MECH 4810 Unmanned

Aviation Vehicle
Lecture 4 Control Stations
 Intro to Control Station
The ground (GCS), aboard ship (SCS) and airborne in a ‘parent’ aircraft (ACS)

The control station serves as the heart and soul of UAS operations
• Provides a central point for aircraft control by the human element in an unmanned
system.
• Provides a central for information gathered by the aircraft’s sensors can be
transmitted for recording or disseminated to other stakeholders.

The type of unmanned aircraft and the operational payload often dictates the size o
the control station
• Small unmanned aircraft only require a handheld control for vehicle control and to
receive sensor signals.
• Control stations for larger unmanned systems such the MQ9 Reaper, are often
housed in air conditioned trailers or shipping containers due to the electronics
needed to operate the system.
 Intro to Control Station
• Larger systems that have the ability uplink and downlink data through
satellites often use multiple control stations for their operations.

• Because the distance between the primary control station and the
operation area can be significant, signal latency may cause issues
with controllability during aircraft takeoffs and landings. To overcome
this potential safety problem, aircrafts are often controlled during
these critical phases of flight by local control stations that have line of
sight data links. Once airborne, control of the vehicle and operation is
transferred. For recovery, the process is reversed.
Iran Captured US Spy Drones
 Control Station Composition
• The control center of a local UAV
system, within which the mission is
pre-planned and executed

• The part of a still larger system, or

‘system of systems’ when it is also
interfaced with other components of a
network-centric system, sharing
information with and receiving
information from other elements of
the larger system.
 Mission planning may be carried
out in a central command center
and ‘retailed’ to the individual CS
for execution.
 Control Station Composition
• The man–machine interface Other External Systems
• The operators direct the flight • Means of acquiring
profile or mission programs weather data,
• Direct operation of mission • Transfer of information
‘payload’ from and to other systems
• The aircraft will return information in the network,
and images (down-link, either in • Tasking from higher
real-time or on command). authority,
 Data from the payloads, status
• The reporting of
information on the aircraft’s sub-
systems (housekeeping data), information back to that
altitude and airspeed and terrestrial or other authorities.
position information
• Launch and Recovery
 Functions of Subsystems
• The UAV flight controls: display(s) to present UAV status and
recording of equipment.
 For manual real-time control of the UAV
 Select and engage stored on-board flight sub-programs.

• A sub-system to recognize the type of payload installed in the UAV and

to suitably adjust the operation of the payload controls for that
payload.

• The ground elements (encoders, transmitter and receiver) of the

communication link between the CS and UAV, and controls for their
operation.
 Remote ground terminal (RGT)->require its own levelling system
and ground-deployed communication (probably fibre-optic) to the
GCS.
 Functions of Subsystems
• Navigation displays for monitoring the position and flight-path of the
UAV and the necessary computers to process the data.

• Terrestrial map enables mission planning and the necessary

calculations for it to be carried out.

• Communication systems with other players in the system of systems

to enable data to be obtained for weather conditions, to receive
mission requirements and to send data received from the indigenous
UAV to other players.
 Intro to Control Station
• One of the issues in UAS is that every manufacturer has designed
and developed their control stations specifically for their unmanned
system. It has the potential to limit interoperation integration of
different systems.
 Open System Architecture
• The term open system architecture (OSA) implies that the system and most of its
sub-systems are designed to accept the addition of new elements without redesign
of the existing elements.
• The design standards of the electronic equipment and computer operating formats,
etc. must be specified and be common to all potentially cooperative systems.
• One recommended design standard is the open systems interconnection (OSI)
architecture of the International Organization for Standardization (ISO).
• Example: STANAG 4586, a NATO interoperability standard that establishes a
common protocol to facilitate the interoperation of various types of UAV and
different control stations.
• The interface control definition (ICD) standard:
 The data link interface (DLI) between a control station and UAVs,
 The command and control interface (CCI) between the CS and other
networking systems
 STANAG 4586
• The objective of STANAG 4586 is
to specify the interfaces that shall
be implemented in order to
achieve the required Level of
Interoperability (LOI) between
different UAV systems.
• Interoperability can be defined as
the ability of robots to operate in
synergy to the execution of
assigned missions and the
capability of diverse systems and
organizations to work together,
sharing data, intelligence and
resources.
 Levels of Interoperability (LOI)
• STANAG 4586 establishes a functional architecture for Unmanned
Aerial Vehicle Control Systems (UCS) with the following elements
and interfaces: Air Vehicle (AV), Vehicle Specific Module (VSM), Data
Link Interface (DLI), Core UCS (CUCS), Command and Control
Interface (CCI), Human Computer Interface (HCI), and Command
and Control Interface Specific Module (CCISM).

• Five levels of interoperability to accommodate operation

Level 1: Indirect receipt and/or transmission of sensor product and associated
metadata, for example Key Length Value Metadata Elements from the UAV.
Level 2: Direct receipt of sensor product data and associated metadata from the
UAV.
Level 3: Control and monitoring of the UAV payload unless specified as monitor
only.
Level 4: Control and monitoring of the UAV, unless specified as monitor only, less
launch and recovery.
Level 5: Control and monitoring of UAV launch and recovery unless specified as
 UCS Functional Architecture
Vehicle Specific Module (VSM)
Provides unique/proprietary communication protocols,
interface timing, data formats and “translation” of the
DLI protocols and message formats that the respective
Air Vehicle (AV) requires. This software provides a set
of functions, such as
• Translation of STANAG 4586 messages from the
CUCS from/to the AV via DLI;
• Pack/unpack data to optimize transmission
bandwidth;
• Act as database;
• Manage interfaces for data link messages control and
monitoring;
• Manage interfaces for launch and recovery
operations;
• Analogue to digital conversion of sensor data.

VSM module is usually vehicle specific, provided by its

manufacturer. However, this module is not necessary if
the data links used by the vehicle are STANAG 4586
compatible.
 UCS Functional Architecture
Data Link Interface (DLI)
The DLI, between the CUCS and the VSM element, enables the CUCS to generate
and understand specific messages for control and status of air vehicles and payload.
DLI specifies the mechanism to process and display specific messages, which are air
vehicle and payload independent.

Core UCS (CUCS)

The CUCS should provide a user interface that enables the operator to conduct all phases of
UAV missions, and support all requirements from the DLI, CCI and HCI. The computer
generated graphic user interface should also enable the operator to control different types of
UAVs and payloads.

Depending on the desired level of interoperability in the respective UAV system, the CUCS
should :
• Receive, process and disseminate payload data from the AV and its payload;
• Perform mission planning;
• Monitor and control the AV, payloads, and data links;
• Support additional future AV and payload capabilities;
• Provide the UAV operator the necessary tools for computer related communications, mission
tasking, mission planning, mission execution;
• Be able to host VSM and CCISM functions.
 UCS Functional Architecture
Command and Control Interface (CCI)
CCI defines the standard message set and accompanying
protocols that have been selected to be C4I (Command,
Control, Communication, Computers and Intelligence)
System/node independent, avoiding placing additional
requirements on the C4I System.
The CCI is intended to cover all types of messages and data
that need to be exchanged in both directions between the
CUCS and the C4I systems during all the phases of a UAV
mission, including:
• Before the flight: tasking messages, tactical situation,
environmental data, general mission constraints and
mission plans;
• During the flight: status and service messages, payload
data, progress reports;
• After the flight: status and service messages, payload
data, post-flight exploitation reports, mission reports.
 UCS Functional Architecture
Human Computer Interface (HCI)
• The STANAG specifies the requirements levied upon the CUCS, and does not impose any
design requirements on human factors (HF) and ergonomics, (e.g., number of displays,
manual controls, switches etc.)
• The HCI establishes the operator display and input requirements that the CUCS shall
support. Although not specifically defining the format of the data to be displayed, there are
some identified requirements that the CUCS shall provide in order to ensure an effective
operation of the UAV system, such as display and operator interactions imposed on the
CUCS by the CCI and DLI.
 UCS Functional Architecture
Command and Control Interface Specific Module (CCISM)
• The CCISM provides a function similar to the VSM, that is, the encapsulation of the CCI
data and any translation required to be compatible/interoperable with the physical
communication links between the UCS and the C4I systems.
• The CCISM is mainly intended for communication with legacy C4I systems that are not
directly compatible with STANAG 4586 specified standards, protocols or physical layer and
can be hosted on and collocated with the UCS. The UCS architecture shall make provision
for the integration of a CCISM.
• The CCISM provides the encapsulation of the CCI data and translations required ensure
interoperability with physical communications links between the UCS and C4I systems.
Mini-UAV “Laptop” Ground Control
Station
• A man-portable GCS with antenna.
• The GCS incorporates the graphical user interface (GUI) and features a touch-
screen laptop.
• Some software uses digital terrain elevation data (DTED) with terrain contours for
additional mission assurance. DTED information is uploaded to the unmanned
vehicle at the time of launch, warning of lost-link or non-line-of-sight
communication situations.
DJI Ground Station Pro
• An iPad app designed to controller plan
automatic flights for DJI aircraft.
• Through its clear, concise interface,
complex flight missions can be planned
with a few taps.
• GS Pro allows UAV to automatically
take pictures at pre-set waypoints,
providing the accuracy required for
precision mapping.
• A Virtual Fence feature increases safety
and ease of use by locking the
aircraft’s height and speed within a
designated area.
• With these features, GS Pro
dramatically increases the efficiency of
various industrial applications,
including but not limited to, aerial
imaging, architecture, precision
agriculture, electrical inspections,
search and rescue, safety control, and
 GCS for Close-Range UAVs
• A mobile and housed within an ‘all-terrain’ vehicle
• Equipped with electrical power generation and air-conditioning which
is required not only for the comfort of the crew, but for the climatic
control of the computers, radio equipment and the monitors.
 Displays for GCS
• The left-hand monitor carries a video image from a visible light TV camera.
 The displays may also overlay infrared images sent down from a thermal camera.
 Controls beneath the right-hand display allow for camera lens and elevation and
azimuth field of regard adjustment
• The centre monitor carries the navigation display which shows an icon representing
the aircraft position in bearing and range relative to distance rings centred on the
position of the GCS.
 To the right of the geometric display are digital data showing the aircraft height,
speed and direction,
 and coordinates of its position at any time.
 If required a digital map of the area may be overlaid onto the display.
 Displays for GCS
• The right-hand monitor carries the housekeeping data.
• The data includes items such as:
 time, fuel content of the tanks as percentage of full, engine cylinder-head temperatures,
 engine bay temperatures, rotor speed and engine speed, engine failure,
 electrical power supplies, control functioning and positions. i.e. elevator, aileron, rudder,
engine throttle(s) for fixed wing aircraft or collective and cyclic rotor pitch angles for
rotorcraft,
 functioning and temperatures of critical components, such as altimeters and gyros,
 the type of payload that is mounted,
 camera settings such as field of regard, lens settings, etc.,
 coordinates of aircraft position,
 commanded and actual aircraft height, speed, etc.,
 radio transmission frequency option selected by FCS logic,
 other data which is dependent upon payload and mission requirements.
• The bars change color, dependent upon parameter condition.
• If any bar becomes red, a flashing red central warning light alerts the operators
and indicates on which housekeeping page is that parameter.
 MALE and HALE GCS
• Provision has therefore to be made to control the aircraft during its take-off and
recovery.
• Direct operator control, usually with the aircraft in direct view of the operator.
• A medium-range system will normally employ a mobile GCS. HALE usually is
equipped with permanent GCS
• Additional crew members may be required, especially for the more complex payloads
carried.
• A specialized image interpreter may be included and a system Commander would then
probably be obligatory in overall command and integrating role.
• The extended range and endurance require powerful radio equipments to be
accommodated. This will include satellite communication in order to relay commands
and data to and from the aircraft during beyond line-of-sight operation.
• If the aircraft carries armament, then a further crew member, the Weapons Systems
Operator, may be required to select, monitor, release and guide the weapons onto target.
• Global Hawk system employs two grounded-based command and control elements:
 Launch and Recovery Element (LRE) and Mission Control Element (MCE)
Examples for MALE Controls
• Predator Operation