Control Station Analysis

            In this research activity, an in-depth analysis of Ardupilot Rover Mission Planner is selected as a ground control station for an unmanned ground vehicle. Ardupilot is as open source solution that includes the Pixhawk autopilot.  It can be used with other autopilots, like Erie Brain 2. Several companies produce Pixhawk, such as 3RD (Pixhawk, n.d.). There are other companies that use this solution and customize it for their own product line (UAV Solutions, n.d.). This analysis includes the discussion on the hardware, software, and user interface. A discussion on the negative issues or challenges faced by users is provided, as is, additions that will improve its ability to function in its designated environment. 

Hardware

        The Ardupilot Rover Mission Planner can be on most desktops and laptops running Windows and Mac OS X. There is another version, AMP Planner 2 that also runs on Linux as well as Windows and OS X (Rover, n.d.).  For those that desire a most robust hardware component, Panasonic Toughbook is a great option.  In the case of military or law enforcement communities, the UAV Solution GCS are also a great alternative.  They offer two and three screen options, which can provide the additional screens for sensors, or third party information (UAV Solutions).              

        Additionally, once the information is upload via Mission Planner to the vehicle, there are numerous options to control the vehicle in a semi-autonomous mode via a Playstation type hand control device, or a more advanced radio control controller.  For use in the fully autonomous mode, the vehicle should be monitored via a full mission ground control station, such as a Toughbook or a solution previous mentioned with two or three monitor within the control ground station. 

Software

        The Mission Planner software serves two purposes.  The first is to set the parameters inputted to the firmware in the Pixhawk autopilot. The second purpose is to control the ground vehicle and its sensors in various mode of operations.  The parameter settings in the Pixhawk are numerous.  Each one can be set with incremental adjustments. It allows for controlling the sensors to include pan, tilt and zooming. For the advanced users, the parameters can be control via a built-in Extend Kalman Filter, which allows for state estimation of the various parameters and thus precise control of the vehicle in the autonomous mode (Ardupilot, n.d.) .

User interface

        Under normal operations in the semi-automatic mode, the use of a handheld device is preferred.  This can be done via a Playstation type handheld controller, a computer, or via a radio control device.  In the fully autonomous mode, monitoring via a full capable ground control station make the most sense.  In this fashion, the operator can monitor the various parameters and sensor outputs on monitors.

Negative issues

            The Mission Planner for fixed wing and rotary wing vehicles is very robust.  You can control the vehicles in six degrees of freedom (DOF).  However, in the Rover mode, the planner only allows control in two DOF, steering (left and right) and roll. It also allows for throttle control.  As ground vehicles get more advanced, allowing for control in the six degrees will become more important. Ardupilot does not have a maritime version.  However, it would not be difficult to use the Rover version to control a maritime vessel. 

Additions to the existing solutions

            Mission Planner is clearly a great open source solution that gets constant updates from its users. It also supports other autopilots, and many sensor solutions.  In the aerial vehicles domain, it has address most of the functions an operator need to operate the vehicle in semi-autonomous and autonomous modes.  The Rover version is lagging, but should speed up as more opportunities are open for the use of ground rovers.  An area that need to be address is a more intuitive dashboard, that allows less input from the operator.  Additionally, in the case of operating multiple vehicles, they need to provide a dashboard that allows the operator to control the vehicles without changing the dashboard view.

References

ArduPilot Extended Kalman Filter (EKF). (n.d.). Retrieved July 08, 2016, from http://ardupilot.org/rover/docs/common-apm-navigation-extended-kalman-filter-overview.html?highlight=ekf

3RD Pixhawk. (n.d.). Retrieved July 07, 2016, from https://3dr.com/support/pixhawk/

Rover. (n.d.). Retrieved July 07, 2016, from http://ardupilot.org/rover/index.html

UAV Solutions: Ground Control Systems. (n.d.). Retrieved July 07, 2016, from http://uav-solutions.com/ground-control-systems/