about
Unmanned
systems HAES
evolving systems consulting
Hacker Model Production &
evolving systems consulting
Unmanned systems HAES
R. Sysala, 1K. Hacker
evolving systems consulting s.r.o.,
Nm. Dr. Holho 1052/11,
180 00 Praha 8,
Czech Republic;
tel.: +420-604-347-014,
e-mail: richard.sysala@evolvsys.cz
1Hacker Model Production a.s.,
Zahradn 465,
270 54 evniov,
Czech Republic;
tel.: +420-603-439-412,
e-mail: karelhacker@hacker-model.com
HAES 400 aircraft
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about
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Hacker Model Production &
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Presentation outlines
Introduction
Hacker Model Production a.s.
evolving systems consulting s.r.o.
UAS Avionics: Autopilot
UAS Avionics: Sense & Avoid
General introduction
ARCA
MIDCAS
HAES Scanner
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about
Unmanned
systems HAES
evolving systems consulting
Hacker Model Production &
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Hacker Model Production a.s.
The company Hacker Model Production
Inc. was established January 1, 1990,
and started production of RC models in
version ARF Almost Ready to Fly. The
ARF models were unique in that time.
In 2000 the company moved into its
own building in the village evniov. In
these areas, the production of new
aircraft models has been further
extended and improved, 90% of
production is exported to countries
around the world.
20 years of flying
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about
Unmanned
systems HAES
evolving systems consulting
Hacker Model Production &
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Hacker Model Production a.s.
The company has gained development
and construction of a new machinery
and technology, drawing in 3D, CNC
machining, building prototypes of 3D
data, casting plastic, vacuum forming
plastics, construction of special CNC
machines and vacuum chambers.
New production technology enabled the
development and production of
Unmanned Aircraft Systems, which
have a wide field of applications:
mapping the terrain, guarding buildings,
monitoring traffic on the highways,
searching for missing people,
measurement of concentrations of
noxious gases, security patrol, etc.
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Selective Laser Sintering (SLS) used in aerospace
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Unmanned
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evolving systems consulting
Hacker Model Production &
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evolving systems consulting s.r.o.
ESC is a European company with
offices in Munich, Vienna and Prague.
ESC aerospace laboratories (including
HAES CCUAS LABS - The Hacker
Model Prod. and Evolving Systems'
Competence Center for Unmanned
Aerial Systems) are headquartered in
Prague. ESC specializes in electronics,
especially embedded microcontrollers,
data transmission and microwave high
frequency applications.
ESC is developing on-board control
units ESCUCS (Unmanned Control
Systems) for all HAES UAV production
lines. In R&D development are included
S&A Collision Avoidance System
(ARCA).
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Group, any reproduction or disclosure of this information to any third party
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ESCUCS Control Unit on a design of UAV UCS
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evolving systems consulting
Hacker Model Production &
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evolving systems consulting s.r.o.
UAS UCS modules according to
STANAG 4586 w/ C2 integration; UGV
and even UUV.
Besides above mentioned ESC is active
in space projects (software design and
development of flight and/or ground
segment subsystems and embedded
software, complying with applicable
ESA software development standards;
AO6052 Reusable Payload On Board
SW Framework; Ground Support
Equipment software packages for
various satellites and payloads, and
data processing software); ATM projects
(AO6050 IRIS System Design Phase B
under ESA ARTES 10 program).
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in any form is strictly prohibited.
IRIS, new Air-Ground Communication system for ATM
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Unmanned
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Hacker Model Production &
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HAES production lines
Four UAV (Unmanned aerial vehicle)
production lines have been introduced
within the HAES Group:
HAES 90
HAES 400
- 5 demonstrators
- 3 dimensions
HAES 700
HAES Scanner
There is a possibility in a long term vision
to create new brand lines:
HAES 90
HAES Bird, Solar, UCAV
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Unmanned
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Hacker Model Production &
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HAES 400 AERIAL TARGET
Mission
The HAES 400 is an autonomous aerial
target used to provide a threatrepresentative target drone to support
the Ground-to-Air Weapon System
evaluation and test programs.
Features
The HAES 400, manufactured by HAES
Group (a joint venture of the companies
Hacker Model Production and Evolving
Systems Consulting), is constructed of
carbon fiber and epoxy-based materials.
The HAES 400 is capable of speeds from 80
km/h (49 mph) to 400 km/h (244 mph)
true airspeed at sea level.
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Group, any reproduction or disclosure of this information to any third party
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HAES 400 on a rail system
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Hacker Model Production &
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HAES 400 AERIAL TARGET
The drone can achieve flight altitudes from
30 m (100 ft) above ground level to
3,000 m (10,000 ft) mean sea level.
Maneuvers include G-turns up to 12 Gs,
and other aerial acrobatic turns.
The drone is launched from a rail
system. The drone can be recovered
by a parachute recovery system.
Recovered targets are repaired,
tested and reused. The HAES 400
can carry a full range of current target
payloads which include infrared and
radar enhancements and a chaff/flare
dispenser set.
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Group, any reproduction or disclosure of this information to any third party
in any form is strictly prohibited.
HAES 400 on a rail system
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Hacker Model Production &
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HAES 400 AERIAL TARGET
Background
General Characteristics of HAES 400 V1.2
A realistically moving aerial target
provides efficient shooting practice
and combat firing for anti-aircraft
missile systems
SHORAD/VSHORAD, thus improving
the quality and efficiency of the
gunner/operator training.
Primary function: Aerial target
Prime Contractor: HAES Group (Hacker Model
Production and Evolving Systems Consulting)
Power plant: Combustion engine w/ propeller
Wingspan: 1.9 meters (6.3 ft)
Length: 1.35 meters (4.5 ft)
Height: 0.56 meters (1.8 ft)
Weight: 19 kg empty, 21.5 kg max.
Speed: 400 km/h (244 mph)
Ceiling: 3,000 meters (10,000 ft)
Range: 30 km (18 mi)
Inventory: Demonstrators, 2; Active force, 0
Anti-aircraft missile system
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HAES 400 System overview
Robust design of control SW
Modular design of on-board HW
Fully automatic operation mode
NATO STANAG 4586 capable
HAES 400 System overview
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Hacker Model Production &
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HAES 400 UCS control station
Modular design of UCS
Unlimited No. of connected
UAVs / UCS devices
Virtual fence restrictions
Mission planning / real time replanning
Ability of flight with assistance
HAES UCS - Map view
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HAES Scanner
Mission
The HAES Scanner is a short endurance
unmanned aircraft system. The HAES
Scanner's primary mission is
reconnaissance and surveillance in
support of the operational commander.
Surveillance imagery from video cameras
and forward looking cameras are
distributed in real-time.
Features
The HAES Scanner is a system, not just an
aircraft. A fully operational system
consists of one aircraft (with sensors), a
Ground Data Terminal, an Image
Receiving System, a Satellite Link, along
with operations and maintenance crews
for deployed 24-hour operations.
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in any form is strictly prohibited.
Advanced UAS type HAES Scanner
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Hacker Model Production &
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HAES Scanner
The basic crew for the HAES Scanner is a
pilot and a payload operator. HAES
Scanner follows a conventional launch
sequence from a semi-prepared surface
under direct line-of-sight control. The
take-off distance is typically 50 m (165 ft)
and landing 100 m (330 ft).
The mission is controlled through real-time
video signals received in the Ground
Data Terminal. Command users are able
to task the payload operator in real-time
for images or video on demand.
The surveillance and reconnaissance payload
capacity is 10 kg (22 lb), and the vehicle
carries electro-optical and infrared
cameras.
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HAES Scanner
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HAES Scanner
The aircraft can be equipped with
sensors as the mission requires. The
cameras produce full-motion video.
The system is composed of three
major components, which can be
deployed for operations in the field.
The HAES Scanner aircraft can be
disassembled and loaded into a
container for travel.
Background
The HAES Scanner system was
designed in response to the needs of
police and military to provide longduration intelligence, surveillance
and reconnaissance information.
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Group, any reproduction or disclosure of this information to any third party
in any form is strictly prohibited.
CDAI Review awards the best new product of 2005
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HAES Scanner
It has many other uses: promotion, real estate
sales, technical documentation of historic
buildings, comparison of geological
changes, agriculture, detection of illegal
buildings and junkyards, searching for
missing persons or fugitives,
measurement of concentrations of noxious
gases, traffic monitoring, residential area
monitoring, and security patrol.
General Characteristics of HAES Scanner V1.2
Primary Function: Reconnaissance, airborne
surveillance and target acquisition
Contractor: HAES Group
Power plant: Rotary engine w/ propeller; 1 x 11 hp
Wingspan: 3 m (10 ft)
Length: 2.15 m (7 ft)
Height: 0.85 m (2.7 ft)
Maximum takeoff weight: 25 kg (55 lb)
Payload: 10 kg (22 lb)
Speed: Cruise speed around 80 km/h (49 mph),
maximum up to 150 km/h (92 mph)
Camera
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HAES Scanner
General Characteristics of HAES Scanner V1.2
Range: 6.5 km (3.8 mi), limited by datalink range
Ceiling: 1,000 m (3,300 ft)
Endurance: 2 hr
Crew (remote): Two (pilot, payload operator)
GSE (ground segment): Two suitcases, containing pilot
and payload operator consoles (GDT = Ground Data
Terminal, IRS = Image Receiving System)
Initial operational capability: March 2005
Unit Cost: TBD (includes one aircraft, ground
segment consoles, and Satellite Link)
Inventory: Demonstrator, 1; Active force, 1;
Reserve, 1
Terminal for Reconnaissance version of HAES Scanner
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Autopilot
evolving systems consulting
Hacker Model Production &
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Autopilot blokov diagram
Controller
Sensors
UAV model
P itch re a l
xi [m]
vi [m/s ]
e u le r [ ra d]
vb [ m/ s ]
rb [ra d /s ]
a i [m/s ^2 ]
e p silo n [ ra d/s ^2]
R o ll R e a l
Charting
400 .3272
Repeating
Sequence
Altitude
Sensor data processing
In 1
In 2
In 3
F la p p o sitio n
T e m p e ra tu re[ K]
[temperature ]
From4
[pressure ]
W in g l L [ra d ]
Flap position
P re ssu re [P a]
From1
GPS
Speed Req
CAN Open export
Speed Real
W in g l R [ra d ]
A ltitu d e
Altitude
Sequence
W in g l L [ ra d]
V e [m/s ]
X e [m/s ]
A ltitu d e R e q
A zim u th R e q
A i [m/s ^2 ]
Diff pressure speed
e p silo n [ ra d/s ^2 ]
V O P L [ra d ]1
A n g le o f a tta ck
V O P R [ ra d]
Ai
e p silo n
VOP Lo
DCM
VOP R o
rh o
P itch d o t
Gravinormal
check
A cce le ra tio n
W in g l R o
V O P R [ra d ]
F la p R1
Gravinormal validity
E u le r d o t [ ra d/s ]
A tta ck a n g le [ra d ]
W in g l L o
F la p L1
E u le r fro m
g ra vin o rm a l
MATLAB
Function
DCM
R o ll d o t
V O P L [ra d ]
Scope 1
MATLAB
Function
Barometric altitude meter
O m e g a [ ra d/s ]
M o to r
2.4055
Azimuth
Gravinormal to Euler
P o sitio n in In e rtia l A xe s
V b [m/s ]
M o to r
A zim u th
u le
r- m
d esl
P o sitio n inEIn
e rtia
l Aoxe
E u le r [ra d ]
W in g l R [ra d]
e p silo n
A n g u la r a cce le ra tio n
A n g u la r a cce le ra tio n
Accelerometer
omega
Controller
UAV model
phi
In 1
O u t1
E u le r
E u le r g u e ss 1
E u le r d o t
Magnetic compass
Angular Reconstructor
Altitude
COESA
Goto 2
[temperature ]
Goto 1
100
[pressure]
1
-0.44857
E u le r
Ai
A cc b o d y
Vi
P o sitio n
Xi
In e rtia p o sitio n [m] L a t,L o n,A lt
In e rtia sp e e d [m/s ]
x,y ,A lt
GPS
T e m p e ra tu re
Acceleration
Speed of Sound
H e ig h t
A ir P re ssu re
Position reconstructor
A ir D e n sity
Fy Slider2
Air density 1
Acceleration 1
Air density
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S&A
evolving systems consulting
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Sense & Avoid Introduction, Terminology
Adaptive Routing and Conflict
mAnagement for Unmanned Aircraft
Vehicles
on-board flight system
able to guide an Unmanned Aircraft
Vehicle
modifying its own flight trajectory in
reaction to a variety of external
situations,
maintaining the separation with
another UAV or aircraft,
and optimizing its flight trajectory.
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Group, any reproduction or disclosure of this information to any third party
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Separation
UAS separation from aircraft
Aircraft separation from UAS
UAS separation from UAS
Collision avoidance
UAS collision avoidance from aircraft
Aircraft collision avoidance from UAS
UAS collision avoidance from UAS
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Sense & Avoid Projects
ARCA (Adaptive Routing and Conflict
mAnagement)
MIDCAS (Mid Air Collision Avoidance
System)
The MIDCAS mission is to
demonstrate the baseline of
solutions for the UAS Midair
Collision Avoidance Function
(including separation), acceptable
by the manned aviation community
and being compatible with UAS
operations in non-segregated
airspace by 2015
ARCA and MIDCAS logos
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Automatic Dependent SurveillanceBroadcast (ADS-B)
Airship's location using satellite GPS
navigation, and allows the airship to
constantly broadcast its precise location
and other flight data (e.g. altitude,
velocity) to nearby airship and air traffic
controllers.
The typical surveillance data
transmitted by ADS-B are: flight
identification, position, time, worth
figure and the emitter category.
More accurate and cheaper at
identifying airship and determining
position.
GPS provides three-meter accuracy,
updated by airship every second
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ADS-B system example
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ARCA Integration to UAV, 1/2
Autopilot obtains a set of way-points
from the simple ground control
According to the mission plan it
provides the actual way-point
AUTOPILOT
Set of Way-points
Actual way-point
Commanding block calculates required
flight angles and speeds, and
commands the lowest level of the UAV
Stabilization is the fastest control loop
of the UAV. Interprets received
commands. Knows the absolute
position and orientation
COMMANDING
Act. pos
SENSORICS
GPS
Magnetometer
Flight angles
...
Set flying angle to...
Speed up to ...
STABILIZATION
On-board SW for UAV
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OK / KO
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OK / KO
ACTION UNITS
Servos
Motors
...
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S&A ARCA
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ARCA Integration to UAV, 2/2
The ARCA Arbiter receives the actual
way-points
ADS-B provides information about
UAVs surroundings
AUTOPILOT
Set of Way-points
Actual way-point
ADS-B
ARCA
OK / KO
Modified actual
way-point
Based on that re-routing is conducted
and provided the Commander
COMMANDING
Act. pos
SENSORICS
GPS
Magnetometer
Flight angles
...
Set flying angle to...
Speed up to ...
STABILIZATION
OK / KO
ACTION UNITS
Servos
Motors
...
On-board SW for UAV with ARCA algorithms integrated
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ARCA Integration with flight controller
AIR TRAFIC INFOMATION
Functional modules connected via
redundant CANOpen
On-board computer processes only the
flight control loop
ADS-B
GPS
the AGENT software with ARCA
algorithms is placed in a SEPARATE
module
ALTI
COMPAS
AGENT
AGENT
DUAL CAN NETWORK
ON BOARD
COMPUTER
ARCA Agent runs in separate module
Confidential information: Without the advance written permission of HAES
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Unmanned
systems HAES
evolving systems consulting
Hacker Model Production &
evolving systems consulting
Unmanned systems HAES
R. Sysala, 1K. Hacker
evolving systems consulting s.r.o.,
Nm. Dr. Holho 1052/11,
180 00 Praha 8,
Czech Republic;
tel.: +420-604-347-014,
e-mail: richard.sysala@evolvsys.cz
1Hacker Model Production a.s.,
Zahradn 465,
270 54 evniov,
Czech Republic;
tel.: +420-603-439-412,
e-mail: karelhacker@hacker-model.com
HAES 400 aircraft
Confidential information: Without the advance written permission of HAES
Group, any reproduction or disclosure of this information to any third party
in any form is strictly prohibited.
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