21 Hacker

about
Unmanned
systems HAES
evolving systems consulting

Hacker Model Production &
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.
a.s.
about
Unmanned
systems HAES

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

a.s.
about
Unmanned
systems HAES

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

a.s.
about
Unmanned
systems HAES

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.

Selective Laser Sintering (SLS) used in aerospace
a.s.
about
Unmanned
systems HAES

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).

ESCUCS Control Unit on a design of UAV UCS
a.s.
about
Unmanned
systems HAES

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).

IRIS, new Air-Ground Communication system for ATM
a.s.
about
Unmanned
systems HAES

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

a.s.
about
Unmanned
systems HAES

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.
HAES 400 on a rail system
a.s.
about
Unmanned
systems HAES


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.

HAES 400 on a rail system
a.s.
about
Unmanned
systems HAES


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

a.s.
about
Unmanned
systems HAES

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

a.s.
about
Unmanned
systems HAES

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

a.s.
about
Unmanned
systems HAES

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.
Advanced UAS type HAES Scanner
a.s.
about
Unmanned
systems HAES

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.
HAES Scanner
a.s.
about
Unmanned
systems HAES

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.
CDAI Review awards the best new product of 2005
a.s.
about
Unmanned
systems HAES

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

a.s.
about
Unmanned
systems HAES

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

a.s.
about
Autopilot

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

a.s.
about
S&A

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.

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
a.s.
about
S&A

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

a.s.
about
S&A

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

ADS-B system example
a.s.
about
S&A ARCA

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

OK / KO
a.s.
OK / KO
ACTION UNITS
Servos
Motors
...
about
S&A ARCA

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

a.s.
about
S&A ARCA

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

a.s.
about
Unmanned
systems HAES

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

a.s.

21 Hacker

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

21 Hacker

Uploaded by

Copyright:

Available Formats

about

evolving systems consulting

Unmanned systems HAES

R. Sysala, 1K. Hacker

evolving systems consulting s.r.o.,

Confidential information: Without the advance written permission of HAES

evolving systems consulting

Hacker Model Production a.s.

UAS Avionics: Autopilot

UAS Avionics: Sense & Avoid

Confidential information: Without the advance written permission of HAES

evolving systems consulting

Hacker Model Production a.s.

The company Hacker Model Production

In 2000 the company moved into its

Confidential information: Without the advance written permission of HAES

evolving systems consulting

Hacker Model Production a.s.

The company has gained development

New production technology enabled the

Confidential information: Without the advance written permission of HAES

Selective Laser Sintering (SLS) used in aerospace

evolving systems consulting

evolving systems consulting s.r.o.

ESC is a European company with

ESC is developing on-board control

Confidential information: Without the advance written permission of HAES

ESCUCS Control Unit on a design of UAV UCS

evolving systems consulting

evolving systems consulting s.r.o.

UAS UCS modules according to

Confidential information: Without the advance written permission of HAES

IRIS, new Air-Ground Communication system for ATM

evolving systems consulting

HAES production lines

There is a possibility in a long term vision

HAES Bird, Solar, UCAV

evolving systems consulting

HAES 400 AERIAL TARGET

HAES 400 on a rail system

evolving systems consulting

HAES 400 AERIAL TARGET

Confidential information: Without the advance written permission of HAES

HAES 400 on a rail system

evolving systems consulting

HAES 400 AERIAL TARGET

General Characteristics of HAES 400 V1.2

A realistically moving aerial target

Primary function: Aerial target

Confidential information: Without the advance written permission of HAES

evolving systems consulting

HAES 400 System overview

Modular design of on-board HW

Fully automatic operation mode

NATO STANAG 4586 capable

HAES 400 System overview

Confidential information: Without the advance written permission of HAES

evolving systems consulting

HAES 400 UCS control station

Unlimited No. of connected

Virtual fence restrictions

Mission planning / real time replanning