Oshkosh Defense, a subsidiary of Oshkosh Corporation, has approved GPS Networking as a supplier on the Joint Light Tactical Vehicle (JLTV) Program.
After going through rigorous qualification testing and thorough vetting, GPS Networking was approved to supply GPS Networking products for the JLTV. During the contract, which includes both Low Rate Initial Production (LRIP) and Full Rate Production (FRP), Oshkosh expects to deliver approximately 17,000 vehicles and sustainment services.
The JLTV Program is a U.S. Department of Defense (DoD) response to unconventional threats such as IEDs and other explosives, pointing to a need for lightweight, protected vehicles.
The Oshkosh JLTV solution uses parts and services of more than 350 suppliers in more than 30 states.
GPS Networking, based in Colorado, supplies products for GPS signal distribution and acquisition. It has been a major supplier for cellular infrastructure, worldwide military applications and all facets of public safety, including but not limited to signal acquisition. GPS Networking is Certified ISO 9001:2008 and is currently preparing for ISO 9001:2015. Its products are available with military certification to Military Standard 810F, EMI certified and have CE approval.
Secondary receiver uses eLoran to back up GPS time
Spectracom has been selected to provide Interference, Detection and Mitigation (IDM) capability to its SecureSync precision time and frequency reference system to support Rohde & Schwarz Benelux B.V. and the Netherlands Ministry of Defence for secure long-range military communications systems.
The upgrade, which is based on a secondary receiver that extracts precision timing signals from the eLoran system when GPS signals are not available, will increase the reliability of the overall communication system by further enhancing the resiliency of the precision timing core.
As part of its expanding set of resilient PNT solutions, Spectracom systems synchronize to a variety of precision references whenever and wherever available.
In this deployment, signals from the eLoran system are constantly monitored and act as the primary reference when GNSS signals are not available due to interference or jamming. This new capability supports the goal of a sustainable and reliable network for ongoing global operations.
The modularity of the SecureSync precision time and frequency platform allows customers and integrators to easily and incrementally increase system capabilities, such as multiple reference signals, as they become available.
The I-want-free-advice syndrome was once called the “Doctor Syndrome” or “Expert Syndrome.” I have recently heard it referred to as the “unsolicited advice” syndrome, because there is a new version that involves shaming the expert in to giving free advice.
Occasionally those of us with expertise in an area of interest, which certainly include doctors and lawyers, are faced with tough decisions involving rules, regulations, laws and conflicts of interest.
We are all guilty of these ethical violations in one way or another. On an airplane you discover your seatmate is a doctor of osteopathic medicine; not five minutes have gone by and you are telling him or her about all your aches and pains and seeking advice. My daughter, a clinical psychologist, says this frequently happens to her, but legally it is not a syndrome, although it could certainly be described as a phenomenon.
Regardless of the nomenclature, the newest wrinkle goes like this, as stated by a congressman at our table at a fundraiser I attended recently, when he was asked about the troubled OCX program (Next Generation GPS Operational Control System) and GPS funding in general. “Well, I don’t know much about GPS or navigating, but this is what I know about OCX and GPS. I am sure Don will correct me if I am wrong…”
I mention this phenomenon because for position, navigation and timing (PNT) issues, it is growing at an alarming rate. For instance, my 10-20 emails per day asking about PNT issues have grown over the past few weeks more than tenfold. I perceive that many of you are confused and concerned about the future of GPS, PNT and GNSS in general.
With the House Armed Services Committee deleting more than $420 million from the GPS budget line for OCX in the 2017 budget and canceling funding for certain Acquisition, Technology and Logistics (AT&L) positions dealing with acquisition, there are all kinds of rumors and innuendo floating around. [Editor’s Note: the Senate did not make the same deletions, so this must be worked out in congressional committee meetings before the end of September]. So, I went out and formally asked the experts (GPS Directorate, Lockheed Martin and Harris Corp among others) what they think the future holds for GPS. Here is what I learned…
Artist’s concept of the nextgen GPS III satellite (courtesy of the USAF).
GPS III Spacecraft. According to Colonel Steve Whitney (USAF), the director of the Global Positioning Systems Directorate, Space and Missile Systems Center (SMC), Air Force Space Command (AFSPC), Los Angeles AFB, California: “The GPS III program is actively engaged in production of the first eight [GPS III] satellites (SV), while proceeding ahead with contracting actions for the ninth and tenth spacecraft. “
Colonel Whitney went on to explain, “We have had several notable successes over the last year, including delivery of the first two navigation payloads [from Harris Corp] and completion of the first spacecraft’s environmental tests (acoustic, thermal vacuum and electromagnetic compatibility). As we prepare to accept delivery of the first spacecraft, the directorate is gearing up for the Mission Readiness Campaign and satellite launch.”
I spoke independently with representatives from both Harris Corp and Lockheed Martin, and they expressed the same opinions. Work is progressing toward a launch of the first GPS III SV hopefully sometime in 2017.
Of course, all of the companies mentioned and many others are also involved in the follow-on production of GPS III satellites known officially, oddly enough, as the:
GPS III SV11 + Follow-On Production Phase One (1). According to Colonel Whitney, “The GPS SV11+ program is implementing a phased acquisition approach to determine first if viable alternate sources exist for a production-ready spacecraft. We successfully awarded three Phase 1 contracts on 5 May 2016, and are working with all three vendors to inform our follow-on approach.”
For those of you who have not been keeping up, the three Phase 1 contracts were in the amount of $5M to each company. LMCO is included in the competition and was one of the three companies. To go into a bit more detail, the three GPS III awards are firm-fixed-price contracts that are not-to-exceed $6 million; the base contract plus two $500,000 options. The base contract period of performance is 26 months, and each option extends that time by six months for a total period of just over three years or 38 months.
At the end of the competition, the GPS Directorate will award one GPS III Phase 1 Production Readiness Feasibility Assessment contract to one or more of the three companies:
Colonel Whitney’s boss, Lt. Gen. Sam Greaves, who is the Space and Missile Systems Center commander and Air Force program executive officer (PEO) for space, said: “Industry told us they were ready to compete for the GPS III space vehicles. We look forward to working with Boeing, Lockheed Martin, and Northrop Grumman to assess the feasibility of a follow-on, competitive production contract.”
The USAF has issued an artist’s concept of the GPS III satellite, but seriously, I have listened to the proposals from all three companies in detail, and the proposals are all so radically different that the picture is just that, an artist’s concept, it may not even be close to reality.
Artist’s concept of the nextgen GPS III satellite (courtesy of the USAF).
Certainly, $5-6M is not much money in the scheme of things, certainly not enough to design and build a GPS satellite from scratch, but it is a show of good faith on behalf of the U.S. government, proving they are serious in their search for a new and improved PNT satellite in the GPS III family.
Next-Generation Operational Control System (OCX). The original OCX contract was awarded for somewhere slightly south of $900M for a six-year total effort to deliver a new Full Operational Capability (FOC) ground control system for all GPS satellites except the long-lived GPS IIAs. The federal government, having watched programs like OCX go south before, took the Raytheon bid and quietly doubled it and assured everyone they had the program well in hand. The government assured us time and again that OCX would never breach Nunn- McCurdy levels as they planned for double the cost. Smart move, but OCX costs finally reached double the original estimate plus 25 percent, which triggered the Nunn-McCurdy breach on June 30.
Now Raytheon and the government have until October to decide whether to continue with the OCX program. However, Colonel Whitney and the folks at SMC remain confident; he kindly describes the current status of OCX this way: “The OCX team continues to pursue a restructured plan approved by the Defense Acquisition Executive [USD (AT&L)] and will hold its next deep dive with the Secretary of the Air Force [SECAF] and USD (AT&L) in early July [maybe this week]. Raytheon is driving for Functional Qualification Testing of the GPS III Launch and Checkout System (GPS LCS and OCX Block 0) in August 2016.”
My sources tell me that a realistic date for OCX FOC, based purely on past performance, software issues and cyber-security concerns, is 2023 with a total cost of $4.2B. This may all be academic if OCX cannot clear the Nunn-McCurdy hurdles.
The interesting story here is that there are alternatives. This brings us to the…
GPS III Contingency Operations or Cops, which Colonel Whitney described this way when I asked him about it. “We [USAF, SMC] awarded the GPS III Contingency Operations effort on 3 February 2016 on an expedited basis with the task of delivering the capability to put on-orbit GPS III spacecraft into operations, providing legacy mission capabilities. We successfully completed the Preliminary Design Review (PDR) on 11 May 2016 and are on-track for Critical Design Review (CDR) in November 2016.”s
What the Colonel meant to say — my words, not his — is that we (the U.S government) are finally hedging our bets. Just in case OCX does not come to fruition, both for launch and operations, we know we need to put a GPS III satellite on orbit soon so we can check it out before all the satellites are produced and sitting in a warehouse and we discover a major anomaly. We are running out of time.
If all of the GPS satellites are produced (and there are only six or eight more to be built under the current contract depending on the future award schedule), and not one of them has been launched, then the program is in trouble. If LMCO does not win the follow-on contract, then the GPS III production line will be shut down at LMCO and experts scattered to the winds. Spare parts for a satellite in storage will be hard if not impossible to find, much less repair or install. If the first GPS III satellite is not launched until after production ceases and a major flaw or anomaly is discovered, then the government’s options are slim to none.
To prevent a worst-case scenario, the government must launch a GPS III satellite, and soon. Certainly a date in 2016 is preferable, but a 2017 date will suffice, according to my sources. However that is doubtful with an OCX-based launch program that has yet to launch a satellite.
Kudos to the government for looking at OCX alternatives, and for looking down the road at…
Military GPS User Equipment or MGUE. Colonel Whitney, who successfully ran this program for several years before becoming the overall GPS SPO director, knowledgeably described the current MGUE effort this way. “We have taken delivery of the first GPS Military GPS User Equipment (MGUE) Final Test Articles this past month. These articles are going through initial checkout in the test labs as we prepare for integration into our lead platforms, like the B-2 Bomber.”
Approving the final test articles is a big deal for MGUE because it not only puts the products in the hands of operational integrators and users, but opens the door for a multitude of changes necessary to incorporate the latest up-to-date technology. This technology hopefully includes the use of GNSS signals and capabilities as well as other PNT signals and augmentations that can now be incorporated.
By the way, the congressman at the fundraiser dinner that I mentioned at the beginning did a credible job, but managed to get most of it wrong. But then, congress has so much more on its plate than GPS. That’s why the real experts need to make sure they keep everyone informed.
Wooldridge and Ramo on the cover of Time Magazine, 1957.
Simon Ramo
I hate to end on a sad note, but I must acknowledge the passing of a legend in the aerospace industry. Dr. Simon “Si” Ramo, who I knew well and worked with for many years early in my career, passed away on June 27 at the age of 103.
Si, who held two doctorates, was already a leader in the aerospace industry when I was born, and I credit many of his well-known books (he was a prolific author) for drawing many a young person to space, rockets, the dynamics of space launch, and engineering.
Dr. “Si” Simon Ramo
Si cofounded TRW Inc. in the late 1950s by taking two companies — Ramo-Wooldridge and Thompson Products — and leading them into the ICBM (Intercontinental Ballistic Missile) world. He was a tireless promoter of the space industry. The world will not soon see another character, gifted leader and entrepreneur like Si Ramo.
Until next time, happy navigating, and remember: GPS is brought to you free of charge by the United States Air Force.
The Pentagon is seeking an additional $39.2 million from Congress to help develop the United States Air Force’s next-generation GPS ground control system (OCX), reports Inside Defense. Without the additional funding, the OCX would be delayed an additional four months and cost $90 million more to complete, the Pentagon said.
The embattled OCX showed progress in its July 7 quarterly review, according to an Air Force statement. Acquisition Undersecretary Frank Kendall and Air Force Secretary Deborah Lee James — “with support of Lt. Gen. Samuel Greaves, Space and Missile Systems Center commander and Air Force program executive officer for Space — concluded Raytheon has made progress implementing these critical changes.”
On June 30, the Air Force declared a Nunn-McCurdy breach for its next-generation GPS control system. The declaration means that the U.S. Air Force notifies Congress that the program would exceed baseline cost estimates by at least 25 percent, triggering regimented cost control measures.
“Factors that led to the critical Nunn-McCurdy breach include inadequate systems engineering at program inception, Block 0 software with high defect rates and Block 1 designs requiring significant rework,” a statement from the Air Force said. “Additionally, the complexity of cybersecurity requirements on OCX and impact of those requirements on the development caused multiple delays. The corrective actions to resolve these problems took much longer than anticipated to implement.”
The program enters a review period led by Kendall, which is scheduled to conclude in October.
In December, Kendall did not rule out a re-compete, and the Pentagon announced it was delaying initial operations for the ground system until July 2021. The GPS III satellites cannot use their full capabilities with the current ground control systems, but the Air Force plans to use old ground systems retrofitted to work with the GPS III designs until the OCX is operational.
A networked radio from Thales is designed to meet soldiers’ need for assured positioning, navigation and timing (PNT) while on foot.
The MBITR2 is part of a broader defense effort to provide PNT solutions in case of GPS jamming or interference. The MBITR2 is one of a number of devices and technologies, many still in development, to address this need.
For instance, under a Small Business Innovation Research (SBIR) contract with the Air Force Research Laboratory, Navsys Corporation is testing a network-assisted PNT acquisition algorithm to run on tactical radios such as the MBITR2. The algorithm is designed to provide improved acquisition performance in a GPS jammed environment by leveraging an innovative assisted GPS (A-GPS) architecture where navigation and timing data are shared across the tactical radio network.
The AN/PRC-148B MBITR2 ground tactical handheld radio is small, light and power-efficient. It builds on the legacies of both the earlier narrowband AN/PRC-148 MBITR tactical handheld radio and the wideband AN/PRC-154 tactical handheld radio. It covers the 30–512 MHz frequency range.
When equipped with the MBITR2, dismounted warfighters can connect with the wideband tactical Internet protocol and the voice network via the Soldier Radio Waveform wideband channel, while maintaining contact via the legacy narrowband channel.
The MBITR2 is interoperable with MBITR radios already deployed. More than 200,000 are now in the field, and Thales said the earlier generation radios can be upgraded with a low-risk and cost-effective approach.
Further, the MBITR2 retains compatibility with the existing installed base of ancillaries.
MBITR2 features
Two radios in one
Simultaneous two-channel (narrowband and wideband) operations
Adds a second wideband channel to the AN/PRC-148 to provide networking, data, and video capability
Retains the existing AN/PRC-148 JEM Type-1 capabilities and waveforms
Navsys Corporation received the 2016 James S. Cogswell Outstanding Industrial Security Achievement Award, the highest honor the Defense Security Service (DSS) presents to cleared industry partners, for its facility in Colorado Springs, Colorado.
Founded in 1986 by Alison Brown, NAVSYS has assisted other small businesses, including partner GPS Source, in establishing security programs for GPS products.
The company conducts research and development on global navigation technologies and specializes in GPS hardware design, systems engineering, systems analysis and software design for government and commercial customers.
Insitu has been awarded a US$71 million follow-on contract to produce six RQ-21A Blackjack unmanned aerial systems (UAS), with options for two more, from U.S. Navy Naval Air Systems Command (NAVAIR).
The RQ-21A is recovered with the flight recovery apparatus cable aboard the San Antonio-class amphibious transport dock USS Mesa Verde after its first flight at sea. The tests were held in the Gulf of Mexico on Feb. 10, 2013.
The RQ-21A Blackjack has significantly larger payload mass, volume and power than other small UAS currently being used in theater, according to Insitu, a subsidiary of The Boeing Company. The system includes electro-optic and mid-wave infrared sensors with a laser rangefinder and infrared marker.
The Low Rate Initial Production (LRIP) Lot V contract also includes an option year for nine Full Rate Production (FRP) systems. The FRP decision review is expected this fall.
“This contract award paves the road for Blackjack’s continued and future fleet integration,” said Col. Eldon Metzger, program manager for the Navy and Marine Corps Small Tactical Unmanned Aircraft Systems Program Office. “It is at the tactical edge for Marine and Navy units and the foundation to support future system enhancements.”
“Blackjack delivers an organic intelligence, surveillance and reconnaissance UAS that is runway-independent and founded on an open architecture that allows for implementation of innovative payloads to meet critical operational demands,” said Ryan M. Hartman, Insitu’s president and CEO. “We are proud to provide the sailors and marines with reliable, capable systems that support their warfighting needs.”
NAVAIR awarded the STUAS Engineering Manufacturing Development contract to Insitu in 2010 to begin the development of RQ-21A Blackjack, a variant of the company’s Integrator unmanned system. The program achieved Milestone C in 2013, delivered the first LRIP system in 2014, and achieved initial operational capability in January.
How many times have you heard of a nearly 20-year-old space constellation being modified with a new technology? It almost never happens.
I will never forget when the general slid the sensitive Iridium folder across my desk; I knew from his facial expression that he was not happy. The folder contained a controversial civilian plan to de-orbit the entire multi-billion dollar Iridium communications satellite constellation less than a year after it was launched.
Fortunately, the folder also contained a proposed military, U.S. government (USG) and joint civilian proposal to sustain the constellation, with the only caveats being that a buyer be found and that the military and/or USG provide “indemnity” (insurance policy) for the Iridium constellation if it were to be utilized by the USG and our Allies, especially during wartime. At the time I was serving as the deputy chief scientist at Air Force Space Command headquarters. Our job was to determine the technical feasibility of both proposals and make a recommendation.
Iridium satellites
Replica of Iridium satellite. (Photo courtesy of Iridium)
Launched in 1998 by Motorola, Iridium is a satellite communications constellation that is a “technological marvel,” as John Bloom writes in his new book about Iridium, Eccentric Orbits. Additionally, Iridium was and remains a capability sorely needed by the USG that in many ways revolutionized global communications — unfortunately, just not in the manner or time frame Motorola originally envisioned.
Indeed, eventually not 66 or 77, or even 88, Iridium satellites would be launched, as you will read in many places. Rather, a total of 95 Iridium satellites have been launched to date, which should give the constellation the name Americium, since 95 is the atomic number for the element americium. But I digress.
The problem with Iridium was not technical or even space-related. Motorola, which developed the technology and launched the constellation into low Earth orbit (LEO) — an amazing feat in so many respects — totally missed the correct marketing strategy. Motorola developed Iridium as a quick (five-year lifetime) money-making capability and profit center when in fact it proved to be a much longer term project. Today, there are Iridium satellites that are fully expected to be on orbit and fully functioning for more than 20 years.
The original Iridium satellite was — and still is — a technological marvel that broke almost all the so-called rules for manufacturing spacecraft:
The satellites were built without any fully space qualified or certified parts.
The satellites were not built in a clean room.
The satellites were built “horizontally” on a moving assembly line, like automobiles, versus vertically, individually and historically as a stationery static device. The moving assembly line produced a satellite every five days by a little-known company that eventually became part of Lockheed Martin (LMCO).
The satellites were launched by nearly every space-faring nation that had a launch capability at the time.
The original Iridium satellites were built for a projected lifetime of five years — that was more than 18 years ago. The current Iridium constellation of 66-plus satellites (remember, 95 have been launched) has exceeded its projected lifetime by nearly 400 percent, and is still going strong.
In 2010, Iridium Communications entered into a long-term agreement with Boeing for maintenance, operations and support of the satellite network. Boeing operates the constellation and provides support for Iridium’s satellite control system (SCS).
How many times have you heard of an almost 20-year-old space constellation being modified with a new technology? It almost never happens.
The constellation’s legacy
Amazingly, the only reason the Iridium constellation still exists today, in several respects, is due to the intervention of the USG and a major program that suffered a production failure. Originally Motorola contracted for an additional hosted payload that just never came to fruition. The nameless company developed an Iridium test program, on which it failed to deliver. This “major glitch” caused a weight and balance problem for the Iridium satellites, which Danny Stamp, an Iridium program engineer, solved at the time by recommending a quick fix: adding an additional fuel load of the same weight as the failed payload to the satellite. It was a simple fix just to get the satellites launched on time that no one thought much about at the time. However, the result was a key component — remaining or residual fuel — that ensures the satellites are still in orbit, and can be maneuvered and working properly today.
As I mentioned earlier, one of the major reasons the entire Iridium constellation was not de-orbited was because the USG decided it was a necessary tactical capability during wartime for our warfighters, as well as being an amazing R&R tool for morale purposes. (The Iridium system enabled conversations with loved ones back home.)
Add to that a civilian plan put together by some true visionaries, individuals such as Dan Colussy and corporate partners such as Boeing, that were able to purchase the entire constellation for pennies on the dollar, and you have an incredible success story.
The result is one of the most successful — certainly the largest and most well known — satellite communication constellations ever flown. Plus, as I mentioned earlier, Iridium has proposed a brand-new capability that, if it comes to fruition, has the potential be a huge boon for GPS by serving as a key global PNT augmentation.
The way ahead
Just last week, Iridium announced that it is proposing, or has developed, in conjunction with other companies, an augmentation or compliment to GPS. Reuters quoted the CEO of Iridium Communications, Matthew Desch as saying the new technology used chips that were the size of a postage stamp, and could ultimately be integrated into other devices, heavy machinery, automobiles and the power grid.
The system, known as STL or Iridium Satellite Time and Location System, transmits signals via Iridium’s satellite constellation, delivering codes to ground positions that are independently authenticated, Reuters reported.
Both Iridium and the private firm Satelles said STL as a system has been demonstrated in military, academic and commercial applications. The Reuters article didn’t provide specific details on the exact nature of the devices or any launch customers. (Satelles and Boeing entered into a patent and technology license agreement for STL in 2013).
Iridium NEXT, Iridium’s next-generation global satellite constellation, will support the STL solution. Iridium NEXT is scheduled for completion by late 2017. Along with supporting the current Iridium constellation, Boeing is under contract from prime contractor Thales Alenia Space to provide system integration and testing support for Iridium NEXT.
So, while STL is far from concrete, it makes for an interesting possibility that Iridium is proposing or has apparently built an on-orbit satellite augmentation to GPS, and PNT in general. My government inquires brought the to-be-expected, “We can neither confirm or deny” response. As far as Iridium and Satelles are concerned, I suppose it is a wait-and-see proposal.
Still, it is good to see company internal R&D funding being used to further support our global PNT infrastructure. Now that the word is out, we can look for more details on the horizon. So stay tuned. By the way, many of you may remember that this is not the first time Iridium has gone down this path; perhaps this time it will actually work.
Yes, sometimes 18 years ago seems just like yesterday.
Abstract: The iGPS high-integrity precision navigation system combines carrier-phase ranging measurements from GPS and low-Earth orbit Iridium telecommunication satellites. Large geometry variations generated by fast moving Iridium spacecraft enable the rapid floating estimation of cycle ambiguities. Augmentation of GPS with Iridium satellites also guarantees signal redundancy, which enables fault-detection using carrier phase Receiver Autonomous Integrity Monitoring (RAIM). Over short time periods, the temporal correlation of measurement error sources can be exploited to establish reliable error models, hence relaxing requirements on differential corrections.
In this paper, a new ionospheric error model is derived to account for Iridium satellite signals crossing large sections of the sky within short periods of time. Then, a fixed-interval positioning and cycle ambiguity estimation algorithm is introduced to process Iridium and GPS code and carrier-phase observations. A residual-based carrier phase RAIM detection algorithm is described and evaluated against single-satellite step and ramp-type faults of all magnitudes and start-times. Finally, a sensitivity analysis focused on ionosphere-related system design variables (ionospheric error model parameters, code-carrier divergence, single and dual-frequency implementations) explores the potential of iGPS to fulfill some of the most stringent navigation integrity requirements with coverage at continental scales.
ION Joint Navigation Conference
The highly anticipated and always rewarding Institute of Navigation Joint Navigation Conference (ION JNC) kicks off this week, June 6-9, at the Convention Center in Dayton, Ohio, and at Wright Paterson Air Force Base.
There are the expected technical and joint presentations, along with a classified day (U.S. only) and a Warrior Panel. It all sounds like a great time and an educational experience. Be sure to visit the National Museum of the U.S. Air Force, including the website where you can take a virtual tour; it is an amazing venue. Also take time to visit the Wright Brothers exhibits in the “Birthplace of Aviation” while you are there.
Wright Brothers 1901 Wind Tunnel on display in the Early Years Gallery at the National Museum of the United States Air Force. (Photo: U.S. Air Force)
ION always puts on a great event. I hope many of you are there to participate.
Until next time, happy navigating, and remember: GPS is brought to you free of charge, courtesy of the United States Air Force.
Unmanned tactical wheeled vehicles for logistics and route clearance missions provide a significant force protection advantage — removing personnel from targeted vehicles, extending standoff distance from explosives, and empowering a single operator to simultaneously supervise multiple unmanned assets in convoy. This article discusses some of the enabling technologies and the motivations behind them, for safer and more efficient logistics and route clearance operations in a tactical environment.
By John Beck
Unmanned ground vehicles (UGVs) that can semi-autonomously operate over complex terrain represent a promising technological enabler for effective logistics supply and route clearance functions.
Oshkosh Defense has developed autonomous systems for tactical wheeled vehicles (TWVs), working closely with government agencies on autonomous appliqué systems with developed tactics, techniques and procedures that together offer a more efficient and less perilous means to perform critical missions in theater.
The system is designed to be unobtrusive, so that the host platform retains its original mobility, payload capacity, survivability (minimal impact to armor) and manual operation. By upgrading existing fleet vehicles with the capability for unmanned operation, the TerraMax UGV technology can economically and innovatively deliver force protection and force multiplication advantages.
MOTIVATION
Improvised explosive devices (IEDs) pose one of the greatest threats to today’s ground forces carrying out logistics missions in hostile environments. While the up-armoring of tactical vehicles has been effective in reducing casualties, the warfighter remains at risk to the ever-increasing net explosive weights. By fielding UGVs, militaries will be able to remove personnel from TWVs and mitigate the danger of armor overmatch.
To increase efficiency of a reduced force structure, UGVs will serve as force multipliers, enabling a warfighter in a protected vehicle to supervise the coordinated operation of multiple UGVs from a safe standoff distance. These UGVs will be able to operate for extended periods of time, during day and night, and through dust and adverse weather conditions without fatigue or loss of awareness. UGVs will precisely maintain vehicle separation, enabling greater security, improved efficiency and fewer collisions.
Environment Drives Design. To be sustainable in theater, unmanned TWVs must equal their manned counterparts in performance, reliability and mobility in austere tactical environments. For the purposes of overcoming complex terrain, prevailing TWVs are engineered to be capable of feats such as fording 1.5 meters of water and traversing 60% gradients and 30% side slopes.
In addition, these vehicles are expected to operate across broad temperature extremes in dusty, sandy or muddy environments, enduring all manner of precipitation, vegetation and weather conditions. The stringent operational requirements of expeditionary forces influence both individual component selection and overall system design for manned vehicles; the same is true for an unmanned appliqué complement, which must be capable of interpreting and operating in these harsh and complex environments.
ENABLING FULL MOBILITY
TerraMax UGVs are actuated by a tightly integrated drive-by-wire system enabling precise vehicle control using MIL-STD system components to ensure reliability and durability in a tactical environment. It is a safety-critical system that integrates with relevant vehicle components, including steering, engine, brakes, transmission and auxiliary driving functions (such as the central tire inflation system, drive line locks and engine braking), preserving the broad mobility characteristics of the host platform.
The drive-by-wire system both enables higher level robotic control functionality and provides independent benefits in the form of advanced driver assistance system (ADAS) features to benefit manual driving, reducing accidents and collisions.
To facilitate detecting errors absent in an in-vehicle driver’s intuition, the drive-by-wire system communicates with core vehicle diagnostic sensors. It also utilizes add-on sensors that enable monitoring of vehicle and auxiliary subsystem attributes such as hydraulic and pneumatic pressures, ambient and local temperatures, fuel and fluid levels, battery charges and power usage.
All of this data is accessible from the control interface. In addition, threshold values are configured for each monitored sensor such that an operator will be advised if any components exceed warning or critical levels. This ensures that severe conditions do not go unnoticed by an operator, who could be at a distance beyond direct line of sight and may be preoccupied or otherwise unable to dedicate full attention to monitoring multiple UGVs downrange.
Perception Sensors. The TerraMax UGV sensor suite (Figure 1) uses multiple sensor modalities to provide robust sensing capability. The primary sensor for analyzing terrain and obstacles is the high-definition (HD) laser detection and ranging (LADAR), with 64 scanning lasers sweeping 360 degrees.
Figure 1. Sensor suite aboard TerraMax UGV.
In addition, radars are positioned around the vehicle to detect moving obstacles such as other vehicles. Wide-angle cameras are also positioned around the periphery to give a remote operator the ability to visually check vehicle surroundings.
A navigation solution using GPS and an inertial navigation system (INS) supports the ability to drive accurately even with limited GPS signal availability. On the roof facing forward are two cameras used for teleoperation of the vehicle: a wide dynamic range (WDR) camera for daytime use and a short wavelength infrared (SWIR) camera for night operations.
Perception Software. The TerraMax UGV perception software leverages a multi-sensor suite that compensates for the weaknesses of one sensing modality with the strengths of another; for example, relying upon the dust-penetrating ability of automotive radar when LADAR and visible-spectrum camera feeds are obscured.
The perception software uses several modules to interpret the world around it: terrain detection, which assesses roughness of the nearby terrain and informs the selection of appropriate speeds; terrain classification, which distinguishes among foliage, dust or other airborne obscurants and obstacles (Figure 2) and enables traversability appraisals of the surrounding area; and dynamic obstacle detection, which tracks vehicles and dismounts and allows the UGV to exhibit defensive driving behaviors. This software also affords situational awareness and a means for remote supervision of the vehicle by providing processed output for display at the operator control unit.
Figure 2. Perception system display in the TerraMax UGV.
In addition, fused sensor data are combined using novel registration techniques that couple the vehicle’s perception of its surroundings with ground-truth geospatial mapping data to correct for errors in GPS position estimates. This allows the system to be enhanced by, rather than dependent upon, GPS and vehicle-to-vehicle data. Government testing has demonstrated the ability of the TerraMax UGV system to endure complete GPS blackout for more than 19 kilometers with no noticeable impact on mission performance.
Key features of the perception system are:
operable in all environments under all weather and lighting conditions;
installed inconspicuously on the base vehicle and capable of covert modes of operation;
able to deliver reliable system performance under extreme GPS degradation or denial.
Motion-Planning Software. This onboard software takes in an operator’s objectives regarding routing, speed and inter-vehicle spacing as entered during mission planning or on-the-fly. It consequently observes processed sensor data from the perception system and calculates and executes speed and steering commands that guide the vehicle along an optimal path. The motion planning software has been developed with machine learning techniques to emulate smooth human driving behaviors such as avoidance of obstacles and terrain hazards while maintaining appropriate vehicle speed on various terrains.
Key features of the motion planning system are:
intelligent speed and path selection in all terrain, including secondary roads and trails;
capability of sustaining high platform mobility (for example, handling fording and grade climbs);
ability to support high operational tempo (OPTEMPO).
Modes of Operation. When enabled for unmanned operation, a TerraMax UGV can be placed in one of three different modes: semi-autonomous, follower,or tele-operation. The mode selection for each vehicle is controlled from the primary OCU that can be installed in any other tactical or combat vehicle.
In semi-autonomous mode, basic waypoint navigation via GPS coordinates is supported. In addition, mission plans can be created that include information such as check-points, intended vehicle separation distances, speed limits by region, and exclusion zones. These missions are planned from the OCU on a route map that is produced from standard geospatial vector data and predefines the roads on which the UGVs may travel.
This feature, illustrated in Figure 3, allows for on-the-fly mission planning and route changes by selecting “via points” on the road network (similar to a Google Maps functionality) that are automatically connected into a full route plan.
Figure 3. Waypoint navigation.
This requires significantly less effort than manually selecting each individual waypoint for each unmanned vehicle. Once a route has been established, the UGVs traverse the assigned road using their fused global position estimates (leveraging GPS signals as well as the sensor-enhanced map registration to stay on the road) and take advantage of the data link between the vehicles to ensure they maintain prescribed leading and following distances.
In follower mode, no predetermined mission plan is required; a manned vehicle such as the command and control vehicle (C2V) is simply designated as the leader by the operator, and the unmanned vehicles will follow anywhere on the roadway (while still performing intelligent road-keeping and obstacle detection). Two modes of leader tracking are supported: coordinate-based and direct observation.
In the primary mode of coordinate-based following, the lead vehicle transmits its GPS-based position to the follower via the radio data link. The follower vehicle correlates this position to the route map and subsequently appends a waypoint to its upcoming path that would bring the follower to a position on the road directly behind the leader.
In tele-operation mode, an operator assumes remote control of a single UGV and directly commands vehicle speed, steering and other functions via a rugged handheld controller. The operator has a selection of either live video feeds, or an augmented reality view supported by perception data overlaid on aerial imagery, displayed on the OCU display.
OPERATOR CONTROL UNIT
The operator control unit (OCU)hardware and software (Figure 4) are designed to be installed in any other tactical vehicle, along with a low-cost GPS receiver and radio data link that enables communication with multiple TerraMax UGVs from up to 1 kilometer. The OCU allows a single operator to manage coordinated mission command and control of mixed convoys comprised of manned and unmanned vehicles. Route information and convoy behaviors can be pre-planned, saved, loaded and modified as needed during operations.
Figure 4. TerraMax UGV operator control unit.
Touchscreen and function keys allow rapid input using relevant and contextual menus including configurable preset values. Live position and status of each vehicle is displayed on a zoom-able overhead map, and camera feeds from any of the UGVs may be displayed in a familiar picture-in-picture format.
A distilled version of the perception information can be selectively overlaid, aiding the operator’s situational awareness of the vehicles’ surroundings. Remote control and tele-operation is supported using a ruggedized game-style controller for situations when the operator wants direct control of steering and throttle.
TRAINING
Because pre-deployment training opportunities may be limited and any near-term requirement for highly specialized troops is untenable, ease of skill acquisition is critical. In two warfighter experiments for the U.S. Marine Corps Warfighting Lab’s recent Cargo UGV project, the TerraMax system was demonstrated to be operable by veteran motor transport operators after a three-day training course comprising classroom instruction, a realistic desktop simulation environment, and hands-on exercises with the vehicles.
The capstone experiment integrated two TerraMax UGVs into a manned logistics convoy, which was then subjected to a variety of realistic operational scenarios including unexpected road blocks, simulated IED strikes and night operations. Results showed the novice users were able to successfully complete mission objectives using the unmanned systems.
At the conclusion of each of the warfighter experiments for the Cargo UGV project, operators believed they could comfortably control three to five UGVs from a single user interface without suffering cognitive overload.
CONCLUSION
With onboard sensing and decision-making, these unmanned TWVs can provide a force multiplier by empowering a single operator to simultaneously supervise several unmanned assets traveling in convoy, operating semi-autonomously for extended-duration movements. This advantage is significant because it permits more efficient completion of missions by lowering both risk to, and demand for, ground forces.
The procurement, operations and maintenance costs for a robotic capability on TWVs will also be minimized by modernizing existing fleet vehicles with an appliqué kit, but to become viable in theater operations, unmanned TWVs must be able to contend with the same performance, reliability, and mobility in the austere tactical environments as their manned equivalents.
TerraMax UGV technology can be applied to any tactical vehicle and has already been prototyped on the Medium Tactical Vehicle Replacement (MTVR), Palletized Loading System (PLS), Family of Medium Tactical Vehicles (FMTV) and the Mine Resistant Ambush Protected (MRAP) All-Terrain Vehicle (M-ATV).
TERRAMAX HISTORY
Oshkosh has been developing and fully autonomous UGVs since 2003. Among its several generations:
In the 2005 Defense Advanced Research Project Agency (DARPA) Grand Challenge, TerraMax was one of only five vehicles to complete the entire 132-mile course.In 2007, the TerraMax vehicle was one of 11 qualifiers at the DARPA Urban Challenge.In 2012, a second unmanned MTVR was built to evaluate multiple UGVs supervised by a single operator.In 2013, TerraMax UGV M-ATV demonstrated capabilities for route-clearance missions. (Featured on the June 2016 cover.)
ACKNOWLEDGMENT
This article is based on a technical presentation given at AUVSI xPONENTIAL, May 2016 in New Orleans.
John Beck is chief engineer, Unmanned Systems, at Oshkosh Corporation.
DT Research, a designer and manufacturer of purpose-built computing solutions for vertical markets, is offering a new 2-in-1 ultra rugged tablet for its DT301 and DT311 series. The tablets are built to withstand extreme outdoor environments with customizable options built into a slim, lightweight design that is also well-suited for the office.
The new ultra-rugged tablets have water-resistant detachable keyboards, internal hot-swappable batteries, and advanced hardware-software security with two Full HD screen size options to maximize use in multiple settings.
“Mobile tablets are fast becoming the ‘go to’ computing device for the military and other field jobs,” said Daw Tsai Sc.D., president of DT Research. “But as the use of mobile tablets has risen, we saw that users need the flexibility to use tablets in a variety of settings. Our new 2-in-1 ultra-rugged tablets can dynamically adapt to indoor and outdoor use, while remaining light and durable with our signature fully-integrated design. These 2-in-1 tablets continue to demonstrate our dedication to delivering highly reliable computing solutions, which require built-in features, not attachments that can easily break, stop working, get lost or stolen.”
DT Research’s Ultra Rugged Tablets have been well-received by many organizations, including the U.S. Army Reserve, which is expanding use of the DT311H rugged tablets into other army facilities to support training missions and other logistics. This marks the second Army Reserve contract for Rugged Tablets that DT Research has been awarded this year.
The new 2-in-1 Ultra Rugged Tablets designed and manufactured by DT Research are full-featured, yet lightweight and come with Full HD anti-reflective outdoor viewable screens in two models ready for military, industrial, emergency/first-responder, fieldwork and other extreme environments.
The DT301S is a fanless tablet that weighs only 2.86 pounds with all options fully-integrated. The 10.1-inch display has 1920 x 1200 resolution and supports a capacitive touch stylus or a digital pen. Customers can choose either an Intel 6th Generation Coreä i5 or Coreä i7 CPU with 4GB or 8GB RAM running Microsoft® Windows 10 IoT Enterprise OS or Windows 7 Professional.
The DT311H tablet has a larger 11.6 inch display with 1920 x 1080 resolution, yet still lightweight at 3.6 pounds and also supports a capacitive touch stylus or digital pen. Customers have a CPU choice of Intel Coreä i5 or Coreä i7 with 8GB to 16GB RAM running Windows 10 IoT Enterprise OS or Windows 7 Professional.
DT Research’s ultra-rugged 2-in-1 tablets include both software and hardware security features. The DT301S and DT311H take full advantage of advanced Windows 10 IoT Enterprise OS security including Device Guard enterprise hardware and software security features that only allow the tablet to run trusted applications with TPM 1.2 and 2.0 support. The DT301S and DT311H include Lock Down features to protect against malicious users, which also provide a custom designed user experience and increase system reliability.
DT Research combines the Windows 10 IoT Enterprise software security with its proprietary hardware security, such as media sanitization option that supports both NSA and USA-AF/Navy/Army standards. Hardware security options also include camera privacy mode, instant blackout, as well as automatic Bluetooth, RFID and WiFi disable functions that can be pre-configured to turn off all radio capabilities under certain conditions.
NovAtel’s GAJT-AE-N anti-jamming antenna is aboard the Camcopter S-1oo UAS.
NovAtel’s compact GAJT anti-jam antenna is now on-board Schiebel’s Camcopter S-100 unmanned air system (UAS).
The Vienna-based manufacturer Schiebel is focused on the development, testing and production of the Camcopter S-100UAS, as well as innovative mine detection equipment, and is a long-time customer of NovAtel’s high-precision GNSS positioning technology.
In 2015, Schiebel was evaluating NovAtel’s GAJT antenna as an option for offering anti-jam capabilities on its Camcopter S-100 when an urgent call was received. A Schiebel customer had an immediate operations requirement to combat GPS jamming.
The commercial-off-the-shelf (COTS) nature of its GAJT antenna allowed NovAtel to quickly supply Schiebel the requested anti-jam capabilities. In turn, Schiebel was able to rapidly deploy the strategically equipped Camcopter to its customer within the requested timeframe.
“It was the fast response, followed by the excellent performance of our GAJT anti-jam antenna that has led to Schiebel offering the GAJT antenna as a standard option on their Camcopter S-100,” said Peter Soar, business development manager for NovAtel’s Military and Defence group. “Every once in a while, timing is on your side. The opportunity to prove our ability to meet urgent supply requests, followed by demonstration of our antenna capabilities in real conditions, has allowed us to positively impact the success of our customer’s business.”
The Camcopter S-100 flies at Fogo Island, Canada. (Photo: Schiebel)
GAJT is a null-forming antenna system that ensures satellite signals necessary to compute position and time are always available. It is available in versions suitable for land, air, sea and fixed installations. It provides anti-jam performance comparable to much larger systems, but at a significantly lower cost. Easily integrated into new platforms, it can also be retrofitted with the existing GPS receivers and navigation systems on existing and legacy military fleets.
Schiebel’s Camcopter S-100 UAS is a proven capability for military and civilian applications. The Vertical Takeoff and Landing (VTOL) UAS needs no prepared area or supporting launch or recovery equipment. It operates during daytime and at night, under adverse weather conditions, with a beyond line-of-sight capability out to 200 km, both on land and at sea.
The S-100 navigates via preprogrammed GPS waypoints or is operated with a pilot control unit. Missions are planned and controlled via a simple point-and-click graphical user interface. High-definition payload imagery is transmitted to the control station in real time.
Using “fly-by-wire” technology controlled by a triple-redundant flight computer, the UAV can complete its mission automatically. Its carbon fiber and titanium fuselage provides capacity for a wide range of payload/endurance combinations up to a service ceiling of 18,000 feet.
Air Force Space Command began its 10th Schriever Wargame May 19 at Maxwell AFB, Montgomery, Ala.
The Schriever Wargame (SW 16), set in the year 2026, explores critical space issues and investigates the integration activities of multiple agencies associated with space systems and services.
The objectives of SW 16 center on identifying ways to increase the resilience of space that includes our intelligence community, civil, commercial and Allied partners; exploring how to provide optimized effects to the warfighter in support of coalition operations; and examining how to apply future capabilities to protect the space enterprise in a multi-domain conflict.
The Air Force announcement did not include specific mention of GPS jamming and spoofing, but these and related cyberthreats could reasonably be expected to appear in the pantheon of cyberspace competition.
The SW 16 scenario depicts a peer space and cyberspace competitor seeking to achieve strategic goals by exploiting those domains. Scenarios will focus on the European Command Area of Responsibility. They will also include a full spectrum of threats across diverse operating environments to challenge civilian and military leaders, planners and space system operators, as well as the capabilities they employ.
The Schriever Wargame team will conduct SW 16 on behalf of Air Force Space Command, headquartered in Colorado Springs, Colorado. Approximately 200 military and civilian experts from more than 27 commands and agencies around the country will participate in the Wargame.
U.S. commands and agencies participating in SW 2016 include: Air Force Space Command, Army Space and Missile Defense Command, Naval Fleet Cyber Command, the National Reconnaissance Office, Executive Agent for Space Staff, Air Combat Command, Office of the Secretary of Defense, U.S. European Command, U.S. Strategic Command, Defense Information Systems Agency, the Intelligence Community, National Aeronautics and Space Administration, Office of Homeland Security, Department of Transportation, Department of State and Department of Commerce.
