AP04 - The autopilot solution for unmanned aircraft

AP04 is UAV Navigation's most complete system in its autopilot product line. It is a fully integrated autopilot with manual override, radio link, and payload control capabilities. The AP04 is used in both, fixed and rotary wing UAVs, ranging from micro-UAVs of less than 1 meter wingspan to medium UAVs of 4 meter wingspan and 80lbs payload. It is currently operating on electric, piston, and jet aircraft. The AP04 is capable of fully automatic takeoff, hovering, flight plan following, and landing. It can configure the airfraft for each stage of the flight, adapting flaps, or locking nose wheel steering. UAVs can be launched in catapults in excess of 15G's, and parachute recovery or perform takeoff and land on standard runways. The AP04s integrated radio link allows data communication ranges in excess of 60 miles. However, once a flight plan is loaded, no ground communications are needed, the UAV can complete its mission fully autonomously. This extends the range of operation beyond radio reach. A manual override mechanism allows the gound operator to have full manual UAV control by means of a joystick similar to the ones used for R/C airplanes, requiring no additional training for external pilots. The AP04's redundant dual micro-processors provide the highest level of safety, automatically switching upon detection of computational failure. Additional redundancy built into the software allows the AP04 to survive all individual sensor failures, while maintaining accurate estimates of attitude and position. Additionally, its ruggedized enclose is both impact resistant and waterproof. The AP04 can perform payload control functions, such as activating flares or parachutes for target drone UAVs, or gyro-stabilize cameras or antennas for observation UAVs. In general, the AP04 can be the sole on-board system (apart from the payload) in most UAVs. Its RS232 ports can be used as communication tunnels to the ground station, allowing direct payload communication using the AP04's radio modem. The AP04 can also interface with engine management/control systems, to take full advantage of the ECU features and to provide real time engine performance data to the ground station. The AP04 can control up to 16 servos or peripherals. Its interface signals can be reconfigured as inputs to develop advanced features such as constant-RPM engine control. UAV Navigation is a privately owned company that specializes in the design of flight control systems for unmanned and manned aircraft.

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AP04 - Autopilot technical specifications

59.7

68

75

Fully automatic, multi-waypoint, 3D flight-plan following. Axis Auto throttle Auto takeoff landing 3 (roll,pitch,yaw) Yes Yes

86

PAYLOAD MANAGEMENT
Servo or I/O lines Gyro-stabilization Flare/parachute 16 Yes Auto or manual firing
74

AHRS
Accelerometer 3 axis 10G (vertical) 3 axis 300/s 3 axis Yes Max. acceleration Angular rate sensors Max. angular rate Magnetometer Magnetic attitude compensation

COMMUNICATIONS
Baud rate Range Frequency Method 115.2 kb/s (full duplex) 100 km 902-928 MHz (1.3 GHz option) Frequency hopping spread spectrum Yes Simultaneous multiple UAVs

INTERFACES
E/O or IR PTZ Canon, VISCA, IAI/Tamam, etc. Directed Perception, EM02, JetCAT, AMT, etc. Engine management/control

I/O
I/O lines PWM rate PWM signal RS232 ports baud rate 16 50 Hz or 200 Hz 1 ms to 2ms high, 1us steps 4.8K, 9.6K, 19.2K, 38.4K

GPS
Channels Differential 12 Yes

REDUNDANCY & SAFETY

Redundant processors Online sensor diagnostics Sensor failure tolerance 2 Yes All single, several multiple

ELECTRICAL
Supply (unregulated) Power consumption 7 V to 36 V 2.5 W

MECHANICAL/ENVIRONMENTAL ADS
Airspeed LSP normal HSP Altimeter 25 Kt-150 Kt 35 Kt-250 Kt 45 Kt-450 Kt 0 to 20,000 ft Size (mm, H x W x L) Weight System connector Pressure connectors diameter Radio link RF connector GPS RF connector Temperature range Mounting screws 59.7 x 68.0 x 74.0 270 g MS3112E-16-26P 3.0 mm SMA female SMA female -40C to +85C M4

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2009 UAV Navigation - All rights reserved - www.uavnavigation.com - Avda. Dr. Severo Ochoa 45, 1A 28100 Alcobendas, Madrid Spain

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64

FLIGHT CONTROL

AP04 - Ordering codes A P 0 4

Airspeed range: N L H Normal airspeed (35-250Kt) Low airspeed (25-150Kt) High airspeed (45-450Kt)

Software options: FW AH FS HC HS TG TS QD F5 BT A5 Standard fixed wing autopilot Attitude and heading reference system, 20 Hz output (no flight control laws) Standard fixed wing autopilot 6DOF Helicopter autopilot Helicopter autopilot 6DOF Target autopilot Target autopilot 6DOF Quad heli autopilot Standard fixed wing autopilot, 50 Hz output Boat autopilot Attitude and heading reference system, 50Hz output (no flight control laws)

I/O Configurations: ST S1 S2 42 D2 EC NR E1 Standard: 12 x servo (PWM) outputs, 1 x I2C port, 1 x RPM input 1 serial port: 8 x servo (PWM) outputs, 1 x RS232 UART, 1 x I2C port, 1 x RPM input 2 serial ports: 6 x servo (PWM) outputs, 2 x discrete (PWMX) outputs, 2 x RS232 UART, 1 x I2C port, 1 x RPM input 1 differential serial port: 6 x servo (PWM) outputs, 1 x RS422 UART, 1 x I2C port, 1 x RPM input 2 discrete outputs: 8 x servo (PWM) outputs, 2 x discrete outputs, 1 x RS232 UART, 1 x I2C port, 1 x RPM input External comm loop: 10 x servo (PWM) outputs, link between CPU & datalink exposed on connector No radio: 8 x servo (PWM) outputs, 1 x I2C port External comm loop 1 serial port: 8 x servo (PWM) outputs, 1 x RS232 UART

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2009 UAV Navigation - All rights reserved - www.uavnavigation.com - Avda. Dr. Severo Ochoa 45, 1A 28100 Alcobendas, Madrid Spain

ISO 9001 CERTIFIED COMPANY