Sikorsky Aircraft's Unmanned Aerial Vehide, Cypher:
`System Description and Program Accomplishments
`
`Christopher A. Thomberg
`Senior Flight Controls Engineer
`Sikorsky Aircraft Corporation
`Stratford, Conneticut
`
`James F, Cycon
`Frogram Manager UAV Technologies
`Sikorsky Aircraft Corporation
`Stratlord, Conneticut
`
`The Cypher aircraft system is portable and requires
`'Ihe
`launch or recovery equipment.
`no special
`compact vehide size provides a low observable
`signature for 'ncreased aircraft survivabiTity
`in high
`The Cypher aircraft is also
`threat environments.
`very easy to operate and requires only minimal
`operator training. These attributes, along with low
`
`Abstract
`
`an unmanned
`is developing
`Sikorsky Aircraft
`to
`take-off and
`vertical
`(VTOL) system
`landing
`meet a wide variety of dvil and military mission
`requirements. The Sikorsky system, named Cypher,
`is based on a shrouded
`rotor VTOL unmanned
`to be versatile, safe,
`aerial vehide (UAV) designed
`and simple to operate. The validity of the Cypher
`the development
`concept has been proven
`through
`of a Cypher
`Technology
`and
`testing
`flight
`Demonstrator aircraft A background description
`of the Cypher program and a summary of the flight
`test results are presented
`in this paper.
`
`Introduction
`
`I, is based on a
`The Cypher UAV, Figure
`combination of proven coaxial rotor
`technology,
`the Sikorsky Advandng Blade
`demonstrated with
`Concept (ABC) aircraft of the 1970s, and shrouded
`fan tail technology, demonstrated with the Sikorsky
`$67 aircraft in the 1960s and the S-76 LH Fantaflr"
`aircraft
`is
`The Cypher UAV
`Demonstrator
`four-bladed
`two counter-rotating
`configured with
`rotors shrouded by the airframe. The airframe, or
`shroud, houses propulsion, avionics, fuel, payload,
`and other flight-related hardware.
`The shrouded
`safer than exposed rotor
`rotor design is inherently
`by virtue of the elimination
`of
`configurations
`rotors and obstades or
`possible contact between
`'Ihus, the shrouded rotor vehicle is able
`personnel.
`the risk of
`in confined areas without
`to operate
`blade strikes.
`
`preennnt at the A meehan Hath npter Society 51 et Annual Forum,
`Fort Worth, TX, stay 9. 1 1, 1995. Copyright @1995 by the
`Amencen Helimpter Society, inc. All n'ghte iereront.
`
`804
`
`Figure I
`Skotsky Aircraft Cypher unmanned air vehicle is very
`easy lo operate and requires ordy minimal operator
`training.
`
`

`

`and low operation cost, make it an
`maintenance
`ideal canBdate for a variety of mifltsty and civil
`such as ncannatssance,
`search,
`applications,
`and
`detection,
`mine
`surveillance,
`targeting,
`precisian placement of payloads.
`
`the hlueeutdy axes. The cowdal, munter-mtaflng
`mtor system also pmvides lorque equiflbrlum and a
`means of direcflanal contmL The result of flds
`is a versatile VTOL platform
`is
`fltst
`approach
`maneuverable, contmflable, snd efflcttmt in hover.
`
`Backgmund
`
`In July 1986, the Defense Advanced Research
`Projects Agency (DARPA) funded a Sikorsky
`ctxtceptual design study of a rotary wing UAV that
`in a high threat battle environment
`would survive
`in March 198/, Sikorsky
`When the contract ended
`a
`using
`development
`pmgram
`iniflated
`Independent Research and Development
`(IRgrD)
`risk reduction efl'orts
`funds. Sikorsky conducted
`which led to the design, fabrication, and testing of a
`pmofW~t vehide which first flew during the
`summer of 1988. This vehide had a gross weight of
`44 pounds. and carried no payload, but
`it did
`of
`the
`demonstrate
`the validity
`successfufly
`In 1989, an experimental
`rotor concept.
`shmuded
`model was fabricated and tested in Sikorsky's hover
`lhe
`to quantify
`interacfltxts
`test
`stand
`fscflity
`the mtor
`for various
`and
`shroud
`between
`mnditions. The experimental model was tested in
`
`the United Technologies ~ Center (UTRC)
`
`large subsonic wind tunnel during 1990. 'Ihe results
`of this model testing hd to the design, fabrication,
`and testing of a Cypher Technology Demonstrator
`(TD) aircraft in 1991.
`
`General Description
`
`The Cypher shrouded rotor UAV is a VTOL aircraft
`rotors
`counter-rotating
`two
`incorporates
`that
`shroud. The shroud
`by a mmposite
`surmunded
`the rotors, produces a portion of the lift,
`supports
`to house propulsion,
`and acts as an airframe
`and other
`flight-related
`avianics,
`fuel, payload,
`The air vehide computer, cafled
`the
`hanlware.
`various
`processor
`integrates
`vehide mission
`such as airborne
`sensors, navigation,
`functions
`and
`mission
`controls,
`management,
`flight
`This level of automation
`relieves
`mmmunicstions.
`the operator from "joy sficke flying and maximizes
`and
`evaluation
`for
`time avaflable
`the
`imagery
`mission execution.
`
`to
`The Cypher concept is an innovative approach
`it is the first and only ducted
`UAVs because
`that uses coflecflve and cycflc pitch on
`mnflguration
`the rotor blades to control lift and moments about
`
`805
`
`The physical characteristics of the Cypher aircraft
`in Table 1, snd a brief description of
`sre presented
`the major subsystems
`foflowth
`
`Table 1
`
`PHYSICAL CHARACTERISTICS
`
`OVERALL DIMENSIONS
`Fuselage Length
`Fusehtgn Hdght
`
`WEICHTS
`Wdght Empty
`Nasmal TahenEWeight
`Mss. Chum Weight
`ihdde Fuel Wdght
`Sensru Payluad Weight
`
`CENERAL
`Number ui Rerum
`Reasr Redim
`Ehtdes per Rater
`Ttp Speed
`Engbte rpm
`
`Mechanical System
`
`2
`ESR
`6
`650 R/eee
`6rMS
`
`The rotor system is afl-composite and bearingless,
`snd
`for
`enhanced
`ieflabflity
`designed
`In the Cypher
`maintainabiTity at a reduced weight
`rotor, pitch motions of flte blade are
`besrlngless
`shaped
`lecttmgular
`twisting
`sccompflshed
`by
`flexbeams. The flexbeams are stiff in bending but
`tube
`torsionally
`transfers mntml
`and
`flexbeams
`the
`surrounds
`motions from the actuators to the autbosrd end of
`
`soft. A ~y stB'f torque
`
`the flexbeam. Six actuators, fluee ~ to each
`
`to
`are
`inmrporated
`provide
`swashplate,
`control of each rotor. The catodal
`independent
`the need
`counts-mmtatin mtor system eliminates
`is
`contml
`for sn antttorque device. Dimcflansl
`aacampflshed by using tBB'etenflal collective.
`
`

`

`is an ag-graphite
`structure
`The Cypher airframe
`that consists of an inner shroud, outer shmud
`snd
`center
`hiring,
`struts,
`bulkheads,
`support
`structure. The bmer shroud wall is the
`mounting
`for mounting
`the engine,
`structure
`fuel
`support
`tank, avionics, and payload sensor. Extemsfly, the
`is shaped
`effldent
`to be aemdynamicafly
`ahrframe
`in both hover and forward fflght.
`
`The Cypher aircraft is powemd by an Alvis UAV
`'Ihe Alvis enghie hss a high power-
`mtary engine.
`ratio and good partial
`fuel
`power
`to-weight
`sir and
`cansumption. The engkie is a mmbination
`liquid cooled design that pnxluces 50 hp at 7380
`rpm. The original engbie used for the Cypher-TD
`a magneto-pcnvered
`aircraft
`twin
`inmrporated
`That engine has
`system.
`spark plug
`ignition
`to inmrporale an electronic
`mcently been upgraded
`fuel injection system to increase the available power
`without an increase
`The upgraded
`in weight.
`engine produces 58 hp at 7/00 rpm.
`Engine
`is cantrofled
`and monitored
`the
`operation
`by
`aircraft flight control system.
`
`The transission drive system consists of a gearbox
`lo the rotary engine. The
`snd driveshaft mnneclad
`gearbox has a spiral bevel gear set located between
`the two rotors. Torque is transmitted
`the
`through
`to the pintcxi, fluough
`driveshaft
`the bevel gears,
`and into the vertical torque shafts, thereby
`turning
`the rotor hubs and blades.
`
`Avionics System
`
`is based on a centralized
`The avionics ardutecture
`processor, Figure 2. The vehide mission processor
`(VMP), the brain of the system, integrates a'ubome
`sensors and controls aircraft
`flight, navigation,
`vehide management, payload, and mmmunications
`a
`For
`aircraft
`the demonstration
`functions.
`unit
`integrated
`fflght management
`Honeywell
`for the VMP. The IFMU
`(IFMU) was selected
`integrated measurement module
`an
`comprises
`(IMM), 80960 processor module,
`flexible
`and
`input/output module. The MM utiTizes state-of-
`accurate
`and
`ring-laser
`the-art
`gyros
`highly
`for
`sccelerometers
`The
`inertial measurements.
`to incorporate an
`IFMU hss recently been upgraded
`inlegrated global positioning system (GPS) module.
`
`The VMP receives rates and accelerations
`fmm the
`snd
`strapdown
`navigational
`IMM,
`through
`the flight control system with
`software, provides
`
`~es linear acceleratians, angular mtes, Bnear
`
`snd positian.
`velodties, vehide attitudes,
`The
`strapdown equations are updated by the GPS via
`in the VMP. To impmve
`Kalman IBters resident
`sensor and navigational accuracy, the internal GPS
`GPS conectians
`receives
`differential
`module
`to the vehide from a ground station. A
`transmitted
`radar altimeter provides accurate above ground
`level (AGL) altitude and assists in vertical mntrol of
`the vehtde.
`
`Vehlde
`Mleeloo
`Processor
`
`Fffprre 2
`Cypher avionics orchiteclure supports serai-outononrous
`operotiorc
`
`'Ihere
`in Ada.
`in the VMP is written
`AB software
`are
`hosflng mission
`level modules
`three
`top
`controls,
`and
`navtgaflonal
`management,
`flight
`The mission management
`software.
`and
`flight
`control software was developed by Sikorsky. The
`software was an integral part of the
`navigational
`Honeywell IFMU.
`
`Mission Sensor
`
`An important part of the Cypher
`is lhe
`system
`mission payload sensor. The payload sensor is the
`"eyes and ears" from which
`the ground operator
`from the area of interest.
`obtains vital information
`has
`been
`to
`The Cypher UAV
`designed
`accommodate a variety of sensors, wNch indude
`infra-red
`electro-optical
`forward
`looking
`(EO),
`(FUR), or small radars. Depending on the quality
`of the image desired, range of use, and slability
`method, the aircraft can be easily reconflgured with
`a new sensor for different missions.
`
`806
`
`

`

`for the Cypher-TD aircraft
`The mission payloads
`consist of a video camera or a FUR. Each sensor is
`mounted an a single-axis platform
`for etevattan
`is achieved by rotating
`cantrol. Axhnuth control
`its center of rolatian.
`the air vehide about
`A
`into the Cypher
`magnetometer was also integrated
`the system's effectiveness
`aircraft to demonstrate
`in
`performing aerial searches for metallic objects on or
`under the ground.
`
`Command and Control
`
`a
`and control system
`inmrporates
`The mmmand
`a data
`for
`control
`station,
`uplink
`ground
`transmissian of control commands, and a downlink
`of vehide
`status and payload
`for
`transmission
`to the ground station. The airborne
`information
`portian of the mmmand and control system, the air
`1553B, RS-422,
`data terminal utiTizes mil-standard
`to the mission
`and discrete
`interfaces
`analog,
`processor. The terminal mmmunicates with
`the
`This
`antennas.
`ground via two omni-directional
`for various carrier
`system can be programmed
`frequencies witNn the C-band.
`
`is divided
`The ground mntrol
`into
`station
`two
`section and a test sedion.
`sections, an operator
`racks.
`Both are mounted on portable self-mntained
`indudes
`The UAV operator selection
`the mission
`control panel for vehide and payload control, a
`personal computer displaying vehide status data, a
`video monitor, and a video recorder.
`The test
`includes a display of test and validation
`section
`recorder, and a PCM data
`data, a strip chart
`(PCM) data
`recorder. The pulse-code modulated
`stored on the recorder can be post processed for a
`mmplete analysis of the vehide's performance.
`
`Figure 3 shows the ground control station installed
`in a mobile utility van mnfiguration.
`
`Operator/Vehicle
`
`Interface
`
`A major objective of the Cypher aircraft program
`was the development of an air vehide which muld
`avoiding
`be flown by unskilled persannel,
`thereby
`trained pilots as
`for using highly
`the requirement
`the vehide was
`the operators. From the beginning,
`11us
`for highly automatic operations.
`designed
`to act more as a
`the operator
`enables
`approach
`mission manager, monitoring mission progress and
`to a
`level commands, as opposed
`initiating high
`pilot actively flying the vehicle.
`
`Fl/fare 3
`The Cypher aircraft openstor console provides on
`intqputed display of the external situation.
`
`To adueve
`operator/vehide
`this very
`simple
`the fiight control system was
`interface,
`mmmand
`to accept a series of simple operator
`designed
`such as takeoff, hover, cruise, return
`mmmands
`home, and land, as well as basic flight commands,
`such as the desu'ed heading, speed, and altitude.
`The flight contml system interprets mmmands and.
`automatically achieves the desired flight mndttians.
`level of automated
`operation was
`Once
`this
`interface would be
`the operator/vehide
`attained,
`further simplifled by integrating mission manager
`ta enable
`the flight control system
`software with
`through a series of
`automatic mission execution
`operator programmed way points.
`
`Bight Control Development
`
`Development of the flight mntrol system cansisted
`of a series of incremental
`segments of analysis and
`an
`previous
`each
`building
`testing,
`the
`The process started with
`acmmplishmenls.
`definition of requirements
`using analytical vehide
`models based on Sikorsky's General Helimpter
`The GenHel
`environment.
`(GenHel) simulatian
`model of the Cypher-TD vehide was originally
`tunnel and ground
`tests
`based on the early wind
`data. It has since been mntinuaBy
`refined based an
`results of system and subsystem
`level test.
`
`for various
`space models
`Linear
`state
`flight
`From
`the GenHel
`mnditions were developed
`modeL These linear models served as a basis for
`control
`and
`laws
`determining
`developing
`specifications for system components, such as servo
`
`807
`
`

`

`simple example, Figure 4. When
`the vehicle
`is
`direcfly in front of the operator and both operator
`and vehicle are fadng
`tbe same dhecflon,
`Ihe
`
`operator's and vddde's ~ systetrm are Ihe
`same. So if tbe pilot inputs a right stick ~,
`inputs a right ~, Ihe vehicle wiB move to
`
`the vehicle will move to hts right. With the vehtde
`it is htdng
`yawed 188 degrees
`such
`that
`the
`the vehicle's
`and operator's
`reference
`operator,
`frames are exacfiy opposite. That is, if the operator
`
`is amplified as the distance
`his left. This problem
`between the operator and vehicle increases, and it is
`vehides,
`confusbtg with
`symmetrical
`espectafiy
`such as Cypher, where the front of the vehicle is not
`easily determined vtsuafiy.
`
`Vehlde
`Relerenca
`
`Vehicle glogcn
`
`Forward
`
`Left
`
`Right
`
`AR
`
`Vehicle Motion
`
`Vehicle
`Reference
`
`Forward
`
`Left
`
`Right
`
`Ah
`
`Figure 4
`is eostIy soloed
`Operators vehicle reference frame problem
`in the Skorsky Cypher uhcroft
`
`To alleviate
`an
`this problem, Sikorsky devised
`to always
`algorithm which allows
`the operator
`his
`commands
`earth-referenced
`input
`using
`orientation. This routine mntinuafiy keeps track of
`
`808
`
`the vehicle's heading with respect to the operator's
`the appropriate
`reference system and delermines
`to move Ibe vehicle according Io
`aircraft commands
`the operator's earth-referenced
`In other
`command.
`words, when the operator tilts the stick to tbe right,
`the vehicle will always move to his right regardless
`of its heading oHentafion. As a result, the vehicle is
`very easy to operate and maneuver.
`
`tests were afi performed
`in the attitude hold
`Initial
`'Ibe philosophy was to utfiize this pmven
`mode.
`to define
`the basic
`as
`tool
`mode
`flight
`characteristics of the vehicle. Once the basic ffight
`characteristics were defined and
`the simulafion
`flight modes cmdd be
`verified, the more advanced
`developed more readily.
`
`TIus approach proved wise, since what followed
`was a relafively quick succession of progress
`in the
`effort. By upgrading
`development
`the
`flight
`grade GPS to
`vehicle's
`stand-alone
`commercial
`mceive differential GPS corrections the posifitxt and
`velocfiy accuracy of the system were
`improved.
`location accuracy's were
`speed and
`Improved
`to develop the velocity hold and position
`required
`The velocfiy hold
`hover hold control algorithms.
`at an operator-
`the vehicle
`mode maintains
`commanded ground speed. When velocity hold is
`tbe operator commands velocity fmm Bte
`engaged,
`joysticks otherwise used for
`same control panel
`pitch and rofi attitude hold commands. Displacing
`from
`its spring-centered
`the
`position
`joystick
`generates a velocity command proportional
`to its
`The operator commands
`angular displacement.
`the joysfick to its
`zero ground speed by retundng
`the vehicle in a hover.
`center position, mainhdning
`Velocity hold is susceptible
`to external disturbances
`such as wind, so a position hover hold algorithm
`to close the control
`was developed
`loop around
`vehicle position whenever a zero velocfiy hover is
`to
`commanded.
`the
`This
`afiowed
`vehicle
`itself at a specific hover
`automatkally maintain
`position with no operator intervention.
`
`The vehicle flight contmls were further expanded to
`altitude
`hold
`incorporate
`and
`hold
`heading
`algorithms. Each of these modes receive absolute
`commands from the operator via control dials. The
`that
`ensure
`the vehicle automatically
`algorithms
`achieves the desired conditions while not exceeding
`limits of the vehicle. Additional
`the operational
`control
`included
`fiight
`system
`impmvements
`and verificaflon of an operator-
`incorporation
`
`

`

`and sensor bandwidths and hysteresis requirements
`as well as maxhnum aflawable processing latencies.
`
`The overall system operation wss verifie in a real-
`time environment using a hot bench. The hot bendt
`the flight computer with a real-time
`integrates
`simulation version of the GenHel model. The real-
`indudes aircraft dynamics
`time simulation model
`Servo
`characteristics.
`sensor
`performance
`and
`dynamics can be represented either by integrating
`the actual swashplate servos into the shnulation or
`The hot
`servo models.
`representative
`by using
`tool for validating
`bench was an important
`system
`performance and flight control software.
`
`of a
`induded
`development
`also
`The program
`closed-loop engine cantrol system was developed.
`the engine
`The engine control algorithms maintain
`from ground
`at an operator-selected
`rpm ranging
`idle to flight engine speerL No additional operator
`flight once
`the
`is requited
`during
`intervention
`vehide is commanded
`to flight rpm.
`
`Hight Testing
`
`First fBght of the Cypher-TD vehicle occurred
`in
`1992 at Sikorsky's main
`fadlity
`in
`April
`Initial flights were mmpleted using a
`Connecticut.
`This mnfiguration
`tether arrangement.
`restrictive
`the vehide freedom
`in the vertical axis,
`allowed
`in the other
`substantial motion
`whBe restricting
`axes. These flights were performed with auto
`in the pitch, roll, and yaw control axes.
`stabifizafian
`Collective axis control was acmmplished
`by an
`open loop, proportional controller.
`
`to
`effort then transitioned
`The ffight development
`Sikorsky's Development Flight Center at West Palm
`to conduct
`less restrictive
`Beach, Horida
`tethered
`three tether lines
`flight testing. In this arrangement,
`the vehide and fixtures on
`were attached between
`the ground. The tether lines were suffidently
`loose
`flight in afl axes within a
`to allow for unrestricted
`flight area. This setup aflowed adequate
`defined
`and to
`to investigate hover performance
`freedom
`opthnize stabifity gains.
`
`the operator
`this early flight development,
`During
`always had positive mntrol of the aircraft thmugh a
`conventional hand-held control unit. The mntrol
`unit has two joysticks. The right one is spring-
`in both axes and controls pitch and roll,
`centered
`in the lateral axis
`the left is spring-centered
`whfle
`
`is hid by
`and mntrols yaw. The left joysfick
`axis and mntrols
`in
`friction
`the kxtgttudinsl
`mflectlve.
`
`to the vehide were
`The pitch and rofl mmmands
`to the angular
`commands
`attitude
`proportional
`displacement of the operator's stick. To mmmand
`the operator commands a
`the air vehide forward,
`~own attitude by Bifing the jaysflck forward.
`As long as the stick is tilted, the aircraft maintains a
`constant nosedown attitude and accelerates. If ihe
`it to return to
`operator releases the sfick, allowing
`is
`the vehide
`posifioned,
`its
`spring-centered
`to a
`to a level attitude and trsnsifions
`mmmanded
`struchue has proven very
`hover. Tlus mmmand
`forgiving and safe, as well as easy to fly. For
`there were instances during flight testing
`example,
`into a pilot-induced
`the operator went
`when
`To remver,
`the operator
`osdfiation.
`simply
`to
`the aircraft
`the
`released
`causing
`joystick,
`automaticsfly stabiTize at a level attitude.
`
`a
`
`rate
`canhofied
`axis was
`The
`by
`yaw
`The
`hold
`cantrol
`system.
`mmmand/heading
`a left or right yaw rate by
`operator mmmsnded
`the left joystick. When the yaw
`laterally displacing
`the stick
`rate mmmand was removed by afiowing
`to return to its spring-centered posifion, the vehide
`its current heading. The
`locked on snd maintained
`by an open-loop
`axis was mntmfled
`mflective
`proportianal contml which sflowed the operator to
`manually adjust the collective pitch on the blades.
`
`into free hover (ia. , no
`As the aircraft transitioned
`its maneuvering
`and
`capabiTities
`tethers),
`turning
`were evaluated. Testing started with transitioning
`the vehide from hover to forward flight and back to
`a hover. These tests pmvided
`into
`the
`insight
`aircraft trims for various forward speeds. The trim
`items such as vehide attitudes,
`induded
`mnditions
`thrusts, and power levels. Vehkle
`control settings,
`at various
`to test disturbance
`speeds
`responses
`vehide stability
`to determine
`were also obtained
`this and
`over the flight region tested. Throughout
`
`aB phases of the test p~, flight data was
`
`compared with simulation
`refine the modeL
`
`results
`
`to verify and
`
`One of the flrst dtaflenges of free flylng was the
`problem of sn operator needing
`to
`traditional
`in the vehide's reference
`mntinuafly place himself
`vehide
`to determine
`the appropriate
`system
`is best illustrated by a
`commands. This problem
`
`809
`
`

`

`selectable variable-speed
`takeoffs and
`landings,
`home capability.
`
`cruise mode, automatic
`and an automatic
`return
`
`Current System Development
`
`to improve
`is continuing
`the overall
`The program
`cspabfltttes of the system
`to perform missians
`ledudng operator
`further
`autonomously,
`input
`requirements. Tbe flight contml system is currently
`to indude mission management
`being modifled
`to store an
`soflware which will allow the vehide
`route plan or a complete adssion
`operator-deflned
`execute
`proffie and autonomously
`the mission.
`Redirection of the vehide or dtanges to the mission
`profile will be allowed at any time. To accomplish
`to
`this, the ffight contml system will be expanded
`forward
`include waypoint navigation,
`impmved
`various
`capabifities,
`flight maneuvering
`and
`automated search algorithms. The missian manager
`for monitoring
`software will also be responsible
`mission progress and automatically
`transitioldng
`the vehicle between the various flight mades.
`
`is being updated
`to fadlitate
`The ground station
`The operator will
`flight operations.
`autonomous
`the vehide via a work
`and monitor
`command
`'Ibe work station
`station-based operator's station.
`indude multi-window
`pull-down
`will
`displays,
`menus, pop-up alerts, route planning
`algorifluns,
`and digital maps. The work station enables
`the
`operator to perform mission planning snd load the
`into the vehide. Tbe work station
`flight profiles
`a system manager which mntinuafiy
`indudes
`the progress of the mission and vehide
`monitors
`status. During flight the system manager ensures
`is health monitoring
`the vehide
`that
`engine
`actuator
`feedback, data
`temperature,
`link signal
`If a pmblem
`etc.
`arises
`the system
`strength,
`for corrective action.
`manager alerts the operator
`Tbe
`also monitors
`fuel
`manager
`system
`consumption and vehide position computing
`if the
`operator's commands are executable. With
`this
`level of automatic system monitoring,
`the operator
`wiB be freed from the task of constantly monitoring
`the vehide to concentrate on other tasks.
`
`To develop this higher level of autonomous
`system
`the msl-thne
`simulatian
`operafion,
`environment
`to enable system development
`will be expanded
`and verification of payloads and ground stations.
`to be flown in
`Tbis will enable complete missians
`
`810
`
`to integrating
`In addition
`the simulation.
`the
`ground station operator's work station into the hot
`to the
`images will be provided
`bench, visual
`operator. Visual pictures
`that represent
`images
`the vehide "flies"
`sensor as
`the payload
`from
`are displayed on
`the digital environment
`thmugh
`the operator work station.
`
`Adding the visuals to the simulation will also sid in
`the development of the operator-sensor
`interface.
`'Ibe issue will be how to allow
`to
`the operator
`take contml of the payload, and theretom
`manually
`the vehide, at any time and view a pticular point
`of interest. Tbe goal is to devise a means by which
`salely based on
`the operator pmvides commands
`stafion a system
`images. Tbe ground
`visual
`manager and the onboard vehide mission manger
`will then mordinate
`the payload and vehide motian
`required to achieve the mmmanded Beld of view.
`
`During 1994, the Sikorsky Aircraft Cypher UAV
`three contracts to study snd
`program was awarded
`the unique capabilities of the shrouded
`demonstrate
`rotor concept. Tbe first,
`the Air Mobile Gmund
`is to evaluate
`Security System (AMGSS) contract,
`the Cypher aircrafl, as a mobile sentry. 'Ihe AMGSS
`
`Figure 5
`The Cypher aircraft's AMGSS configuration acts os a
`tnobtIe sentry perfotltlnlg
`recotlttoissonce front tile.
`ground.
`
`

`

`ConduiBng Remsdis
`
`csn perform
`vehide
`The Cypher
`unmanned
`from the either sn
`reconnaissance and surveigsnce
`airborne or gmund-deployed
`configumtion. The
`aircraft autonomus modes make it easy to operate
`rotor
`The
`shrouded
`with minimal
`training.
`is capable of mrrytng a vadety of
`oonfigurafion
`as el~fic, infra-red,
`or
`such
`payloads
`Integration of retd-thne
`electmnic countermeasums.
`imagery data and
`the Cypher global positioning
`immediate
`description
`and
`provides
`system
`to an
`information
`individual
`soldier,
`position
`squad, or tacfical command element.
`
`The Cypher system is a simple, safe, snd survivable
`approach to VFOL unmmaned aedal vehides. The
`Cypher system is simple to operate and maintain
`to execute
`the
`level
`inputs
`top
`needing
`only
`is safe because
`it has no
`The vehide
`mission.
`exposed moving parts and requires no launch or
`recovery equipment. Vehtde survivabifity
`comes
`its smaB physical
`size and small
`systems
`from
`footprint.
`
`References
`
`Sikorsky Aircraft UAV Development",
`September 14-16, 1993, Cemobbio, Italy
`
`"Beyond Defang:
`2) IIttmattnetLSRstsma,
`Commercialization Of UAVs", Spring 1993
`
`3)
`
`Effectiveness Of
`Shrouded Rotor UAV's in Support Of CLOSE
`RANGE Missions", June 22-24, 1992
`
`4) YgdiQitg, "Sikorsky Aircraft UAV Program",
`May/June 1992
`
`5) YfzrBIBte, "Decoding The Cypher UAV",
`Nov. /Dec. , 1990
`
`mission is to fiy out to a point, Isnd remOtel, shut
`down, and then watch and listen. In the AMGSS
`the sensor pod is mounted on the
`configuration,
`top of the aircraft as shown in Figure 5. As part of
`the AMGSS program, Sikorsky Aircraft partidpated
`the U5. Army
`in a live fire demonstration
`during
`Commander's Conference at Ft. Banning, Georgia.
`the Cypher aircraft flew
`During the demonstration,
`out and landed remotely behind a bunker.
`
`'Ihe second award wss a US. Army Advanced
`Concepts II (ACT B) contract. For this contract,
`Sikorsky Aircraft is evaluating additional capabiTity
`such as strategically
`sensors,
`payload
`pladng
`snd
`the
`from
`firing weapons
`locating mines,
`aircraft. Figure 6 shows a mine-dispensing Cypher
`aircraft configuration.
`
`Figare 6
`Cypher's hno speed and hover capability make it an ideal
`platform for the strategic pktcement of mines.
`
`Scout
`is
`contract
`the Autonomous
`The
`third
`'Ihe objective
`Rotorcraft Testbed (ASRT) program.
`of the ASRT effort is to demonstrate an autonomous
`UAV that can fly to, search, find, track the target,
`no
`snd
`home with
`return
`operator
`then
`a
`Sikorsky Aircraft has assembled
`intervention.
`team of Sikorsky, Westinghouse,
`snd Lockheed
`to meet the ASRT mission requirements.
`Marietta
`is contributing
`Westinghouse Electric Corporation
`targeting snd tracking algorithms, while Lockheed
`a
`is providing
`Aeronautics
`System Company
`mission route planner.
`
`811
`
`