Implementing Control and Mission. Software of UAV by Exploiting Open. Source Software Based ARINC 653. Hyun-Chul Jo, Sanghyun Han,. Sang-Hun Lee and ...
Implementing Control and Mission Software of UAV by Exploiting Open Source Software Based ARINC 653
Hyun-Chul Jo, Sanghyun Han, Sang-Hun Lee and Hyun-Wook Jin System Software Laboratory Konkuk University {gamja474, whacker, mir1004, jinh}@konkuk.ac.kr
Contents 1
Introduction
2
Goals
3
Linux-based ARINC 653
4
Design of Control and Mission Software
5
Conclusions and Future Work
Contents 1
Introduction
2
Goals
3
Linux-based ARINC 653
4
Design of Control and Mission Software
5
Conclusions and Future Work
Avionics System
• Modern Avionics System – – – – – –
Diverse and critical missions execution Many electronic components Devices are connected through networks More need of network cabling, weight and power Complicate internal architecture Hard to integrate, reuse, test
Æ Desirable to run several applications on a single computer
IMA • IMA(Integrated Modular Avionics) Concept – Proposes an integrated architecture with application potable across an assembly of common hardware modules – Reduce network cabling, weight and power – Reuse a software module for another avionics system – Easy to integrate, reuse, test Æ Introduction of ARINC 653
ARINC 653 • Avionics Application Software Standard Interface -
Defines a general-purpose APEX interface between the operating system of an avionics computer resource and the application software
• Partition -
Partition enables one or more applications to execute independently Guarantee resource Isolation between partitions
• Temporal Partitioning - Processor resource partitioning
• Spatial Partitioning - Memory resource partitioning
Related Work • Related work Commercial Implementations - WindRiver VxWorks 653 - LynuxWorks LynxOS-178 - GreenHills Integrity-178B
Research-purpose Implementations - User-level • AMOBA, SIMA, ACM
- Kernel-level • POK, Linux kernel-based ARINC 653
- Hypervisor-level • XtratuM, AIR, Xen-based, Virtualbox-based
Æ Without discussions about case study to apply ARINC 653 to UAV
Contents
1
Introduction
2
Goals
3
Linux-based ARINC 653
4
Design of Control and Mission Software
5
Conclusions and Future Work
Goal • Goal – Suggest a design and implementation of UAV control and mission software over ARINC 653 • Using Linux-based ARINC-653 • Aerial vehicle system – OFP(Operational Flight Program), VSP(Video Streaming Program)
• Ground system – GCP(Ground Control Program), GMP(Ground Monitoring Program)
– Present effectiveness of Linux-based ARINC 653 for UAVs
Contents
1
Introduction
2
Goals
3
Linux-based ARINC 653
4
Design of Control and Mission Software
5
Conclusions and Future Work
Linux-based ARINC 653 2CTVKVKQP
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Æ S.Han and H.-W Jin ”Kernel-Level ARINC 653 Partitioning for Linux” (SAC 2012)
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• Provides interfaces for ARINC 653 application programming 'VJGTPGV
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Linux-based ARINC 653 2CTVKVKQP
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• Startup process interprets the configuration file and initializes the system .KPWZDCUGF#4+0%-GTPGN MGTPGNmanager 2TQEGUU5EJGFWNGT 2CTVKVKQP5EJGFWNGT information *GCNVJ/QPKVQT • Provides the network configuration to the network
• Network manager supports%#0 inter-partition communication PGVYQTM over different 'VJGTPGV 9KTGNGUU.#0 network links
Contents
1
Introduction
2
Goals
3
Linux-based ARINC 653
4
Design of Control and Mission Software
5
Conclusions and Future Work
Design of Control and Mission Software 7POCPPGF*GNKEQRVGT
2CTVKVKQP 1(2
2CTVKVKQP 852
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PGVAOPIT PGV VVAOPI AO CFVATGCFGT 2
2
2 %*
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9.#0
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UVCVGATGEX UVCVGAWRFCVG UVCVGAWRFCVG IORAIWK
IERAIWK 2 %*
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Design of Control and Mission Software 7POCPPGF*GNKEQRVGT
2CTVKVKQP 1(2
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)P% UVWRAOPIT
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UVCVGATGEX UVCVGAWRFCVG UVCVGAWRFCVG IORAIWK
IERAIWK 2 %*
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PGVAOPIT OPIT
Design of Control and Mission Software 7POCPPGF*GNKEQRVGT
2CTVKVKQP 1(2
2CTVKVKQP 852
5[UVGO 2CTVKVKQP
)P% UVWRAOPIT
PCXATGCFGT HTCOGAUGPF UYOATGCFGT
PGVAOPIT PGVAO CFVATGCFGT 2
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2
IORAIWK 2 %*
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Design of Control and Mission Software 7POCPPGF*GNKEQRVGT
2CTVKVKQP 1(2
2CTVKVKQP 852
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• nav_reader process reads the attitude measurements, angular rates, EOFAUGPF
HTCOGATGEX
and body from navigation sensor UVCVGATGEX
UVWRAOPIT
UVCVGAWRFCVG
• swm_readerUVCVGAWRFCVG collects current state information of helicopter IORAIWK
PGVAOPIT OPIT
IERAIWK receives control commands from GCP • adt_reader process 2
2
2
%* • GnC process controls the control surface of the UAV %*rotors to move %*
Design of Control and Mission Software 7POCPPGF*GNKEQRVGT
2CTVKVKQP 1(2
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)P% UVWRAOPIT
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2
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9.#0
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• frame_send of VSP sends video frames to GMP through wireless network EOFAUGPF A
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UVCVGATGEX UVCVGAWRFCVG UVCVGAWRFCVG IORAIWK
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Design of Control and Mission Software 7POCPPGF*GNKEQRVGT R
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• cmd_send process sends flight command to OFP )P%
• state_recv process receives state information of UAV from OFP UVWRAOPIT PCXATGCFGT
HTCOGAUGPF • state_updateUYOATGCFGT process to provide roll-pitch, yaw, altitude, control power
and velocity
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2 2 2 • gcp_gui process represents Grapical User Interface(GUI) %* %*
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2
2 %*
%*
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Design of Control and Mission Software 7POCPPGF*GNKEQRVGT R
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)P% • frame_recv process receives video frames from VSP UVWRAOPIT
• state_updatePCXATGCFGT process using Qt library for easy playback HTCOGAUGPF
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• gmp_gui process shows video frames in the monitor PGVAOPIT PGV VVAOPI AO CFVATGCFGT 2
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Design of Control and Mission Software • Channel 0 is used to send control commands from cmd_send to adt_reader 7POCPPGF*GNKEQRVGT R
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• Channel 2 is used to send video frame from frame_send to frame_recv HTCOGAUGPF UYOATGCFGT
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2
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UVCVGATGEX UVCVGAWRFCVG UVCVGAWRFCVG IERAIWK
IORAIWK
2
2
2
%*
%*
%*
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Design Issue #1 • Graphic User Interface(GUI) Processes – Problem • If GUI processes run periodically, then it can fail to immediately respond to human
– Solution • Aperiodic process • High Priority
Design Issue #2 • Period Assignment – We determined the period based on data rate of sensors on helicopter – frame_send period • Transmit on 12 fps • Assigned 80ms period to the frame_send process
Period and WCET of processes (ms)
Partitions
Unmanned Helicopter
OFP
VSP
GCP Ground System GMP
Tasks
Period
WCET
GnC
20
2
nav_reader
20
6
swm_reader
80
3
adt_reader
80
10
frame_send
80
35
cmd_send
160
10
state_recv
80
10
state_update
80
4
gcp_gui
N/A
N/A
frame_recv
80
40
state_update
160
5
gmp_gui
N/A
N/A
Design Issue #3 • Partition Consolidation P1
1
0
2
3
P1
4
1
2
4
20 Partitions
Partition1
Partition2
P1
P2
5
29
1
2
40
P1
P2
5
48
1
60
i
Tasks
Period
WCET
1
GnC
20
2
2
nav_reader
20
6
3
swm_reader
80
3
4
adt_reader
80
10
5
frame_send
80
35
P2
2
5
68
80
Æ S.Han and H.-W Jin ”Temporal Partitioning for Mixed-Criticality Systems” (ETFA 2011)
Hardware-In-the-Loop Simulation • HILS Environment – Test in a HILS environment, where the HIL simulator developed by Korea Aerospace Research Institute – HIL simulator • Desktop equipped with Intel Core2Duo 2.66 GHz • QNX 6.3.2
– Flight control system • Desktop equipped with Intel Core2Duo 2.66 GHz • ARINC 653 implemented in the Linux Kernel 2.6.32 • Logitech QuickCam Pro 9000 camera
– Ground system • Laptop equipped with Intel Centrino Duo 1.66 GHz • ARINC 653 implemented in the Linux Kernel 2.6.32
GUI of Ground Control Program • Ground Control Program
GUI of Ground Monitor Program • Ground Monitor Program
Variation of altitude • Measurement result
It takes around 20 sec to reach the expected altitude
Contents
1
Introduction
2
Goals
3
Linux-based ARINC 653
4
Design of Control and Mission Software
5
Conclusions and Future Work
Conclusions & Future work • Design and Implementation of control and mission software – Implement them on Linux-based ARINC 653
• Future work – Determine period and execution time of processes more systematically – Intend to apply our software to a real quad-rotor helicopter
Thank you! You can see our study about ARINC 653 through this URL http://sslab.konkuk.ac.kr/main/arinc.html {gamja474, whacker, mir1004, jinh}@konkuk.ac.kr
Q&A
