GHz数字数据链路，并在GCS上显示视频。第二次飞行使用Mini-CDL装备的歹徒，USIP 1在高达2500英尺的高度运行。“亡命之徒”在芬尼根机场（美联社山堡）上空以各种模式飞行，这样客人就可以观看视频和元数据显示。有足够的时间让客人观看每种类型的展示，并与操作员交谈并提问。Mini-CDL逃犯在飞行了大约30分钟后被发现。
The third flight was conducted at altitudes up to 4500 feet. During this flight, one of the TP-CDL transceivers was moved to a point approximately 4 miles from the launch site. The purpose of this relocation was to test the ability of the data link to operate over extended distances. At the selected location, the TP-CDL transceiver was able to receive video and metadata. Further tests of the range capability of the Mini-CDL with various power settings, pointing algorithms, ground antenna configurations and UA navigation data provisions are being proposed as possible future flight test work. A picture of a launch of the Outlaw from its pneumatic launcher is provided in Figure 12.
第三次飞行在海拔4500英尺的地方进行。在这次飞行中，其中一台TP-CDL收发器被移到距离发射场大约4英里的地方。这种重新定位的目的是为了测试数据链路在较长距离上运行的能力。在选定的位置，TP-CDL收发器能够接收视频和元数据。目前正建议对Mini-CDL的各种功率设置、指向算法、地面天线配置和UA导航数据规定的射程能力进行进一步测试，作为未来可能的飞行测试工作。图12提供了一张关于歹徒从其气动发射器发射的图片。
Figure 12 Outlaw is launched with USIP 1 Video, KLV Metadata and the Ku Band STD-CDL
The early preparations through the final exercise and demonstration of the USIP 1 in operation on Outlaw S1 with TP-CDL and the COC C2 systems receiving the video and KLV metadata for display, was completed in only four months time. The Outlaw aircraft were made autonomous; USIP 1 protocols were implemented in the FCS; data link and payload equipment integrated and flight tested; and the exercise successfully conducted in record time while achieving the three goals and supporting objectives set in late spring of 2008. The resulting success of this MITRE Special Initiative is indicative of the kinds of achievements possible through innovative and challenging endeavors undertaken in close collaboration with our team partners.
早期的准备工作通过最后的演习和在OutlawS1上运行的USIP 1的演示，TP-CDL和COCC2系统接收视频和KLV元数据进行显示，仅在4个月的时间内完成。非法飞机自主；在FCS中实施了USIP 1协议；数据链接和有效载荷设备集成和飞行测试；演习在创纪录的时间内成功进行，同时实现了2008年春末设定的三个目标和支持目标。这一皇冠特别倡议的成功表明了通过与我们的团队合作伙伴密切合作而进行的创新和具有挑战性的努力所可能取得的各种成就。
5Recommendations for Additional Research 对额外研究的建议
Recommendations for additional research are listed below. These recommendations represent logical extensions of work that build upon the success of the exercise described in this report. Each of these recommendations, if implemented, would provide tremendous value to, and inform, those involved in the acquisition process.
对其他研究的建议如下所示。这些建议代表了建立在本报告中所述工作的成功基础上的工作的逻辑扩展。如果这些建议得到实施，将为参与收购过程的人员提供巨大价值并提供信息。
Recommendation #1: Conduct a research effort and experiment that combines the capability for radio relay with the inherent control offered by the USIP-compliant CDL. This implementation could allow payload products (such as FMV) to be offered both via the CDL or by a radio relay, with capabilities similar to the AN/PRC-117G, an IP-capable multi-band radio. With the proper interface to the radio relay via the CDL, this could potentially allow “on-the-fly” operating mode changes to the radio (e.g., from radio relay to video download) that could make real-time video products available to dismounts at the tactical edge, that would otherwise only be available where RVTs were located.
建议1：进行研究工作和实验，结合无线电中继的能力与提供的固有控制的USIP兼容的CDL。这种实现可以允许有效载荷产品(如FMV)通过CDL或无线电中继提供，其功能类似于AN/PRC-117G，一个具有ip能力的多波段无线电。适当的接口无线电中继通过CDL，这可能允许“动态”操作模式改变无线电（例如，从无线电中继视频下载），可以使实时视频产品可以卸载在战术边缘，否则只能在rvt的位置。
Recommendation #2: Conduct a research effort and experiment that leverages the architecture developed as part of Recommendation #1, except that the transmission mode would be via satellite. The experiment would allow the exercise of a UAS to C2 system end-to- end interoperability exercise over a geographically dispersed field exercise. This exercise could easily be conceived of with UAS assets flying at Fort A.P. Hill and/or other dispersed locations, and the data being transmitted via the Internet link to C2 systems at remote locations.
建议2：进行研究工作和实验，利用作为建议#1的一部分开发的架构，除了传输模式将通过卫星。该实验将允许在地理上分散的现场演习中进行UAS到C2系统的端到端互操作性演习。这个演习可以很容易地设想，UAS资产在美国山堡和/或其他分散的地点飞行，数据通过互联网链接传输到偏远地区的C2系统。
Recommendation #3: Conduct testing of an unmanned system configuration that implements the complete set of KLVs in the USIP definition, as well as Standardization Agreement (STANAG) 4586 Vehicle Specific Module (VSM) compliance and interoperability. Field testing prior to the release of new standards would serve to validate the proposed updates to these standards prior to their final approval and release by the Office of the Secretary of Defense (OSD) or North Atlantic Treaty Organization (NATO). This would help answer questions such as: Is the standard, as written, implementable within reasonable cost and schedule constraints? Are new components from two vendors, who test to the standards, able to interoperate? What are the appropriate and effective test approaches?
建议3：对无人系统配置进行测试，该配置实现了USIP定义中的全套klv，以及标准化协议(STANAG)4586车辆特定模块(VSM)的遵从性和互操作性。在新标准发布之前的现场测试将有助于在国防部长办公室(OSD)或北大西洋公约组织(NATO)最终批准和发布之前，验证对这些标准的拟议更新。这将有助于回答以下问题：书面的标准是否可以在合理的成本和进度限制范围内实现？来自两个从测试到标准的供应商的新组件是否能够互操作吗？什么是合适和有效的测试方法？
Recommendation #4: Conduct testing of directional antennas to determine areas for range capability improvements beyond what current applications can provide. Electronic and mechanical antenna pointing applications on the ground and in the air should be evaluated in the field to understand which are most suitable and operationally effective. Frequency, spectrum and power considerations, and their effects on range, size and weight, can also be validated early in the development cycle. This information, proven or disproven in a field environment, would be extremely useful for those writing capabilities documents or system specifications.
建议4：对定向天线进行测试，以确定超出当前应用范围的射程能力改进区域。电子和机械天线指向地面和空中的应用应在现场进行评估，以了解哪些最合适和最有效。频率、频谱和功率的考虑，以及它们对范围、大小和重量的影响，也可以在开发周期的早期进行验证。这些信息，如果是在现场环境中被证明或否定的，对于那些编写功能文档或系统规范的人将非常有用。
Other areas to consider include:
•Investigate “white-boarding” (practice of sending a Joint Photographic Experts Group [JPEG] up with a potential target circled, etc). How would this be relayed, and how would it be used in combination with voice/chat?
•British Aerospace (BAE) has special software that enables high resolution, fast updates in areas within the view of interest, while trading off resolution and updates in other parts of the screen of less interest. With limited spectrum/bandwidth this approach will be increasingly attractive going forward.
•What is the path to High Definition (HD)? USIP 1 says the ground receivers must support Motion Imagery System Matrix-Level 9 (MISM-L9), but not the air. What’s the path forward?
其他需要考虑的领域包括：
调查“白板化”（派遣一个联合摄影专家组来包围一个潜在目标的做法等）。如何转发，如何与语音/聊天结合使用？
英国航空航天公司(BAE)有一种特殊的软件，可以在感兴趣的区域内实现高分辨率、快速更新，同时在屏幕上不太感兴趣的其他部分交换分辨率和更新。在有限的频谱/带宽情况下，这种方法将越来越有吸引力。
实现高清晰度(HD)的路径是什么？USIP 1说，地面接收器必须支持运动成像系统矩阵级9(MISM-L9)，但不支持空气。未来的路线是什么
A slide extracted from an AFRL Mini-CDL briefing given at NATS # 20 on 4 June 2008 is provided in Figure 13 to show another example of future areas that can be field demonstrated to reduce risk in the development cycle of tactical UAS.
图13提供了从2008年6月4日NATS#20的AFRL Mini-CDL简报中提取的幻灯片，展示了另一个未来领域的另一个例子，可以现场演示以降低战术UAS开发周期中的风险。
Figure 13 Possible Future Field Exercise with Outlaw and TP-CDL or OSRVT
Appendix A Cursor on Target Key
Table 5 CoT Key from EG0601.1
CoT Key EG 0601.1 LDS Tag # Notes
and Name or Notes
point/lat point/lon point/hae
point/ce point/le version type
uid
time
start
stale
how
detail/flow- tags
sensor/azimuth
sensor/fov sensor/vfov sensor/model
sensor/range 13 Sensor Latitude 14 Sensor Longitude 15 Sensor True
Altitude 9999999
9999999 2.0
a-f-A-M-F (as an example)
10 Device Designation 3 Mission ID
2 UNIX Time Stamp
2 UNIX Time Stamp
Time of next CoT platform position message
m-p
Current Time
5 Platform Heading Angle
18 Sensor Relative Azimuth Angle
16 Sensor Horizontal Field of View
17 Sensor Vertical Field of View
11 Image Source Sensor 21 Slant Range CoT requires WGS-84 decimal degrees with North positive
CoT requires WGS-84 decimal degrees with East positive
The KLV key is altitude; it must be converted to Ellipsoid Height; given in meters
This represents “no value given” This represents “no value given” CoT Version Number
Atom-friendly-Air AOB- Military-Fixed Wing (Reference CoT definitions in Event.xsd v 1.4 2007/02/27 for other “types” as applicable to other platforms)
. for 0601.1 implementations, concatenate Tags 10 and 3 separated by an underscore (“_”) character.
Convert to ISO 8601 YYYY-MM-DDThh:mm:ss.ssZ
(Fractional seconds are optional and number of decimal places unbounded); this is the time the message is generated
Convert to ISO 8601 YYYY-MM-DDThh:mm:ss.ssZ
this is the time the message becomes valid (should be the same as Time)
This is the time at which the position message is no longer valid; use ISO 8601
How the position was obtained (machine- passed). Reference CoT definitions in Event.xsd v 1.4 2007/02/27 for further explanation and other possible values. Indicates that system “touched” the event and at what time. Format as EG0601.1CoT or EG0104.5CoT = ’YYYY-MM-DDThh:mm:ss.ssZ’ with the current time.
Sensor absolute azimuth obtained by adding platform heading angle and sensor relative azimuth angles together; CoT requires decimal degrees
Sensor Horizontal Field of View; CoT requires decimal degrees
Sensor Vertical Field of View; CoT requires decimal degrees
Image Source Device
CoT requires this be in meters
A-1
Appendix B Acronym List
ADC Analog to Digital Converters
AFRL Air Force Research Laboratory
API Application Programming Interface
ASD (NII) Assistant Secretary of Defense (Networks & Information Integration)
AT&L Acquisition, Technology and Logistics
AV Air Vehicle
BAE British Aerospace
C2 Command and Control
C2PC Command and Control Personal Computer
CDL Common Data Link
COC Command Operations Center
CODEC Coder/Decoder
COP Common Operational Picture
CoT Cursor on Target
COTS Commercial-off-the-Shelf
CS Control Station
DoD Department of Defense
DVR Digital Video Recorder
EO Electro-Optical
EG Engineering Guideline
ENU East, North, and Up
ESD Electronic Software Distribution
FCS Flight Control System
FMV Full Motion Video
FPGA Field Programmable Gate Array
GCCS Global Command and Control System
GCS Ground Control Station
GHz Gigahertz
B-1
GOTS Government-off-the-Shelf
GPS Global Positioning Service
HD High Definition
HP Horsepower
HQMC Headquarters, Marine Corps
IP Internet Protocol
IPL Image Product Library
IR Infrared
ISM Industrial, Scientific and Medical
ISR Intelligence, Surveillance and Reconnaissance
JBV Joint Battlefield Viewer
JIP Joint Interoperability Profile
JTCW Joint Tactical COP Workstation
KLV Key Length Value
KML Keyhole Markup Language
LAN Local Area Network
Lbs Pounds
LCD Liquid Crystal Display
LLA Latitude, Longitude, and Altitude
LLC Limited Liability Company
MAAS Multimedia Analysis and Archive System
Mbps Megabits per Second
MCIA Marine Corps Intelligence Activity
MCSC Marine Corps Systems Command
MCWL Marine Corps Warfighting Lab
MHz Megahertz
MISB Motion Imagery Standards Board
MISB EG MISB Engineering Guideline
MISM Motion Imagery System Matrix
MPEG
B-2
Moving Picture Experts Group
NATO North Atlantic Treaty Organization
NAVAIR Naval Air Systems Command
NGA National Geospatial-Intelligence Agency
NTSC National Television System Committee
OSD Office of the Secretary of Defense
OSRVT One System Remote Video Terminal
OUSD Office of the Under Secretary of Defense
PC Personal Computer
PCE Platform Communications Equipment
PDS Private Data Stream
PES Packetized Elementary Stream
PICTE Primary Image Capture Transformation Element
PID Packet Identification
PWM Pulse-Width Modulation
RC Radio Control
RF Radio Frequency
RPVT Remotely Piloted Vehicle Target
RVT Remote Video Terminal
SA Situational Awareness
SCE Surface Communications Equipment
SDK Software Developers Kit
STANAG Standardization Agreement (NATO)
STD-CDL Standard Common Data Link
TCP Transmission Control Protocol
TCPED Transmission, Collection, Production, Exploitation and Dissemination
TP-CDL Team Portable – Common Data Link
TS Transport Stream
UA Unmanned Aircraft
UAS Unmanned Air System
UDP User Datagram Protocol
B-3
USB Universal Serial Bus
USIP Unmanned Systems Interoperability Profile
VCD Video CD
VCU Virginia Commonwealth University
VSM
B-4
Vehicle Specific Module
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B-5
UNCLASSIFIED
Unmanned Aircraft System (UAS) Exercise to Assess Common Data Link (CDL) Technology
Department of Defense Unmanned Systems Interoperability Profile and UAS Imagery and Data Dissemination Technologies
Jon Roth (The MITRE Corporation) Rob Gleich (The MITRE Corporation) Jose Ortiz (Mark Schon, LLC)
Mark Schon (Mark Schon, LLC) Dr. Bob Klenke (Mark Schon, LLC)
February 2009
Executive Summary执行总结
On Friday, 31 October 2008, a MITRE-led team that included MITRE and Mark Schon, Limited Liability Company (LLC) engineers, government and vendor personnel successfully exercised the Unmanned Systems Interoperability Profile (USIP) 1 in the field. Mark Schon, LLC in collaboration with Virginia Commonwealth University (VCU) provided the Unmanned Aircraft System (UAS) integration and flight services for the exercise. The exercise was conducted at Finnegan’s Field in the military restricted airspace of the Fort A.P. Hill ranges near Bowling Green, Virginia.
2008年10月31日，星期五，由MITRE 和Mark Schon有限责任公司工程师、政府和供应商人员组成的MITRE 引导的团队在现场成功实施了无人系统互操作性(USIP)1。Mark Schon有限责任公司与弗吉尼亚联邦大学(VCU)合作，为这次演习提供了无人机系统(UAS)的集成和飞行服务。演习是在弗吉尼亚州鲍林格林附近的p山堡山脉的芬尼根战场进行的。
Vendor participants in the exercise included Cubic Defense Applications (Cubic), the Mini- Common Data Link (CDL) provider; Cornet Technology, Inc (Cornet), the Moving Picture Experts Group (MPEG) – 2 and H.264 Video Encoder/Decoder provider; and Lead Technologies, a video Software Developers Kit (SDK) provider.
参与演习的供应商包括Cubic防御应用(Cubic)，迷你通用数据链接(CDL)供应商；Cornet技术公司(Cornet)，移动图像专家组(MPEG)-2和H.264视频编码器/解码器提供商；以及Lead Technologies，一个视频软件开发工具包(SDK)提供商。
The exercise was observed by key Marine Corps personnel from Marine Corps Systems Command (MCSC), the Marine Corps Warfighting Lab (MCWL), the Marine Corps Intelligence Activity (MCIA) and Headquarters, Marine Corps (HQMC). Key Navy and Marine Corps personnel from Naval Air Systems Command (NAVAIR) were also on hand to observe. Fort A.P. Hill Range Operations and Aviation Operations personnel were on hand to observe the exercise, as well. Vendor participants, who generously provided support and equipment for the exercise, and their company representatives, also attended for a total of more than forty people observing the exercise.
来自海军陆战队系统司令部(MCSC)、海军陆战队作战实验室(MCWL)、海军陆战队情报活动(MCIA)和海军陆战队总部(HQMC)的主要海军陆战队工作人员观察了这次演习。来自海军航空系统司令部(NAVAIR)的主要海军和海军陆战队人员也在现场进行观察。希尔堡山脉作战人员和航空作战人员也在现场观察演习。供应商参与者慷慨地为演习提供支持和设备，以及他们的公司代表，也参加了超过40人观察演习。
In June 2008, USIP 1 was approved by the Office of the Under Secretary of Defense (OUSD) for Acquisition, Technology and Logistics (AT&L), the Assistant Secretary of Defense (ASD) for Networks and Information Integration (NII), and the Joint Services UAS representatives. USIP 1 pertains to the direct communication and receipt of data from the Air Vehicle (AV) to the Ground Control Station (GCS) or Remote Video Terminal (RVT) operating in the Ku Band. The operational context for this profile is the Transmission, Collection, Production, Exploitation and Dissemination (TCPED) chain of operational activities. Accordingly, the USIP 1 profile specifically mandates, defines and standardizes the implementation conventions required for interoperability of line of sight transmission of motion imagery for battle space awareness using the Standard Common Data Link (STD-CDL). USIP 1 accomplishes this using the following layers of the Open Systems Interconnection Model: (1) Physical, (2) Data Link, (3) Network, (4) Transport, and (7) Application.
2008年6月，USIP 1获得了负责采购、技术和后勤的国防部副部长办公室(OUSD)办公室(AT&L)、负责网络和信息集成的助理国防部长(ASD)(NII)以及联合服务UAS代表的批准。USIP 1涉及到从飞行器(AV)到在Ku波段内运行的地面控制站(GCS)或远程视频终端(RVT)的直接通信和接收数据。该概况的业务背景是传输、收集、生产、开发和传播(TCPED)的业务活动链。因此，USIP 1配置文件明确要求、定义和标准化了使用标准公共数据链路(STD-CDL)实现战斗空间感知的运动图像的视线传输的互操作性所需的实施约定。USIP 1使用开放系统互连模型的以下层来实现这一点：（1）物理、（2）数据链路、（3）网络、（4）传输和（7）应用程序。
Team activities leading up to the exercise involved the integration of multiple USIP 1-compliant components into the Outlaw AV and the ground systems. Two Outlaw Unmanned Aircraft (UA) were outfitted with the VCU Flight Control System (FCS) autopilot and flight tested in July 2008. During this period, the FCS was also configured to output twelve of the USIP 1 standard Key Length Value (KLV) metadata keys to be time synchronized with the analog video from the onboard digital camera. In August 2008, the video and the corresponding KLV metadata were fed to the MPEG-2 encoder to generate the MPEG-2 transport stream on the encoder’s Ethernet output. In September 2008, the transport stream was provided to the Ethernet input on a commercial-off-the-shelf Microhard VIP 5800 digital data link for testing onboard one of the Outlaws.This data link served as a backup and was used for flight testing until the Cubic Mini- CDL and Team Portable CDL (TP-CDL) equipment was made available. The Cubic Mini-CDL is a miniature STD-CDL transceiver that is compliant with the STD-CDL Specification (Revision F, Annex B).
在演习前的团队活动包括将多个符合USIP 1标准的组件集成到“Outlaw”无人机和地面系统中。两架“Outlaw”无人机(UA)配备了VCU飞行控制系统(FCS)自动驾驶仪，并在2008年7月进行了飞行测试。在此期间，FCS还被配置为输出12个USIP 1标准键长度值(KLV)元数据键，以与来自车载数码相机的模拟视频进行时间同步。在2008年8月，视频和相应的KLV元数据被输入到MPEG-2编码器，以在编码器的以太网输出上生成MPEG-2传输流。在2008年9月，传输流被提供给一个商用现成的微硬VIP5800数字数据链路上的以太网输入，用于在机上测试其中一个“Outlaw”无人机。该数据链作为备份，用于飞行测试，直到Cubic公司Mini-CDL和团队，便携式CDL(TP-CDL)设备问世。Cubic公司Mini-CDL是一个微型的STD-CDL收发器，符合STD-CDL规范(修订版F，附录B)。
On 17 October 2008, an encoded transport stream was provided to the Ethernet input on the Mini-CDL platform communications equipment (PCE) and flight tested on the Outlaw with the TP-CDL equipment serving as the surface communications equipment (SCE) on the ground. This flight was the first time the Department of Defense (DoD)-mandated USIP 1 was flown on any UAS with synchronized video and KLV metadata in the MPEG-2 transport stream over the Common Data Link (CDL) Ku band link at 10.71 megabits per second (Mbps).
2008年10月17日，向Mini-CDL平台通信设备(PCE)上的以太网输入提供了编码传输流，并在Outlaw无人机上进行飞行测试，TP-CDL设备作为地面通信设备(SCE)。这次飞行是美国国防部(DoD)授权的USIP 1第一次在任何UAS上飞行，这些UAS通过公共数据链路(CDL)Ku波段链路以每秒10.71兆(Mbps)的速度在MPEG-2传输流中有同步的视频和KLV元数据。
MITRE engineers simultaneously developed applications to parse the metadata from the transport stream and generate Cursor-on-Target (CoT) messages, thus providing a “glass-to- glass,” sensor to Command and Control (C2) system implementation of the USIP 1 profile. The CoT schema was used to provide the metadata to the standard Marine Corps Joint Tactical Common Operational Picture (COP) Workstation (JTCW), FalconView and Google Earth 3-D displays. The video, metadata, and CoT messages were multicast on the Local Area Network (LAN) and displayed on multiple LAN clients.
MITRE 工程师同时开发了一些应用程序，从传输流中解析元数据，并生成目标上的光标(CoT)消息，从而提供了一个“玻璃到玻璃”，传感器到命令和控制(C2)系统实现的USIP 1概述。CoT纲要用于为标准的海军陆战队联合战术通用作战图像(COP)工作站(JTCW)、猎鹰视图和谷歌地球3d显示器提供元数据。视频、元数据和CoT消息在局域网(LAN)上进行多播，并在多个LAN客户端上显示。
For the final exercise on 31 October 2008, a total of three Outlaw flights were flown. The Outlaws were launched from the test site, flown at altitudes up to 4,000 feet above ground level (AGL), while successfully down-linking video and KLV metadata to various ground systems through an extended Internet Protocol (IP)-based LAN. Although the GCS client was able to control/update the FCS server and payload configuration over the Ku band extension of the IP- based LAN, a separate 900 Megahertz (MHz) UA control and status link was used to send commands and to receive status updates from the FCS. The primary focus of the USIP 1 implementation was to transport the video and associated metadata from the UA using IP over the Ku band CDL link to the TP-CDL terminals.
在2008年10月31日的最后一次演习中，Outlaw共飞行了三次。“Outlaw”从测试地点发射，飞到地面4000英尺的高空，同时通过基于扩展互联网协议(IP)的局域网成功地将视频和KLV元数据链接到各种地面系统。虽然GCS客户端能够通过基于ip的局域网的Ku波段扩展来控制/更新FCS服务器和有效负载配置，但一个单独的900兆赫兹(MHz)UA控制和状态链路用于发送命令和接收来自FCS的状态更新。USIP 1实现的主要重点是通过Ku波段CDL链路使用IP将UA的视频和相关元数据传输到TP-CDL终端。
The early preparations through the final exercise of the USIP 1 in operation on the Outlaw, with TP-CDL and the Combat Operations Center (COC) C2 systems receiving the video and KLV metadata for display, was completed in only four months time. The Outlaw UAs were made autonomous; USIP 1 protocols were implemented in the FCS; data link and payload equipment integrated and flight tested; and the exercise successfully conducted in record time while achieving the three goals and supporting objectives set in late spring of 2008. The resulting success of this MITRE Special Initiative is indicative of the kinds of achievements possible through innovative and challenging endeavors undertaken in close collaboration with our team partners.
进行USIP 1最终测试的早期准备工作，仅在4个月内完成，测试使用Outlaw无人机（携带TP-CDL、作战作战中心(COC)C2系统，能够接收视频和KLV元数据进行展示）。Outlaw无人机被设定为自主操控；在FCS中实施了USIP 1协议；数据链接和有效载荷设备集成和飞行测试；演习在创纪录的时间内成功进行，同时实现了2008年春末设定的三个目标和支持目标。这一MITRE特别倡议的成功表明了通过与我们的团队合作伙伴密切合作而进行的创新和具有挑战性的努力所可能取得的各种成就。
Table of Contents
1介绍…1-1
1.1目标和动机…1-1
2演习系统和架构… 2-1
2.1无人空中系统飞行器… 2-1
2.2飞行控制系统… 2-3
2.2.1飞行器控制… 2-3
2.2.2元数据生成… 2-5
2.3数字影像系统…2-7
2.3.1摄像头… 2-7
2.3.2视频编码器… 2-8
2.3.3Mini-CDL和TP-CDL… 2-8
2.4地面系统… 2-11
2.4.1C2 地面系统架构… 2-11
2.4.2指令控制 和视频开发系统… 2-12
2.4.3视频和元数据处理… 2-14
3演习测试计划… 3-1
4结果… 4-1
5附加研究建议… 5-1
List of Figures
Figure 1 CDL Exercise System Architecture… 2-1 Figure 2 CDL Griffon Aerospace Outlaw UA… 2-2 Figure 3 Flight Control System Architecture … 2-3 Figure 4 Digital Video Equipment Mounted in the Outlaw … 2-7 Figure 5 CDL Antenna Mounting and Landing Skid … 2-10 Figure 6 Digital Video Stream Ground Display – with Metadata … 2-11 Figure 7 Ground Systems Network… 2-12 Figure 8 Example CoT Message … 2-15 Figure 9 Jose Ortiz (Mark Schon, LLC), Randy Cross (Cubic), Dr. Robert Klenke (Mark Schon,
LLC) and Rich Wayman (Cubic) Integrate the Mini-CDL in Outlaw UA … 4-1 Figure 10 Jon Roth and Rob Gleich (MITRE E403), and Mark Schon Welcome Guests, Recognize
Key Participants, and Describe Exercise Goals and Objectives … 4-2 Figure 11 Key Personnel, Guests and Participants Receive Safety Briefing … 4-3 Figure 12 Outlaw is launched with USIP 1 Video, KLV Metadata and the Ku Band STD-CDL … 4-4 Figure 13 Possible Future Field Exercise with Outlaw and TP-CDL or OSRVT … 5-2
List of Tables
Table 1 USIP 1 Metadata KLVs Provided by the FCS … 2-6 Table 2 Mini-CDL and TP-CDL Configuration Settings… 2-9 Table 3 C2 and Video Exploitation Applications … 2-13 Table 4 Exercise Test Schedule… 3-2 Table 5 CoT Key from EG0601.1 … A- 1
1Introduction简介
This report describes the work performed and the results obtained from an Unmanned Aircraft System (UAS) Exercise conducted by The MITRE Corporation and Mark Schon, Limited Liability Company (LLC). The project was conducted to implement and investigate the state-of-the-art in miniature Common Data Link (CDL) terminal technology for digital video downlink from an operational UAS. The Department of Defense (DoD) – mandated Unmanned Systems Interoperability Profile (USIP) 1 for streaming UAS metadata with associated video was also implemented and investigated.
本报告描述了由MITRE公司和 Mark Schon有限责任公司进行的无人机系统(UAS)演习所进行的工作和取得的结果。该项目旨在实现和研究最先进的微型公共数据链路的数字视频下行链路(CDL)终端技术。国防部(DoD)授权的无人系统互操作性档案(USIP)1，用于流播(streaming)UAS元数据与相关的视频。
1.1Goals and Objectives目标和动机
The project had three high-level goals:该项目有三个高层次目标：
•Investigate the current state-of-the-art in miniature CDL transceivers for Category 3 (Tier II/Small Tactical UAS) unmanned aircraft (UA) data link terminals. This includes link robustness and speed, range and power tradeoffs, interoperability between different manufacturer’s miniature CDL transceivers, and ease of integration of miniature CDL equipment into existing UAS systems.
•研究第3类（二级/小型战术UAS）无人机(UA)数据链路终端的当前最优的微型CDL收发器。这包括链路鲁棒性和速度、范围和功率权衡、不同制造商的微型CDL收发器之间的互操作性，以及将微型CDL设备集成到现有UAS系统中的简易性。
•Evaluate the maturity and effectiveness of the DoD-mandated USIP 1 Implementation Convention designed and published in June 2008 to insure cross-platform interoperability of Full-Motion Video (FMV) and metadata.
•评估在2008年6月设计并发布的由国防部授权的USIP 1实施公约的成熟度和有效性，以确保全动态视频(FMV)和元数据的跨平台互操作性。
•Gain experience with the integration of back-end systems for UAS imagery and data dissemination.
•获得集成了UAS图像和数据传播的后端系统的经验。
The objectives in support of the goals were:支持这些目标的动机是：
•Integrate miniature and other CDL transceivers from multiple vendors into an existing surrogate UAS system with Electro-Optical (EO) sensor capability.
•将来自多个供应商的微型和其他CDL收发器集成到现有的具有光电(EO)传感器能力的替代UAS系统中。
•Provide USIP 1 – compliant video and metadata to the CDL link.
•向CDL链接提供符合USIP 1标准的视频和元数据。
•Receive, decode and display the UAS data and imagery on a Team Portable CDL (TP- CDL) ground terminal.
•在一个团队便携式CDL(TP-CDL)地面终端上接收、解码和显示UAS数据和图像。
•Provide the UAS imagery and metadata to ground Command and Control (C2) systems for immediate situational awareness (SA) and video services over a Local Area Network (LAN).
•为地面指挥和控制（C2）系统提供UAS图像和元数据，用于通过局域网(LAN)上的即时态势感知(SA)和视频服务。
2Exercise Systems and Architecture训练系统和架构
The hardware required for this project included a suitable UAS aircraft to carry the digital video and CDL equipment aloft; a Flight Control System (FCS) to make the aircraft autonomous and provide metadata for the video downlink exercise; a digital video system and a CDL; TP-CDL to receive, display and disseminate the down-linked video; and metadata and a Ground Control Station (GCS), operating at 900 Megahertz (MHz), to control and monitor the Outlaw during the exercise. The overall architecture of the system is shown in Figure 1.
该项目所需的硬件包括一架合适的UAS飞机，用于高空携带数字视频和CDL设备；飞行控制系统(FCS)，使飞机自主，并为视频下行演习提供元数据；数字视频系统和CDL；TP-CDL接收、显示和传播下行视频；以及元数据和地面控制站(GCS)，在900兆赫（兆赫）运行，在演习期间控制和监控Outlaw无人机。该系统的整体体系结构如图1所示。
Figure 1 CDL Exercise System Architecture
2.1UAS Aircraft无人机
The Unmanned Aircraft (UA) used for this exercise is the Outlaw Remotely Piloted Vehicle Target (RPVT) manufactured by Griffon Aerospace. The Outlaw, shown in Figure 2, has a 9 foot fuselage and a 13.6 foot wingspan. It is powered by a 17 horsepower (HP) gasoline engine mounted in the tail. As normally equipped, the Outlaw does not have landing gear. Instead, it is pneumatically launched from a rail launcher and it skids to a landing on its belly. That latter aspect of the Outlaw caused a few difficulties in this exercise and is described later.
用于这次演习的无人驾驶飞机(UA)是由格里芬航空航天公司制造的 Outlaw远程驾驶飞行器目标(RPVT)。如图2所示，Outlaw有一个9英尺的机身和一个13.6英尺的翼展。它由一个安装在尾部的17马力(HP)汽油发动机提供动力。作为正常装备，Outlaw没有起落架。相反，它是从轨道发射器气动发射，然后滑到腹部着陆。Outlaw的后一方面在这一工作中造成了一些困难，将在后面描述。
Figure 2 CDL Griffon Aerospace Outlaw UA
Compared to other similar-sized UAs, the Outlaw is fast and maneuverable. These characteristics are desirable in a target vehicle; however, one of the tradeoffs of this design is a limited payload. The Outlaw UA weighed approximately 84 pounds (lbs) for this exercise. The nominal video payload, flight control system, and batteries brought the empty weight up to 87 lbs. When fueled for a one hour flight, the Outlaw weighed approximately 97 lbs. The rated maximum takeoff weight is 120 lbs. Thus the Outlaw, in spite of its size, had a useful payload capacity of approximately 25 lbs. The manufacturer originally delivered the Outlaw with a fixed landing gear that allowed normal soft-field landings without skidding on the belly – although the aircraft still needed to be rail-launched for unimproved field operations. However, the performance of the aircraft with the landing gear in place was so degraded during hot, humid days that, in the interest of safety to the aircraft, the landing gear were removed early in the flight testing.
与其他类似大小的无人机相比，Outlaw具有快速和可操作性。这些特性在目标车辆中是理想的；然而，这种设计的权衡之一是有限的有效载荷。在这次演习中的Outlaw无人机体重约84磅（磅）。标称视频有效载荷、飞行控制系统和电池使空重量可达87磅。经过一个小时的飞行燃料后，Outlaw重约97磅。额定最大起飞重量为120磅。因此，尽管体积庞大，却有大约25磅的有效载荷。制造商最初交付的是一个固定的起落架，允许在正常的软场着陆而不会在腹部打滑——尽管飞机仍然需要通过轨道发射，以进行未改进的野外操作。然而，在起落架的炎热潮湿的天气里，飞机的性能非常下降，为了飞机的安全，起落架在飞行测试的早期就被移除了。
The Outlaw, as produced by Griffon Aerospace, is not an autonomous vehicle. It is equipped to operate manually (similar to a model Radio Control [RC] aircraft) using a Commercial-off-the- Shelf (COTS) RC controller. The RC controller provides six channels of proportional control and operates using a frequency-hopping spread-spectrum transmission mechanism on the 2.4 gigahertz (GHz) Industrial, Scientific and Medical (ISM) band.
格里芬航空航天公司生产的“Outlaw”不是自动飞行器。它配备使用商用货架(COTS)遥控控制器手动操作（类似于无线电控制飞机）。RC控制器提供6个通道的比例控制，并在2.4千兆赫(GHz)工业、科学和医学(ISM)频段上使用跳频扩频传输机制进行运行。
2.2Flight Control System飞行控制系统
The addition of an FCS to the Outlaw was required for the exercise. The FCS is needed to make the aircraft fly autonomously. While manual flying for an exercise like this is possible, it is very tedious for the controller/pilot, especially for an extended period of time and at the extended range and altitudes flown. It is also nearly impossible for a pilot to manually fly a repeatable pattern and maintain a stable altitude, which are optimal for testing antenna or payload effectiveness. In addition, an FCS is required to provide the metadata necessary to implement the USIP 1-compliant transport stream that includes both video and metadata.
这次演习需要在Outlaw无人机上附加一个FCS。需要FCS才能使飞机自主飞行。虽然在这样的演习中手动飞行是可能的，但对控制器/飞行员来说是非常乏味的，特别是在长时间和在延长飞行范围和高度飞行。飞行员也几乎不可能手动飞行一个可重复的模式，并保持一个稳定的高度，这是测试天线或有效载荷有效性的最佳选择。此外，FCS需要提供必要的元数据来实现符合USIP 1的传输流，该传输流包括视频和元数据。
2.2.1Aircraft Control飞行棋器控制
The FCS architecture implemented on the Outlaw is shown in Figure 3. This FCS has been under development at the Virginia Commonwealth University (VCU) since 2003.
在Outlaw上实现的FCS架构如图3所示。自2003年以来，它一直在弗吉尼亚联邦大学(VCU)的开发过程中。
Figure 3 Flight Control System Architecture
The FCS is based on a commercial single board computer called the Suzaku. The Suzaku includes a Field Programmable Gate Array (FPGA) device that allows the user to design and implement custom digital hardware. Inside this FPGA is a 32-bit microcontroller called a Microblaze. The Microblaze on the Suzaku runs a version of the Linux operating system called uCLinux.
FCS是基于一种叫做飞雀的商用单板计算机。朱雀包括一个现场可编程门阵列(FPGA)设备，允许用户设计和实现定制的数字硬件。在这个FPGA中有一个叫做微机的32位微控制器。朱雀上的微型机器人运行一个名为uCLinux的Linux操作系统。
The Microblaze receives navigation information at 4 Hz from a Ublox Global Positioning Service (GPS) receiver. The navigation information includes position, in the form of Latitude, Longitude, and Altitude (LLA), and velocity, in the form of East, North, and Up (ENU) speeds. This information is used to control the aircraft and navigate it to the specified waypoints in the desired flight path.
微波无线电从Ublox全球定位服务(GPS)接收器接收4Hz的导航信息。导航信息包括位置，以纬度、经度和高度(LLA)的形式，以及速度，以东、北、上(ENU)速度的形式。此信息用于控制飞机，并将其导航到所需飞行路径中的指定路径点。
Aircraft state information, including attitude (pitch, roll, and yaw), airspeed, and barometric altitude are provided to the Microblaze through Analog to Digital Converters (ADCs). The sensors for altitude and airspeed are standard pressure transducers used in most commercial, small UA autopilots. The sensors for aircraft attitude are somewhat unique for this application. Most commercial autopilots use a multitude of sensors such as rate gyros, angular accelerometers, and magnetometers to generate an attitude solution. However, this method, unless implemented carefully, can result in an attitude solution that can be “tumbled” by maneuvers of the aircraft often ending with disastrous results. In most cases this tumbling, or failure of the instrument to indicate the correct aircraft attitude, is caused by some aspect of the aircraft’s motion, such as angular rates or linear accelerations, going over that which the instrument can handle. This is a significant consideration with the Outlaw as it undergoes a longitudinal acceleration of over 12 G’s when pneumatically launched – which can tumble even the most robust attitude systems.
飞机状态信息，包括姿态（俯仰、滚动和偏航）、空速和气压高度通过模拟数字转换器(adc)提供给微波激光器。高度和空速传感器是大多数商业、小型无人机自动驾驶机中使用的标准压力传感器。飞机姿态传感器在这种应用中是有些独特的。大多数商用自动驾驶仪使用多种传感器，如速率陀螺仪、角加速度计和磁力计来生成姿态解决方案。然而，这种方法，除非仔细执行，可能会导致一个姿态解决方案，可以被飞机的机动“翻滚”，往往以灾难性的结果结束。在大多数情况下，这种翻滚，或仪器无法显示正确的飞机姿态，是由于飞机运动的某些方面引起的，如角速率或线性加速度，超过了仪器能够处理的东西。这是一个重要的考虑因素，因为当气动启动时，它经历了超过12g的纵向加速——即使是最强大的姿态系统也可能翻滚。
The FCS attitude solution was provided by Infrared (IR) sensors. The IR sensors sense the difference between the earth (warm) and the sky/space (cold) to determine the position of the horizon. This method of measuring pitch and roll is more robust, albeit somewhat less precise, than a gyro/accelerometer/magnetometer-based attitude solution. The Outlaw yaw or heading is derived from the velocity measurements provided by the GPS system and the determination that, in most cases, a fixed wing aircraft is generally pointed in the direction that it is traveling.
FCS姿态解决方案由红外(IR)传感器提供。红外传感器可以感知地球（温暖）和天空/空间（冷）之间的差异，以确定地平线的位置。这种测量俯仰和滚动的方法比基于陀螺仪/加速度计/磁强计的姿态解决方案更可靠，尽管有些不那么精确。非法偏航或航向是由GPS系统提供的速度测量结果得出的，即在大多数情况下，固定翼飞机通常指向其飞行的方向。
The FCS can communicate with a ground operator through a 900 MHz bi-directional data link. The operator views the state of the vehicle and communicates commands to the FCS through a GCS. The GCS, also developed by VCU, allows the operator to change the UAs altitude or airspeed. The flight path can be changed by providing a new sequence of waypoints to follow. The operator can also monitor the performance of the vehicle and the FCS through the GCS displays. These displays include an altitude, attitude, and airspeed indication, as well as a moving map display that shows the vehicle’s position and track over the ground and the current desired flight path determined by the waypoint sequence.
FCS可以通过一个900MHz的双向数据链路与地面操作员进行通信。操作员会查看车辆的状态，并通过GCS向FCS通信命令。GCS，也是由VCU开发的，允许操作员改变无人机的高度或空速。飞行路径可以通过提供一个新的路径点序列来改变飞行路径。操作员还可以通过GCS显示器监控车辆和FCS的性能。这些显示包括高度、姿态和空速指示，以及移动地图显示，显示车辆在地面上的位置和轨迹，以及由路径点序列确定的当前期望的飞行路径。
Finally, the FCS can monitor the aircraft commands from the ground-based safety pilot and provide commands to the aircraft’s control surfaces through custom designed Pulse-Width Modulation (PWM) interfaces. These interfaces, implemented in the FPGA along with the Microblaze, allow the FCS to read the safety pilot’s PWM commands from the RC receiver, including the command signal that allows it to take over aircraft control from the ground-based safety pilot. The interfaces also allow the Microblaze to generate the necessary PWM signals to control the aircraft surfaces when in autonomous mode.
最后，FCS可以监控来自地面安全飞行员的飞机指令，并通过定制设计的脉宽调制(PWM)接口向飞机的控制面提供指令。这些接口在FPGA中实现，允许FCS从RC接收器读取安全飞行员的PWM命令，包括允许它从地面安全飞行员手中接管飞机控制的命令信号。该接口还允许微无线电产生必要的PWM信号，以以自主模式控制飞机表面。
A COTS UA “safety switch” is used to select the command mode to the Outlaw’s surface actuators. This switch, manufactured by Electrodynamics, Inc., uses one input from the ground safety pilot receiver to switch command of the surface actuators between the remaining channels in the ground safety pilot receiver and the FCS. Thus, the ground-based safety pilot must “relinquish” control of the aircraft to the FCS for autonomous control and can take back command of the aircraft from the FCS at any time. This capability is needed as a safety feature to allow the ground-based safety pilot to steer the aircraft away from personnel and vehicles or to prevent a “fly-away” in the event of an FCS failure
一个COTSUA“安全开关”用于选择对Outlaw的表面执行器的命令模式。该开关由电动力学公司制造，使用来自地面安全先导接收器的一个输入，在地面安全先导接收器和FCS中的其余通道之间切换表面执行器的命令。因此，地面安全飞行员必须将对飞机的控制“放弃”给FCS以进行自主控制，并可以在任何时候从FCS手中收回对飞机的指挥权。这种能力需要作为一种安全特性，以允许地面安全飞行员驾驶飞机远离人员和车辆，或防止在FCS故障时“飞走”。
2.2.2Metadata Generation元数据生成
In addition to controlling the aircraft, the FCS is responsible for generating properly formatted metadata for inclusion in the Moving Picture Experts Group (MPEG)-2 transport stream (TS) transmitted to the ground. The metadata is transmitted using the USIP 1 format. The USIP 1 implementation convention uses the Standard-CDL (STD-CDL) waveform and includes standards for video compression, metadata format, and TS generation. For this exercise, the metadata was formatted in compliance with the Motion Imagery Standards Board (MISB) Engineering Guideline (EG) 0601.1, UAS Data link Local Metadata Set standard. EG0601.1 is a Key-Length-Value (KLV) metadata specification. It specifies an initial byte code (the key), which identifies the type of data to follow, the length (in bytes) of the data to follow, and then the bytes of the actual data. All of the KLVs outlined in the EG0601.1 standard need not be present in every implementation to be compliant with the standard. The subset of KLVs selected for implementation in this exercise is listed in Table 1.
除了控制飞机之外，FCS还负责生成正确格式化的元数据，以便纳入运动图像专家组(MPEG)-2传输到地面的传输流(TS)。该元数据将使用USIP 1格式进行传输。USIP 1实现约定使用标准-CDL(STD-CDL)波形，并包括视频压缩、元数据格式和TS生成的标准。在这个演习中，元数据的格式化符合运动图像标准委员会(MISB)工程指南(EG)0601.1，UAS数据链接本地元数据集标准。EG0601.1是一个键长度值(KLV)元数据规范。它指定一个初始字节码（键），它标识要遵循的数据类型、要遵循的数据的长度（以字节计），然后是实际数据的字节。EG0601.1标准中概述的所有klv不需要在每个实现中都能符合该标准。表1列出了在本演习中选择要实现的klv的子集。
Table 1 USIP 1 Metadata KLVs Provided by the FCS
Information Key
Value
(hex)
Length
(hex)
Decoding
Example value
Checksum
01
02
Lower 16-bits of summation. Performed on entire LDS packet, including 16-byte UDS key and 1-byte checksum length.
Unix Time Stamp
02
08 Microseconds elapsed since midnight, January 1, 1970
Mission ID
03
var
Null terminated string, maximum length is 127 bytes 4a 49 50 2f 55 41 53 20 44 65 6d 6f 00 = “JIP/UAS Demo”
Platform Tail Number
04
var Null terminated string, maximum length is 127 bytes
53 31 00 = “S1”
Platform Heading Angle
05
02
Map unsigned integer, 0…(2^16-1) to 0…360°
CC 15 = 286.99°
Platform Pitch Angle
06
02 Map signed integer,
-(215-1)…(215-1) to +/-20°
0b d8 = 1.851°
Platform Roll Angle
07
02 Map signed integer,
-(215-1)…(215-1) to +/-50°
0d 0a = 5.094°
Platform True Airspeed
08
01
0…255 meters/sec
1e = 30 m/s
Sensor Latitude
0d
04 Map signed integer,
-(231-1)…(231-1) to +/-90
36 2e 0b 00 = 38.095211
Sensor Longitude
0e
04 Map signed integer,
-(231-1)…(231-1) to +/-180
c9 0e 2a 00 = -77.265945°
Sensor Altitude
0f
02 Map unsigned integer, 0…(2^16-1) to -900m…19000m
0b 8f = -1.4862m below MSL
Platform Ground Speed
38
01
0…255 meters/sec
1e = 30 m/s
Because of the hardware and software architecture used by the FCS, it was relatively simple to add a serial port and the software required to generate accurate metadata in the EG0601.1 format.
由于FCS使用的硬件和软件体系结构，添加一个串口和以EG0601.1格式生成精确元数据所需的软件相对简单。
2.3Digital Video System 数字视频系统
The digital video system for the exercise was designed to meet specific requirements without being overly complex and expensive. The system was not intended to obtain actual actionable intelligence, just simulate the data requirements of such a system and have the necessary resolution to allow evaluation of the quality of the overall video delivered to the ground. The requirements included a system that supported a minimum 720 X 480 full D1 resolution, 30 frames per second, and had some type of optical zoom that could be externally controlled. The latter requirement was necessary to obtain useable pictures of the ground from an altitude of 4000 feet. For this exercise, an externally controlled pan and tilt camera/gimble was not needed.
演习的数字视频系统被设计以满足特定的要求，而不会过于复杂和昂贵。该系统的目的并不是为了获得实际的可操作的智能，只是为了模拟这样一个系统的数据需求，并有必要的分辨率以允许评估交付到地面的整体视频的质量。这些要求包括一个系统，支持至少720X480全D1分辨率，每秒30帧，并有某种类型的光学变焦，可以由外部控制。后一项要求对于获得4000英尺高度的地面图片是必要的。在这个演习中，不需要一个外部控制的底锅和倾斜相机/框架。
The video system consists of the camera, which outputs National Television System Committee (NTSC) analog video, an MPEG-2 encoder provided by Cornet Technologies, Inc., and the Cubic Defense Applications (Cubic) Mini-CDL downlink transceiver in the aircraft. On the ground, the TP-CDL transceiver serves as the Radio Frequency (RF) link to the aircraft for the video downlink. The complete video system, as mounted in the Outlaw aircraft, is shown in Figure4.
该视频系统包括摄像机，它输出国家电视系统委员会(NTSC)模拟视频，由Cornet技术公司提供的MPEG-2编码器，以及飞机上的Cubic防御应用（Cubic）迷你CDL下行收发器。在地面上，TP-CDL收发器作为射频(RF)连接到飞机的视频下行连接。安装在非法飞机上的完整视频系统如图4所示。
Figure 4 Digital Video Equipment Mounted in the Outlaw
2.3.1Camera摄像头
The camera installed in the UA was a Cannon PowerShot A460 Digital Camera. The A460 is a 5 mega pixel digital camera with a built-in optical zoom. The zoom lens has a focal length equivalent to 38 - 152mm in 35mm format. In addition, there is a 4X digital zoom. The camera was modified for this exercise to allow the optical zoom and still picture capture functions to be controlled from the ground via commands to the FCS. To do this, the firmware in the camera was replaced with a modified version (available on the web) that reads commands into the camera from PWM signals input to the power connection on the camera’s Universal Serial Bus (USB) port. The FCS was modified (both in hardware and software) to receive commands from the GCS, such as “zoom in,” or “zoom out,” and translate them to the appropriate PWM signals on a USB output connector. In addition, the camera could also be shut down upon command from the ground. This was done at the end of each flight so that the camera’s lens would be retracted into the case for landing, thus reducing the chance that the camera would be damaged during the Outlaw’s skid landing.The A460 can be setup in a mode where it outputs the picture in the viewfinder, which normally appears on the built-in Liquid Crystal Display (LCD) screen, as 720 X 480 resolution NTSC color video. This NTSC video stream is then fed into a digital video encoder before moving to the Mini-CDL.
安装在UA的摄像头是一个A460数码相机。A460是一款500万像素的数码相机，内置了光学变焦功能。变焦镜头的焦距相当于38-152毫米，35毫米格式。此外，还有一个4倍的数码变焦镜头。为此，我们对照相机进行了修改，允许通过对FCS的命令从地面控制光学变焦和静止图像捕获功能。为此，摄像头中的固件被一个修改版本（可在网络上使用）取代，该版本从PWM信号输入到摄像头通用串行总线(USB)端口的电源连接中读取命令。FCS被修改（硬件和软件），以接收来自GCS的命令，如“放大”或“缩小”，并将它们转换为USB输出连接器上适当的PWM信号。此外，摄像机也可以在来自地面的命令下关闭。这是在每次飞行结束时完成的，这样相机的镜头就会缩回到外壳中进行着陆，从而减少了相机在亡命之徒的打滑着陆时被损坏的机会。A460可以设置在一种模式下，它可以输出在取景器中的图片，这通常出现在内置的液晶显示器(LCD)屏幕上，作为720X480分辨率的NTSC彩色视频。在移动到Mini-CDL之前，这个NTSC视频流被输入一个数字视频编码器。
2.3.2Video Encoder 视频编码器
Obtaining an MPEG-2 encoder with the ability to combine both video and metadata into a transport stream was one of the more challenging tasks. Three vendors were identified as having products suitable for use with the Level 2, USIP 1: Cubic, Delta Digital Video, and L-3 Communications. These vendors had demonstrated some success with MPEG-2 transport stream encoding and decoding but were unable to support our exercise at the time the encoding/decoding equipment was needed.
获得一个能够将视频和元数据合并到传输流中的MPEG-2编码器是一个更具挑战性的任务之一。三家供应商被确定为产品适合用于2级，USIP 1：Cubic，Delta数字视频和L-3通信。这些供应商在MPEG-2传输流编码和解码方面取得了一些成功，但在需要编码/解码设备时无法支持我们的演习。
Fortunately, Cornet Technology, Inc (Cornet) was able to develop an MPEG-2 encoder in time to meet our demanding schedule. When Cornet was first contacted, their product line did not include an MPEG-2 encoder capable of metadata ingestion; however, they were developing a beta version H.264 (MPEG-4) encoder with this capability. Cornet was able to immediately provide this encoder, as well as a hardware decoder, for testing. Although the Joint Interoperability Profile (JIP) calls for MPEG-2 encoding rather than H.264, the technologies are similar, and the USIP 1 which expands on the JIP, calls for both MPEG-2 and H.264 capability. Availability of the H.264 equipment from Cornet allowed the team to move forward with field testing while waiting for development of the MPEG-2 capability.
幸运的是，短号技术公司(Cornet)能够及时开发出一个MPEG-2编码器，以满足我们的要求的时间表。当第一次联系Cornet时，他们的产品线不包括能够摄取元数据的MPEG-2编码器；然而，他们正在开发具有这种能力的beta版本H.264(MPEG-4)编码器。Cornet能够立即提供这个编码器，以及一个硬件解码器，以进行测试。尽管联合互操作性配置文件(JIP)需要MPEG-2编码，而不是H.264，但技术是相似的，而扩展了JIP的USIP 1，同时需要MPEG-2和H.264的能力。Cornet提供的H.264设备使团队能够在等待MPEG-2能力的开发的同时继续进行现场测试。
Concurrently, Cornet developed the metadata ingestion capability for their MPEG-2 iVDO Streamer M encoder. The initial implementation of this capability required some modification to handle the Packetized Elementary Stream (PES) format. PES packets, which are variable length, were initially forced into fixed–length packets and any remaining bytes were filled with 0xFF. This worked well with the Cornet-provided hardware decoder, but did not work as well with third party decoders. Cornet subsequently provided a revision of the iVDO encoder firmware that implemented a modified algorithm and enabled the metadata to be successfully decoded by third party decoders. Cornet also introduced new encoder firmware to enable the modification of Packet Identification (PID) for the elementary streams. The encoder firmware provided a capability to set the PIDs for both the video and metadata elementary streams to ensure compatibility with third party decoders looking for streams on specific PIDs.
同时，Cornet为他们的MPEG-2iVDO流线型M编码器开发了元数据摄取能力。该功能的初始实现需要进行一些修改来处理数据包化的基本流(PES)格式。PES数据包是可变长度的，最初被强制进入固定长度的数据包，任何剩余的字节都用0xFF填充。这与cornet提供的硬件解码器工作得很好，但不如第三方解码器工作。Cornet随后提供了iVDO编码器固件的修订，实现了修改后的算法，并使元数据能够被第三方解码器成功解码。Cornet还引入了新的编码器固件，以允许修改基本流的分组识别(PID)。编码器固件提供了一种为视频和元数据基本流设置pid的能力，以确保与在特定pid上寻找流的第三方解码器的兼容性。
2.3.3Mini-CDL and TP-CDL
The actual CDL RF link was implemented using a developmental Mini-CDL unit provided by Cubic. The Cubic Mini-CDL was developed under an Air Force Research Laboratory (AFRL contract designed to spur development of STD-CDL compliant terminals for smaller size tactical UAS. The Mini-CDL is compliant with the STD-CDL Specification (Revision F-1, Annex B).
实际的CDL射频链路是使用由Cubic提供的发展性Mini-CDL单元实现的。立方的Mini-CDL是在一个空军研究实验室下开发的(AFRL合同，旨在促进符合STD-CDL标准的小型战术UAS终端的开发。Mini-CDL符合STD-CDL规范（修订版F-1，附录B）。
Configuration settings for the Mini-CDL are provided in Table 2.
表2提供了Mini-CDL的配置设置。
Table 2 Mini-CDL and TP-CDL Configuration Settings
Parameter Setting
Forward Link Frequency 15250 MHz
Return Link Frequency 14615 MHz
Forward Link Waveform BR-0.2
Return Link Waveform BR-10.71B
Executive Function Handshake IDL
P/N Code A6
Data Processing Annex B (Ethernet/Generic Framing Procedure)
COMSEC N/A
Video Encoder/Decoder Multi-cast Address 239.192.168.1
Video Encoder/Decoder User Datagram Protocol (UDP) Port
16400
USIP Metadata Fields Displayed Automatically decoded- Mission ID, Vehicle Location (latitude, longitude and altitude) and Tail ID.
The CDL transceiver was installed in the Outlaw on the same mounting plate as the Cornet decoder. The aluminum plate also served as a heat sink for the CDL transceiver. During ground testing, it was found that this plate became quite warm in a fairly short period of time, so an air scoop to draw in cooling air in flight was fabricated on the side of the Outlaw just forward of the equipment mounting plate. Several holes were cut into the hatch cover of the equipment bay to allow the hot air to exit the compartment. No problems with equipment overheating occurred during the flight testing or exercise.
CDL收发器安装在非法在同一安装板上。铝板也可以用作CDL收发器的散热器。在地面测试中，发现这个板在相当短的时间内变得相当温暖，所以在设备安装板前面的歹徒的侧面制造了一个空气勺来在飞行中吸入冷却空气。在设备舱间的舱口盖上开了几个孔，以便让热空气离开隔间。在飞行测试或演习期间，没有出现设备过热的问题。
Cubic provided the CDL antenna, which was a ¼ wave dipole with an integral ground plane. For optimum performance, the antenna needed to be mounted on the bottom of the aircraft. However, this presented somewhat of a problem for the belly-landed Outlaw aircraft. To solve this problem, a raised skid was fabricated on the bottom of the Outlaw just forward of the antenna mounting area. This skid was approximately 1-1/2” higher than the antenna and was protected by replaceable aluminum scuff plates. This proved more than adequate to prevent any damage to the antenna during normal landings. The mounting of the antenna and the skid on the bottom of the aircraft is shown in Figure 5.
立方体提供了CDL天线，它是一个具有积分基平面的¼波偶极子。为了达到最佳的性能，天线需要安装在飞机的底部。然而，这给腹部着陆的非法飞机带来了一个有点问题。为了解决这个问题，在天线安装区域前方的底部制作了一个升高的滑板。这个打滑大约比天线高1-1/2英寸，并由可更换的铝磨损板保护。事实证明，这足以防止在正常着陆时对天线的任何损坏。天线的安装情况和飞机在飞机底部的打滑情况如图5所示。
Figure 5 CDL Antenna Mounting and Landing Skid
The CDL transmissions were received on the ground by the Cubic-developed TP-CDL transceiver. The TP-CDL was provided by the Marine Corps Systems Command’s TP-CDL Project Officer. The TP-CDL relayed the video transport stream onto a local network. The address of the transport stream was set to “broadcast,” so any address on the LAN could receive the stream. A local client program, running on the laptop used to control the TP-CDL transceiver, was used to display the video for the TP-CDL operators. This program was developed by the Cubic engineers and is an extended version of the VCD software viewer that includes the capability to de-multiplex, decode, and display the metadata in an MPEG-2 transport stream. A screenshot from one of the test flights is shown in Figure 6.
CDL传输信号由立方体开发的TP-CDL收发器在地面上接收。TP-CDL是由海军陆战队系统司令部的TP-CDL项目官员提供的。TP-CDL将视频传输流中继到一个本地网络上。传输流的地址被设置为“广播”，这样局域网上的任何地址都可以接收到传输流。在用于控制TP-CDL收发器的笔记本电脑上运行的一个本地客户端程序，用于为TP-CDL操作员显示视频。该程序是由Cubic工程师开发的，是VCD软件查看器的扩展版本，包括在MPEG-2传输流中去复用、解码和显示元数据的能力。图6显示了其中一个测试飞行的屏幕截图。
Figure 6 Digital Video Stream Ground Display – with Metadata
2.4Ground Systems
The Joint Tactical Common Operational Picture (COP) Workstation (JTCW) and VideoScout® ground systems used in the exercise represented the C2 situational awareness (SA) and Intelligence, Surveillance and Reconnaissance (ISR) visualization systems designed for battalion Combat Operation Centers (COCs) and Company–level Fires Support Teams. The exercise involved integrating these systems with the STD-CDL transceiver and USIP-formatted data stream to present the video and metadata in real-time.
演习中使用的联合战术通用作战图(COP)工作站(JTCW)和VideoScout®地面系统代表了C2态势感知(SA)和情报、监视和侦察(ISR)可视化系统。该演习涉及将这些系统与STD-CDL收发器和USIP格式的数据流集成起来，以实时呈现视频和元数据。
2.4.1C2 Ground Systems Architecture
The C2 ground systems architecture as shown in Figure 7 included multiple networked components to facilitate communication and data dissemination. The TP-CDL and a “controller” laptop comprised the ground receive station. The TP-CDL receives the data stream from the aircraft and multi-casts it on the network as a UDP stream. Using this multi-cast configuration, any number of devices can connect to the network and receive the data stream. For the exercise, C2 applications and data conversion software were hosted on two laptops. A desktop Personal Computer (PC) was used to host the VideoScout® system.
如图7所示的C2地面系统体系结构包括多个网络组件，以促进通信和数据传播。TP-CDL和一个“控制器”笔记本电脑组成了地面接收站。TP-CDL接收来自飞机的数据流，并将其作为UDP流多次传输到网络上。使用这种多播集配置，任意数量的设备都可以连接到网络并接收数据流。在这个演习中，C2应用程序和数据转换软件被托管在两台笔记本电脑上。使用台式个人电脑(PC)来托管视频侦察®系统。
Figure 7 Ground Systems Network
2.4.2C2 and Video Exploitation Systems
The software applications used in this exercise were divided into two main categories: C2 software and video exploitation software. The video exploitation applications are more than simple video players/viewers. These applications provide video clipping and still frame capture, Digital Video Recorder (DVR) functions, and display textual information contained in video metadata. A summary of the C2 and video exploitation applications evaluated in the exercise is provided in Table 3.
本演习中使用的软件应用程序主要分为两大类：C2软件和视频开发软件。视频开发应用程序不仅仅是简单的视频播放器/观看器。这些应用程序提供了视频剪辑和静态帧捕获，数字录像机(DVR)功能，以及显示视频元数据中包含的文本信息。表3提供了在练习中评估的C2和视频开发应用程序的摘要。
Table 3 C2 and Video Exploitation Applications
Software Version Capability
Command and Control PC (C2PC) 6.1.1 P4 Mapping
Joint Battlespace Viewer (JBV) 6.1.1 Mapping (3D) w/ Video Overlay
FalconView 3.3.1 Mapping
Google Earth 4.3.7284.3916 Mapping (3D)
VideoScout® Insyte 3.3 Video Exploitation/Server
PAR® GV™ 3.0 Build 945A Video Exploitation
VCD beta Video Exploitation
2.4.2.1C2 Applications 命令控制应用
The JTCW version 1.0 is a Windows XP – based suite of applications designed for battalion and above to facilitate military C2 functions by improving SA and enhancing operational and tactical decision-making. JTCW includes multiple COTS (e.g. Microsoft Office) and Government-off-the- Shelf (GOTS) [e.g. C2 Personal Computer (C2PC)] software applications, and application extensions that provide additional functionality. Hardware meeting the target system specifications for a complete software load of JTCW was not available at the time of the exercise, so specific C2 applications were selected and used. These were C2PC and Joint Battlespace Viewer (JBV). In addition, the Cursor-on-Target (CoT) injector application extension for C2PC was installed.
JTCW 1.0版本是一套基于Windowsxp的应用程序，为营及以上人员设计，通过改进SA和增强作战和战术决策来促进军事C2功能。JTCW包括多个COTS(如微软Office)和政府外货架(GOTS)[例如C2个人计算机(C2PC)]软件应用程序，以及提供附加功能的应用程序扩展。在演习时，没有满足目标系统规范的JTCW完整软件负载的硬件，所以选择并使用了特定的C2应用程序。这些数据分别是C2PC和联合战斗空间查看器(JBV)。此外，还安装了C2PC的目标光标(CoT)喷射器应用程序扩展。
The JBV is a 3-D visualization program that provides the user with a whole earth representation on a PC. It provides visualization capabilities similar to those offered with C2PC, such as the display of map and terrain data, tracks and overlays in a 3-D environment. JBV also provides video exploitation capabilities, such as the ability to display geo-rectified video overlaid on a map; however, JBV is not capable of interpreting the USIP EG0601.x format metadata. The JBV User Manual for version 6.6 states, “Currently, only video data streams which conform to Motion Imagery Standards Board (MISB) Engineering Guideline (MISB EG) 0104.4 and Predator Closed Caption Electronic Software Distribution (ESD) System have been tested.”
JBV是一个3d可视化程序，为用户提供了一个在PC上的整个地球表示。它提供了类似于C2PC的可视化功能，如地图和地形数据的显示、三维环境中的跟踪和覆盖。JBV还提供了视频开发功能，例如能够显示覆盖在地图上的地理修正视频；然而，JBV不能解释USIP EG0601。x格式的元数据。JBV 6.6版的用户手册指出：“目前，只有符合运动图像标准委员会(MISB)工程指南(MISB EG)0104.4和捕食者封闭标题电子软件分发(ESD)系统的视频数据流才进行了测试。”
While the primary focus of the exercise was to interface with JTCW applications, integrating other software tools (e.g., FalconView and Google Earth) was a fairly easy task because of simple CoT provided tools, such as the CoT FalconView Driver and the CoT Keyhole Markup Language (KML) Server (Beta).
虽然演习的主要重点是与JTCW应用程序接口，但集成其他软件工具（例如，猎鹰视图和谷歌地球）是一个相当简单的任务，因为CoT提供了简单的工具，如CoT猎鹰视图驱动程序和CoT钥匙孔标记语言(KML)服务器(Beta)。
2.4.2.2Video Exploitation Applications 视频开发应用程序
PAR® GV™ supports nearly all of the DoD formats for still and motion imagery. Its ability to parse KLV metadata was of particular interest. PAR® GV™ also provides an Application Programming Interface (API) so developers can create plug-ins to access the KLV metadata (e.g., a MITRE CoT tool described in Section 2.4.3 uses the API to generate CoT messages from video metadata).
PAR®GV™支持几乎所有的国防部的静止和运动图像格式。它解析KLV元数据的能力特别值得关注。PAR®GV™还提供了一个应用程序编程接口(API)，因此开发人员可以创建插件来访问KLV元数据(例如，第2.4.3节中描述的mitreCoT工具使用API从视频元数据生成CoT消息)。
VideoScout® Insyte is developed by L3 Communications, Inc. One important note about Insyte is that the DVR functions are only available when the software is on a system that contains the VideoScout® hardware. VCD is a video viewer developed by Cubic to accompany the TP-CDL. It is able to display a small subset of EG0601.x metadata keys.
®Insyte是由L3通信公司开发的。关于Insyte的一个重要注意事项是，DVR功能只有在软件在包含视频oscout®硬件的系统上才可用。VCD是由Cubic开发的伴随TP-CDL的视频查看器。它能够显示EG0601的一个小子集。x元数据键。
The primary challenge faced with the ground systems was the integration of the C2 and video exploitation systems with video containing metadata in the newer EG0601.1 format. CoT was identified early in the planning stages as key to system interoperability. Also of consideration was the fact that while the video exploitation systems could playback the USIP video, they could not make use of various capabilities that required metadata, such as Insyte’s geographic search capability.
地面系统面临的主要挑战是将C2和视频开发系统与包含较新的EG0601.1格式的视频元数据的系统集成。CoT在规划阶段的早期就被确定为系统互操作性的关键。同样需要考虑的是，虽然视频开发系统可以回放USIP视频，但它们不能使用需要元数据的各种功能，比如Insyte的地理搜索能力。
2.4.3Video and Metadata Processing视频和元数据处理
One approach for integrating the USIP-compliant video data with the C2 applications was to convert the video metadata from the EG0601.1 format to the older EG0104.5 format. The C2 and ISR applications were capable of exploiting video with EG0104.5 formatted metadata, either through native capabilities or through additional plug-ins and tools.
将符合USIP的视频数据与C2应用程序集成的一种方法是将视频元数据从EG0601.1格式转换为较旧的EG0104.5格式。C2和ISR应用程序能够利用EG0104.5格式的元数据，通过本地功能或通过其他插件和工具。
Collaboration with MITRE CoT engineers revealed that they had developed a method for generating CoT messages from metadata in MPEG-2 video. The method uses PAR® GV™ and its API that exposes KLV metadata. MITRE developed a prototype plug-in that uses the GV API to access the metadata, convert it to a CoT message, and publish the message via a UDP or Transmission Control Protocol (TCP) port. MITRE engineers had verified that this method worked for EG0104.5 metadata, but not for EG0601.1 because they did not have any videos containing EG0601.1 metadata. (The prototype was developed in 2007, prior to MISB posting sample videos with EG0601.1 metadata.) The exercise verified that while this method could be used for EG0601.1, it would require software changes to PAR® GV™ and the MITRE plug-in.
与mitreCoT工程师合作发现，他们开发了一种从MPEG-2视频中的元数据生成CoT消息的方法。该方法使用PAR®GV™及其公开KLV元数据的API。Mitre开发了一个原型插件，它使用GVAPI来访问元数据，将其转换为CoT消息，并通过UDP或传输控制协议(TCP)端口发布消息。Mitre工程师已经验证了这种方法适用于EG0104.5元数据，但不适用于EG0601.1，因为他们没有任何包含EG0601.1元数据的视频。(这个原型是在2007年开发的，在MISB发布带有EG0601.1元数据的样本视频之前。)该演习验证了虽然该方法可以用于EG0601.1，但它需要对PAR®GV™和mitre插件进行软件更改。
Concurrent with the exploration of the MITRE CoT approach, the team identified a Software Developers Kit (SDK)/Toolkit from LEAD Technology called LEADTools. The LEADTools suite provides functions and interfaces to process imagery: Coders/Decoders (CODECs), multiplexers, filters, etc. At that time, the software supported parsing and manipulation of KLV metadata, including specific tags for the EG0104.x metadata format.
在探索冠状冠技术方法的同时，该团队确定了一个来自LEAD技术的软件开发工具包(SDK)/Tools。LEADTools套件提供了处理图像的功能和接口：编码器/解码器(CODECs)、多路复用器、过滤器等。当时，该软件支持对KLV元数据的解析和操作，包括针对EG0104.x元数据格式的特定标签。
The lack of support for the new metadata format led to the team’s decision to integrate the systems by converting the EG0601.x metadata to EG0104.x to create an MPEG-2 transport stream compliant with the older standard. The EG0601.x document provides instructions on how to convert the data for each individual key; however, in order to be utilized by current C2 applications, the entire MPEG-2 transport stream has to be converted.
由于缺乏对新元数据格式的支持，该团队决定通过将EG0601.x元数据转换为EG0104.x来集成系统，以创建符合旧标准的MPEG-2传输流。EG0601.x文档提供了关于如何转换每个单独键的数据的说明；但是，为了被当前的C2应用程序使用，必须转换整个MPEG-2传输流。
Five major functions of the converter were identified: de-multiplex KLV Private Data Stream (PDS) from transport stream, parse KLV, convert keys, construct EG0401.x PDS, and multiplex PDS with MPEG-2 video stream. Using the LEADTools SDK, the team developed software to accomplish the first four functions; however, the team also determined that the functions available in LEADTools could not multiplex the streams into the required MPEG-2 transport stream (this was verified with LEADTools developers). Additional custom software would have to be developed to multiplex the PDS and video streams. However, time constraints dictated an alternative, stopgap solution to create CoT messages directly from the parsed EG0601.x metadata.
确定了该转换器的五个主要功能：从传输流中去多路KLV私有数据流(PDS)、解析KLV、转换密钥、构建EG0401.xPDS和具有MPEG-2视频流的多路PDS。使用LEADToolsSDK，团队开发软件来完成前四个功能；然而，团队还确定，LEADTools中可用的功能不能将流复合到所需的MPEG-2传输流中(这已由LEADTools开发人员验证)。必须开发额外的定制软件来复用PDS和视频流。然而，时间限制规定了另一种替代的临时解决方案，可以直接从解析的EG0601.x元数据中创建CoT消息。
Only a subset of the EG0601.1 keys was used in the CoT message. A sample CoT message is shown in Figure 8. The conversion from EG0601 metadata to CoT was done in accordance with MISB EG 0805 - CoT Conversions for KLV Metadata4 (a draft EG at the time of development). The complete set of EG0601.1 CoT keys is provided in Table 5 at Appendix A.
在CoT消息中只使用了EG0601.1键的一个子集。图中的示例如图8所示。从EG0601元数据到CoT的转换是按照MISB EG0805-CoT转换(开发时的EG草案)完成的。EG0601.1CoT键的全套信息见附录A中的表5。
Figure 8 Example CoT Message
As a parallel effort, the LEAD Technologies team developed software to parse and display EG0601.x metadata. LEAD Technologies also began developing a multiplexing capability with an end goal of parsing, converting, and multiplexing metadata from an MPEG-2 transport stream with EG0601.x metadata to an MPEG-2 transport stream with EG0104.x metadata.
作为一个并行的工作，LEAD技术团队开发了一种软件来解析和显示EG0601。x元数据。LEAD技术还开始开发多路复用功能，最终目标是从具有EG0601的MPEG-2传输数据流解析、转换和复用元数据。x元数据到具有EG0104.x元数据的MPEG-2传输元数据。
There are video systems that are EG0601 capable, but these are mainly found at the battalion and above. These systems include Global C2 System-I3 (GCCS-I3), Primary Image Capture Transformation Element (PICTE) from Science Applications International Corporation (SAIC), Multimedia Analysis and Archive System (MAAS) from General Dynamics, and Image Product Library (IPL) from National Geospatial-Intelligence Agency (NGA).
有一些视频系统是EG0601的能力，但这些主要是发现在营和以上。这些系统包括全球C2系统-i3(GCCS-I3)、美国科学应用国际公司(SAIC)的主要图像捕获转换元件(PICTE)、通用动力公司的多媒体分析和档案系统(MAAS)以及美国国家地理空间情报局(NGA)的图像产品库(IPL)。
3Exercise Test Plan演习测试计划
A test plan was developed for component testing, integration, and final flight testing, exercise and demonstration. A risk reduction plan that included backup subsystems and systems was implemented. It required the team to approach and gain the cooperation and material assistance of vendors who were working on prototype mini-CDL transceivers (air vehicle) efforts, and to leverage existing government development programs for ground CDL terminals to build the required end-to-end interoperability solution. Several CDL vendors were contacted and offered the opportunity to participate in the exercise, but few were willing to support the effort required.
为部件测试、集成和最终飞行测试、演习和演示制定了测试计划。实施了一个包括备份子系统和系统在内的风险降低计划。它要求团队接近并获得从事原型mini-CDL收发器（飞行器）工作的供应商的合作和材料援助，并利用现有的政府对地面CDL终端开发项目来建立所需的端到端互操作性解决方案。我们联系了几个CDL供应商，并提供了参加演习的机会，但很少有人愿意支持所需的努力。
The test plan included the requirement to have at least one Mini-CDL vendor with an MPEG-2 encoder/decoder to allow us to get started by late June 2008. As a backup, other vendors were asked to participate if they had components available and the resources to participate. Cornet Technology joined the effort in July by providing an H.264 encoder with a promise of an MPEG- 2 encoder to follow in August. Additionally, a COTS 5.8 GHz digital data link system was procured as a backup to cover those times when the Mini-CDL was not available. This allowed for all but the lowest layers of the USIP protocol stack to be exercised (Ku band STD-CDL replaced by surrogate C band link, if needed). This also helped to substantiate the claim that the end-to-end system was truly “plug and play” compliant.
测试计划包括要求至少有一个带有MPEG-2编码器/解码器的Mini-CDL供应商，以便我们在2008年6月底之前开始工作。作为备份，如果其他供应商有可用的组件和资源，则要求他们参与。短号技术公司在7月加入了这项努力，提供了一个H.264编码器，并承诺在8月推出一个MPEG-2编码器。此外，还采购了一个COTS5.8 GHz数字数据链路系统作为备份，以覆盖Mini-CDL不可用的时间。这允许执行USIP协议堆栈的最低层以外的所有层(如果需要，将Ku带STD-CDL替换为代理C带链路)。这也有助于证实端到端系统是真正符合“即插即用”的说法。
The test plan also included a desire for the government or a vendor to provide Remote Video Terminal (RVT) systems capable of receiving and processing the USIP 1 protocols. The Army PM UAS with their One System RVT (OSRVT) was invited to participate and showed early interest in the project, but later backed out due to other commitments. Fortunately, the TP-CDL project office made a substantial commitment to fully participate in the exercise after several planning meetings and discussions.
该测试计划还包括希望政府或供应商提供能够接收和处理USIP 1协议的远程视频终端(RVT)系统的愿望。陆军总理UAS和他们的OneSystem RVT(OSRVT)被邀请参与并对该项目表现出兴趣，但后来由于其他承诺而退出。幸运的是，TP-CDL项目办公室在几次规划会议和讨论后作出了充分的承诺。
The exercise test schedule is presented in Table 4 below.
演习测试时间表如下表4所示。
Table 4 Exercise Test Schedule
1 Install VCU autopilot system in the Outlaw UA, checkout, and flight test. 1-18 Jul
2 Outline the detailed metadata format (JIP/USIP) required for insertion into TCDL. 21-25 Jul
3 Outline the EO sensor and digitization/compression capability required to operate with JIP and USIP.
21-25 Jul
4 Determine the RVT requirements to receive and display the data and video from the Outlaw UA. Obtain/develop the capability to receive/display this data locally at the Mark Schon, LLC location for testing.
28 Jul - 8 Aug
5 Extend the VCU autopilot system to output the metadata in the format outlined in Task 2. 4-8 Aug
6 Outfit the Outlaw UA with the EO sensor identified in Task 3. 11-15 Aug
7 Benchtest and debug the complete system, minus the actual TCDL transceivers (wired bench test), using the RVT capability developed in Task 4.
18-22 Aug
8 Integrate the TCDL transceivers into the system and bench test. 18-22 Aug
9 Flight test the complete UAV-to-RVT system. 25-29 Aug
10 Determine the requirements to distribute the UAS video and data beyond the local RVTs to back end JTCW and video servers. FBCB2? Video Services Approach - USMC vs Army
25-29 Aug
11 Develop or obtain required capabilities determined in Task 10 locally within MITRE and/or Mark Schon, LLC.
25-29 Aug
12 Benchtest the backend systems with the system resulting from Task 7. 2-5 Sep
13 Flight test the complete distribution solution, with the JTCW and video server with the system resulting from Task 9.
8-12 Sep
14 Perform the final exercise at Ft. A.P. Hill for the entire team and invited observers. 22-26 Sep
15 Analyze the results and document the entire exercise and results in the final report. 29 Sep - 3 Oct
16 Flight Demonstration at Ft. A.P. Hill for the entire team and invited observers. 27-31 Oct
4Results结果
Team activities leading up to the exercise involved the integration of multiple USIP 1–compliant components into the Outlaw and the ground systems. Two Outlaws were outfitted with the VCU FCS autopilots and flight tested in July 2008. In addition, numerous flights were conducted specifically for pilot training, aircraft checkout, and launch and recovery training. A total of 25 Outlaw flights were conducted from July 2008 until the final exercise in October 2008.
演习前的团队活动包括将多个符合USIP 1标准的组件集成到歹徒和地面系统中。两名逃犯配备了VCUFCS自动驾驶仪，并在2008年7月进行了飞行测试。此外，还专门为飞行员训练、飞机检查、发射和恢复训练进行了许多飞行。从2008年7月至2008年10月的最后一次演习，共进行了25次非法飞行。
During this period, the FCS was configured to output twelve of the USIP 1 standard KLV metadata keys to be time synchronized with the analog video from the onboard digital camera. In August 2008, the video and the corresponding KLV metadata were fed to the Cornet provided encoders (MPEG-2 and H.264) to generate the MPEG transport stream on the encoder’s Ethernet output. In September 2008, the transport stream was provided to the Ethernet input on a COTS Microhard VIP 5800 digital data link for testing onboard one of the Outlaws. This data link would serve as a backup and be used for flight testing until the Cubic provided Mini-CDL and government provided TP-CDL equipment could be made available.
在此期间，FCS被配置为输出12个USIP 1标准KLV元数据键，以与来自车载数码相机的模拟视频进行时间同步。在2008年8月，视频和相应的KLV元数据被输入到Cornet提供的编码器(MPEG-2和H.264)，以在编码器的以太网输出上生成MPEG传输流。在2008年9月，传输流被提供给COTS微硬盘VIP5800数字数据链路上的以太网输入，用于对其中一个非法用户进行测试。这个数据链路将作为备份，用于飞行测试，直到Cubic提供Mini-CDL和政府提供TP-CDL设备。
On 17 October 2008 the Cornet encoded transport stream was provided to the Ethernet input on the Cubic provided Mini-CDL platform communications equipment PCE and flight tested on the Outlaw with the TP-CDL equipment serving as the SCE on the ground. This flight was the first time the DoD–mandated USIP 1 was flown on any UAS with synchronized video and KLV metadata in the MPEG transport stream over the STD-CDL Ku band link at 10.71 megabits per second (Mbps). Cubic engineers participated in the initial integration and testing efforts as shown in Figure 9.
2008年10月17日，小网编码的传输流被提供给Mini-CDL平台通信设备PCE，并在非法设备上进行飞行测试，TP-CDL设备作为地面上的SCE。这次飞行是国防部授权的USIP 1第一次在任何UAS上以10.71兆/秒(Mbps)的速度，通过STD-CDL Ku波段链路，通过同步视频和KLV元数据在MPEG传输流中进行同步飞行。立方体工程师参与了最初的集成和测试工作，如图9所示。
Figure 9 Jose Ortiz (Mark Schon, LLC), Randy Cross (Cubic), Dr. Robert Klenke (Mark Schon, LLC)
and Rich Wayman (Cubic) Integrate the Mini-CDL in Outlaw UA
The final exercise was conducted on Friday, 31 October 2008 at Finnegan’s Field in the military restricted airspace of the Fort A.P. Hill ranges near Bowling Green, Virginia. Vendor participants in the exercise included Cubic Defense Applications, the Mini-CDL provider, Cornet Technology, the MPEG-2 and H.264 Video Encoder/Decoder provider, and Lead Technologies, a video software development tool provider for the ground C2 systems integration completed by
MITRE engineers (Figure 10).
最后一次演习于2008年10月31日星期五在弗吉尼亚州鲍林格林附近的a山堡空域的芬尼根战场进行。参加演习的供应商包括立方防御应用程序，Mini-CDL提供商，Cornet技术，MPEG-2和H.264视频编码器/解码器提供商，以及领先技术，一个为地面C2系统集成完成的视频软件开发工具提供商
米特尔工程师（图10）。
Figure 10 Jon Roth and Rob Gleich (MITRE E403), and Mark Schon Welcome Guests, Recognize Key
Participants, and Describe Exercise Goals and Objectives
The exercise was observed by key personnel from Marine Corps Systems Command (MCSC), the Marine Corps Warfighting Lab (MCWL), the Marine Corps Intelligence Activity (MCIA) and Headquarters, Marine Corps (HQMC). Also present were key Navy and Marine Corps personnel from Naval Air Systems Command (NAVAIR), and vendor participants (and their company representatives) who generously provided support and equipment for the exercise. Finally, Fort A.P. Hill Range Operations and Aviation Operations personnel were on hand to observe the exercise in action. In total, more than forty people observed the exercise.
来自海军陆战队系统司令部(MCSC)、海军陆战队作战实验室(MCWL)、海军陆战队情报活动(MCIA)和海军陆战队总部(HQMC)的关键人员观察了这次演习。出席的还有来自海军航空系统司令部(NAVAIR)的海军和海军陆战队的关键人员，以及供应商参与者（以及他们的公司代表），他们慷慨地为演习提供了支持和设备。最后，p堡山场作战和航空作战人员在现场观察演习。总共有40多人观察了这项运动。
After receiving a briefing on the systems being demonstrated, the roles of the participants, and an outline of the exercise to be conducted, the assembled viewers were given a safety briefing on the day’s operations (Figure 11).
在收到关于正在演示的系统、参与者的角色和将要进行的演习大纲的简报后，集合的观众得到了关于当天操作的安全简报（图11）。
Figure 11 Key Personnel, Guests and Participants Receive Safety Briefing
A total of three Outlaw flights were conducted for the exercise. The first flight was conducted using the backup Outlaw configured with USIP 1 capability except for the CDL data link. It was configured with a commercial 5.8 GHz digital data link from Microhard and it displayed video at the GCS. The second flight was conducted using the Mini-CDL equipped Outlaw with the USIP 1 operational at altitudes of up to 2500 feet. The Outlaw was flown in various patterns above Finnegan’s Field (Fort AP Hill) so that the guests could view the video and metadata displays. Plenty of time was allotted for the guests to see each type of display and talk with the operators and ask questions. The Mini-CDL Outlaw was recovered after a flight of approximately 30 minutes.
这次演习共进行了三次非法飞行。第一次飞行使用除CDL数据链路外，配置了USIP 1功能的备份歹徒。它配置了一个来自微硬盘的商业5.8 GHz数字数据链路，并在GCS上显示视频。第二次飞行使用Mini-CDL装备的歹徒，USIP 1在高达2500英尺的高度运行。“亡命之徒”在芬尼根机场（美联社山堡）上空以各种模式飞行，这样客人就可以观看视频和元数据显示。有足够的时间让客人观看每种类型的展示，并与操作员交谈并提问。Mini-CDL逃犯在飞行了大约30分钟后被发现。
The third flight was conducted at altitudes up to 4500 feet. During this flight, one of the TP-CDL transceivers was moved to a point approximately 4 miles from the launch site. The purpose of this relocation was to test the ability of the data link to operate over extended distances. At the selected location, the TP-CDL transceiver was able to receive video and metadata. Further tests of the range capability of the Mini-CDL with various power settings, pointing algorithms, ground antenna configurations and UA navigation data provisions are being proposed as possible future flight test work. A picture of a launch of the Outlaw from its pneumatic launcher is provided in Figure 12.
第三次飞行在海拔4500英尺的地方进行。在这次飞行中，其中一台TP-CDL收发器被移到距离发射场大约4英里的地方。这种重新定位的目的是为了测试数据链路在较长距离上运行的能力。在选定的位置，TP-CDL收发器能够接收视频和元数据。目前正建议对Mini-CDL的各种功率设置、指向算法、地面天线配置和UA导航数据规定的射程能力进行进一步测试，作为未来可能的飞行测试工作。图12提供了一张关于歹徒从其气动发射器发射的图片。
Figure 12 Outlaw is launched with USIP 1 Video, KLV Metadata and the Ku Band STD-CDL
The early preparations through the final exercise and demonstration of the USIP 1 in operation on Outlaw S1 with TP-CDL and the COC C2 systems receiving the video and KLV metadata for display, was completed in only four months time. The Outlaw aircraft were made autonomous; USIP 1 protocols were implemented in the FCS; data link and payload equipment integrated and flight tested; and the exercise successfully conducted in record time while achieving the three goals and supporting objectives set in late spring of 2008. The resulting success of this MITRE Special Initiative is indicative of the kinds of achievements possible through innovative and challenging endeavors undertaken in close collaboration with our team partners.
早期的准备工作通过最后的演习和在OutlawS1上运行的USIP 1的演示，TP-CDL和COCC2系统接收视频和KLV元数据进行显示，仅在4个月的时间内完成。非法飞机自主；在FCS中实施了USIP 1协议；数据链接和有效载荷设备集成和飞行测试；演习在创纪录的时间内成功进行，同时实现了2008年春末设定的三个目标和支持目标。这一皇冠特别倡议的成功表明了通过与我们的团队合作伙伴密切合作而进行的创新和具有挑战性的努力所可能取得的各种成就。
5Recommendations for Additional Research 对额外研究的建议
Recommendations for additional research are listed below. These recommendations represent logical extensions of work that build upon the success of the exercise described in this report. Each of these recommendations, if implemented, would provide tremendous value to, and inform, those involved in the acquisition process.
对其他研究的建议如下所示。这些建议代表了建立在本报告中所述工作的成功基础上的工作的逻辑扩展。如果这些建议得到实施，将为参与收购过程的人员提供巨大价值并提供信息。
Recommendation #1: Conduct a research effort and experiment that combines the capability for radio relay with the inherent control offered by the USIP-compliant CDL. This implementation could allow payload products (such as FMV) to be offered both via the CDL or by a radio relay, with capabilities similar to the AN/PRC-117G, an IP-capable multi-band radio. With the proper interface to the radio relay via the CDL, this could potentially allow “on-the-fly” operating mode changes to the radio (e.g., from radio relay to video download) that could make real-time video products available to dismounts at the tactical edge, that would otherwise only be available where RVTs were located.
建议1：进行研究工作和实验，结合无线电中继的能力与提供的固有控制的USIP兼容的CDL。这种实现可以允许有效载荷产品(如FMV)通过CDL或无线电中继提供，其功能类似于AN/PRC-117G，一个具有ip能力的多波段无线电。适当的接口无线电中继通过CDL，这可能允许“动态”操作模式改变无线电（例如，从无线电中继视频下载），可以使实时视频产品可以卸载在战术边缘，否则只能在rvt的位置。
Recommendation #2: Conduct a research effort and experiment that leverages the architecture developed as part of Recommendation #1, except that the transmission mode would be via satellite. The experiment would allow the exercise of a UAS to C2 system end-to- end interoperability exercise over a geographically dispersed field exercise. This exercise could easily be conceived of with UAS assets flying at Fort A.P. Hill and/or other dispersed locations, and the data being transmitted via the Internet link to C2 systems at remote locations.
建议2：进行研究工作和实验，利用作为建议#1的一部分开发的架构，除了传输模式将通过卫星。该实验将允许在地理上分散的现场演习中进行UAS到C2系统的端到端互操作性演习。这个演习可以很容易地设想，UAS资产在美国山堡和/或其他分散的地点飞行，数据通过互联网链接传输到偏远地区的C2系统。
Recommendation #3: Conduct testing of an unmanned system configuration that implements the complete set of KLVs in the USIP definition, as well as Standardization Agreement (STANAG) 4586 Vehicle Specific Module (VSM) compliance and interoperability. Field testing prior to the release of new standards would serve to validate the proposed updates to these standards prior to their final approval and release by the Office of the Secretary of Defense (OSD) or North Atlantic Treaty Organization (NATO). This would help answer questions such as: Is the standard, as written, implementable within reasonable cost and schedule constraints? Are new components from two vendors, who test to the standards, able to interoperate? What are the appropriate and effective test approaches?
建议3：对无人系统配置进行测试，该配置实现了USIP定义中的全套klv，以及标准化协议(STANAG)4586车辆特定模块(VSM)的遵从性和互操作性。在新标准发布之前的现场测试将有助于在国防部长办公室(OSD)或北大西洋公约组织(NATO)最终批准和发布之前，验证对这些标准的拟议更新。这将有助于回答以下问题：书面的标准是否可以在合理的成本和进度限制范围内实现？来自两个从测试到标准的供应商的新组件是否能够互操作吗？什么是合适和有效的测试方法？
Recommendation #4: Conduct testing of directional antennas to determine areas for range capability improvements beyond what current applications can provide. Electronic and mechanical antenna pointing applications on the ground and in the air should be evaluated in the field to understand which are most suitable and operationally effective. Frequency, spectrum and power considerations, and their effects on range, size and weight, can also be validated early in the development cycle. This information, proven or disproven in a field environment, would be extremely useful for those writing capabilities documents or system specifications.
建议4：对定向天线进行测试，以确定超出当前应用范围的射程能力改进区域。电子和机械天线指向地面和空中的应用应在现场进行评估，以了解哪些最合适和最有效。频率、频谱和功率的考虑，以及它们对范围、大小和重量的影响，也可以在开发周期的早期进行验证。这些信息，如果是在现场环境中被证明或否定的，对于那些编写功能文档或系统规范的人将非常有用。
Other areas to consider include:
•Investigate “white-boarding” (practice of sending a Joint Photographic Experts Group [JPEG] up with a potential target circled, etc). How would this be relayed, and how would it be used in combination with voice/chat?
•British Aerospace (BAE) has special software that enables high resolution, fast updates in areas within the view of interest, while trading off resolution and updates in other parts of the screen of less interest. With limited spectrum/bandwidth this approach will be increasingly attractive going forward.
•What is the path to High Definition (HD)? USIP 1 says the ground receivers must support Motion Imagery System Matrix-Level 9 (MISM-L9), but not the air. What’s the path forward?
其他需要考虑的领域包括：
调查“白板化”（派遣一个联合摄影专家组来包围一个潜在目标的做法等）。如何转发，如何与语音/聊天结合使用？
英国航空航天公司(BAE)有一种特殊的软件，可以在感兴趣的区域内实现高分辨率、快速更新，同时在屏幕上不太感兴趣的其他部分交换分辨率和更新。在有限的频谱/带宽情况下，这种方法将越来越有吸引力。
实现高清晰度(HD)的路径是什么？USIP 1说，地面接收器必须支持运动成像系统矩阵级9(MISM-L9)，但不支持空气。未来的路线是什么
A slide extracted from an AFRL Mini-CDL briefing given at NATS # 20 on 4 June 2008 is provided in Figure 13 to show another example of future areas that can be field demonstrated to reduce risk in the development cycle of tactical UAS.
图13提供了从2008年6月4日NATS#20的AFRL Mini-CDL简报中提取的幻灯片，展示了另一个未来领域的另一个例子，可以现场演示以降低战术UAS开发周期中的风险。
Figure 13 Possible Future Field Exercise with Outlaw and TP-CDL or OSRVT
Appendix A Cursor on Target Key
Table 5 CoT Key from EG0601.1
CoT Key EG 0601.1 LDS Tag # Notes
and Name or Notes
point/lat point/lon point/hae
point/ce point/le version type
uid
time
start
stale
how
detail/flow- tags
sensor/azimuth
sensor/fov sensor/vfov sensor/model
sensor/range 13 Sensor Latitude 14 Sensor Longitude 15 Sensor True
Altitude 9999999
9999999 2.0
a-f-A-M-F (as an example)
10 Device Designation 3 Mission ID
2 UNIX Time Stamp
2 UNIX Time Stamp
Time of next CoT platform position message
m-p
Current Time
5 Platform Heading Angle
18 Sensor Relative Azimuth Angle
16 Sensor Horizontal Field of View
17 Sensor Vertical Field of View
11 Image Source Sensor 21 Slant Range CoT requires WGS-84 decimal degrees with North positive
CoT requires WGS-84 decimal degrees with East positive
The KLV key is altitude; it must be converted to Ellipsoid Height; given in meters
This represents “no value given” This represents “no value given” CoT Version Number
Atom-friendly-Air AOB- Military-Fixed Wing (Reference CoT definitions in Event.xsd v 1.4 2007/02/27 for other “types” as applicable to other platforms)
. for 0601.1 implementations, concatenate Tags 10 and 3 separated by an underscore (“_”) character.
Convert to ISO 8601 YYYY-MM-DDThh:mm:ss.ssZ
(Fractional seconds are optional and number of decimal places unbounded); this is the time the message is generated
Convert to ISO 8601 YYYY-MM-DDThh:mm:ss.ssZ
this is the time the message becomes valid (should be the same as Time)
This is the time at which the position message is no longer valid; use ISO 8601
How the position was obtained (machine- passed). Reference CoT definitions in Event.xsd v 1.4 2007/02/27 for further explanation and other possible values. Indicates that system “touched” the event and at what time. Format as EG0601.1CoT or EG0104.5CoT = ’YYYY-MM-DDThh:mm:ss.ssZ’ with the current time.
Sensor absolute azimuth obtained by adding platform heading angle and sensor relative azimuth angles together; CoT requires decimal degrees
Sensor Horizontal Field of View; CoT requires decimal degrees
Sensor Vertical Field of View; CoT requires decimal degrees
Image Source Device
CoT requires this be in meters
A-1
Appendix B Acronym List
ADC Analog to Digital Converters
AFRL Air Force Research Laboratory
API Application Programming Interface
ASD (NII) Assistant Secretary of Defense (Networks & Information Integration)
AT&L Acquisition, Technology and Logistics
AV Air Vehicle
BAE British Aerospace
C2 Command and Control
C2PC Command and Control Personal Computer
CDL Common Data Link
COC Command Operations Center
CODEC Coder/Decoder
COP Common Operational Picture
CoT Cursor on Target
COTS Commercial-off-the-Shelf
CS Control Station
DoD Department of Defense
DVR Digital Video Recorder
EO Electro-Optical
EG Engineering Guideline
ENU East, North, and Up
ESD Electronic Software Distribution
FCS Flight Control System
FMV Full Motion Video
FPGA Field Programmable Gate Array
GCCS Global Command and Control System
GCS Ground Control Station
GHz Gigahertz
B-1
GOTS Government-off-the-Shelf
GPS Global Positioning Service
HD High Definition
HP Horsepower
HQMC Headquarters, Marine Corps
IP Internet Protocol
IPL Image Product Library
IR Infrared
ISM Industrial, Scientific and Medical
ISR Intelligence, Surveillance and Reconnaissance
JBV Joint Battlefield Viewer
JIP Joint Interoperability Profile
JTCW Joint Tactical COP Workstation
KLV Key Length Value
KML Keyhole Markup Language
LAN Local Area Network
Lbs Pounds
LCD Liquid Crystal Display
LLA Latitude, Longitude, and Altitude
LLC Limited Liability Company
MAAS Multimedia Analysis and Archive System
Mbps Megabits per Second
MCIA Marine Corps Intelligence Activity
MCSC Marine Corps Systems Command
MCWL Marine Corps Warfighting Lab
MHz Megahertz
MISB Motion Imagery Standards Board
MISB EG MISB Engineering Guideline
MISM Motion Imagery System Matrix
MPEG
B-2
Moving Picture Experts Group
NATO North Atlantic Treaty Organization
NAVAIR Naval Air Systems Command
NGA National Geospatial-Intelligence Agency
NTSC National Television System Committee
OSD Office of the Secretary of Defense
OSRVT One System Remote Video Terminal
OUSD Office of the Under Secretary of Defense
PC Personal Computer
PCE Platform Communications Equipment
PDS Private Data Stream
PES Packetized Elementary Stream
PICTE Primary Image Capture Transformation Element
PID Packet Identification
PWM Pulse-Width Modulation
RC Radio Control
RF Radio Frequency
RPVT Remotely Piloted Vehicle Target
RVT Remote Video Terminal
SA Situational Awareness
SCE Surface Communications Equipment
SDK Software Developers Kit
STANAG Standardization Agreement (NATO)
STD-CDL Standard Common Data Link
TCP Transmission Control Protocol
TCPED Transmission, Collection, Production, Exploitation and Dissemination
TP-CDL Team Portable – Common Data Link
TS Transport Stream
UA Unmanned Aircraft
UAS Unmanned Air System
UDP User Datagram Protocol
B-3
USB Universal Serial Bus
USIP Unmanned Systems Interoperability Profile
VCD Video CD
VCU Virginia Commonwealth University
VSM
B-4
Vehicle Specific Module
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B-5
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