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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Embedded Computation Architectures for Autonomy in Unmanned Aircraft Systems (UAS)
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Embedded Computation Architectures for Autonomy in Unmanned Aircraft Systems (UAS)

机译：无人驾驶飞机系统中的自主性嵌入式计算架构（UAS）

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摘要

This paper addresses the challenge of embedded computing resources required by future autonomous Unmanned Aircraft Systems (UAS). Based on an analysis of the required onboard functions that will lead to higher levels of autonomy, we look at most common UAS tasks to first propose a classification of UAS tasks considering categories such as flight, navigation, safety, mission and executing entities such as human, offline machine, embedded system. We then analyse how a given combination of tasks can lead to higher levels of autonomy by defining an autonomy level. We link UAS applications, the tasks required by those applications, the autonomy level and the implications on computing resources to achieve that autonomy level. We provide insights on how to define a given autonomy level for a given application based on a number of tasks. Our study relies on the state-of-the-art hardware and software implementations of the most common tasks currently used by UAS, also expected tasks according to the nature of their future missions. We conclude that current computing architectures are unlikely to meet the autonomy requirements of future UAS. Our proposed approach is based on dynamically reconfigurable hardware that offers benefits in computational performance and energy usage. We believe that UAS designers must now consider the embedded system as a masterpiece of the system.
机译：本文涉及未来自主无人机系统（UAS）所需的嵌入式计算资源的挑战。基于对所需的船上功能的分析，这将导致更高层次的自主权，我们看看最常见的UAS任务首先提出了考虑诸如人类的航班，导航，安全，使命和执行实体等类别的UAS任务的分类，离线机，嵌入式系统。然后，我们通过定义自主水平来分析特定的任务组合可以导致更高水平的自主权。我们链接UAS应用程序，这些应用程序所需的任务，自主程度和对计算资源的影响，实现这一自主水平。我们为基于许多任务提供了如何为特定应用程序定义给定的自主程度的洞察。我们的研究依赖于UAS目前使用的最常见任务的最先进的硬件和软件实现，也是根据未来任务的性质的预期任务。我们得出结论，目前的计算架构不太可能满足未来UA的自主需求。我们所提出的方法是基于动态可重构的硬件，在计算性能和能源使用中提供了益处。我们相信UAS设计人员现在必须将嵌入式系统视为系统的杰作。

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