Hybrid Operations in Maritime Environments

Analysis of image data from maritime UAV operations with results related to sea surface monitoring has been published. Most of NTNU's research activity has been related to the development of new methods that can utilize phased array radio communication system for positioning without GPS. Data collection, development of estimation algorithms and real-time implementation of a navigation solution as proof-of-concept have been carried out. This has been further developed in the direction of a prototype and further flow tests. Methods and algorithms have been developed to integrate positioning data from the phased array antenna system with inertial navigation and barometric altitude measurements. A number of UAV tests with multi-rotor and fixed-wing UAV have been carried out with the system on board. Navigation algorithms have been implemented and tested, showing that navigation can achieve nearly as high stability and precision without the use of GPS. Preliminary results have been published and the latest results are being published. Field testing of systems operating in a high level of interference environment has been performed where we will operate as data link on UAVs exposed to jamming. Here, experiments have been carried out in collaboration where the system has been used in conditions where noise is affected by GPS, and demonstrations have been made with extracted location based on Phased Array technology. In a final test, a flight without GNSS of any kind has been made. It was only navigated using the phased array system and this with accuracy in navigation similar to that obtained by using GPS. This was done with the meander route over with the outermost point being 5km away from the base of Raudstein in Agdenes, midst between Hurtigruta, F35 and a Seaking. This is considered an important milestone for navigation without the use of GNSS data and with a precision that enables operations in areas with reduced or no form of GNSS service. A system has also been developed for automatic landing of fixed-wing UAV on ships as well as navigation and control. It is a goal of publishing the results at a later date. Surveys have been done to arrive at grid solutions using Cordis Array in combination with VHF. Furthermore, numerous test flights have been made to verify the operation of these solutions. This also includes training of operators for the same equipment. The payload for demo flights is built and integrated into the system. A demo flight was conducted from Frøya to Rørvik in August when we collaborated and a longitudinal CORDIS ARRAY network was established when the route Frøya - Rørvik was flown. This was a 200km flight with a handover of control and mission signal from takeoff at Frøya to a station halfway before the end station took over control again before landing at Rørvik. The plane flew steadily through the sky on its carefully planned and monitored voyage, through different types of controlled civil airspace handled by civil air traffic control. Evaluation and selection of sensors (gyro and accelerometer) suitable for use in UAV have been carried out. The prototype of the IMU has been tested and adapted to the environment with optimization on weight and power consumption. Based on improvement from the prototype, a series of 10 IMU demonstrator prototypes has been built. Tuning and enhancement from this testing are included in improvements to the prototypes to be incorporated into the production of the first series as an industrial product. As a result of the testing, further improvements have been made to the gyro to provide further improved performance on the IMU. Regarding high-precision GNSS corrections, algorithms have been worked on using available clock / path corrections for GNSS constellations. The corrections can be received on the L-band demodulator, which has been worked on in the project, but the corrections can also be received via command and control backlink to UAV. Furthermore, the use of more compact two-frequency GNSS receivers, which together with available clock / path corrections, can provide high-precision positioning. Hybrid UAV operations have been made with high security. In collaboration, long-distance BLOS flights have been carried out on the Trøndelag coast.

-GPS denied navigation demonstrated -Automatisk landing of fixed-wing UAV on ship - Flown along the coast using automatic handover of the radio link between ground control stations. - A new project started to make a product for doing GPS denied navigation - New better performing IMU to be produced based on results from prototypes made in the project

As the state of the art technology of Autonomous Unmanned Systems (AUS) has evolved in the recent years, the usability of the unmanned systems has reached a mature level. Many of the basic early-phase operational issues related to unmanned systems have been resolved, and there has been a significant growth in unmanned operations. The operational value for AUS is has until now mostly been focused on conventional single unit missions to collect sensor information from a single point of mission origin. The experience from these modes of operations is that the value from combining multiple manned and unmanned units operating both on water, under water and in the air can multiply the operational effect. Based on these challenges, this project will focus the research on combined operations with manned and unmanned systems in real life operations in order to utilise new unmanned and autonomous technology to raise the overall operational efficiency for coastal areas. The project consortium has wide experience and available resources that will utilize state of the art technology in the field as the basis for the research to push the technology envelope further. The project will research on both technology and operational aspects for combination of manned aircrafts, vessels, and unmanned and autonomous systems in the air, water and under water that will have a significant impact on future growth for unmanned operations and efficient governing of coastal activity.