1、_ SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising there
2、from, is the sole responsibility of the user.” SAE reviews each technical report at least every five years at which time it may be reaffirmed, revised, or cancelled. SAE invites your written comments and suggestions. Copyright 2009 SAE International All rights reserved. No part of this publication m
3、ay be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: 724-776-4970 (outside USA)
4、 Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/AS6009 AEROSPACE STANDARD AS6009 Issued 2009-04 JAUS Mobility Service Set RATIONALE This documen
5、t, the JAUS Mobility Service Set (AS6009), defines a message-passing interface for services commonly found in mobile unmanned systems. These services represent the platform-independent capabilities common across all platform types. Additional capabilities are specified in the JAUS Core Service Set (
6、AS5710) and are frequently referenced herein. INTRODUCTION The primary goal of the JAUS Mobility Service Set is logical interoperability between communicating elements in an unmanned system. To this end, each service defines the messages (vocabulary) and protocol (rules) for data exchange. This logi
7、cal interoperability is independent of the physical transport, and it is expected that a Transport Standard, such as the JAUS Transport Specification AS5669, is used in conjunction with this specification. Each service in the JAUS Mobility Service Set is described using the JAUS Service Interface De
8、finition Language JSIDL. JSIDL creates a formal schema based on Relax NG Compact rng that allows for validation of each service definition described herein. Although knowledge of JSIDL is not required to understand or implement this Specification, it is highly recommended for supporting context. For
9、 convenience, the JAUS Mobility Service Set contains both a text based and XML based representation for each service. The services defined herein should replace the equivalent sets of messages defined in the latest JAUS Reference Architecture Version 3.3 RA33P1, RA33P2, RA33P3 when used with AS5669,
10、 revision A. This Standard has been carefully designed to allow for the simplest possible migration of RA 3.3 implementations to a services-based framework. Even though the notion of services has come to define formal interfaces between components, the message sets in those services trace back to id
11、entical messages in the Reference Architecture. This document uses a number of conventions to simplify the text. All names are given in Camel Case. Names start with upper case, while reference names start with a lower case. Copyright SAE International Provided by IHS under license with SAENot for Re
12、saleNo reproduction or networking permitted without license from IHS-,-,-SAE AS6009 Page 2 of 146 TABLE OF CONTENTS 1. SCOPE 7 1.1 Purpose . 7 1.2 JAUS Core Service Set . 7 1.3 Compliance . 7 1.4 Document Organization 7 2. REFERENCES 8 2.1 Applicable Documents 8 2.1.1 SAE Publications . 8 2.1.2 JAUS
13、 Technical References . 8 2.1.3 Other Publications . 8 2.2 List of Acronyms 8 3. COMMON CONVENTIONS 10 3.1 Platform orientation . 10 3.2 Waypoint Tolerance 11 3.3 Path Tolerance (Travel Corridor) 11 3.4 Constant values 11 3.5 Examples of List Manipulation 12 4. SERVICE DEFINITIONS 14 4.1 List Manage
14、r Service 14 4.2 Global Pose Sensor Service . 17 4.3 Local Pose Sensor Service . 19 4.4 Velocity State Sensor Service . 20 4.5 Acceleration State Sensor Service . 22 4.6 Primitive Driver Service . 24 4.7 Global Vector Driver Service . 25 4.8 Local Vector Driver Service 27 4.9 Global Waypoint Driver
15、Service 29 4.10 Local Waypoint Driver Service 32 4.11 Global Waypoint List Driver Service . 34 4.12 Local Waypoint List Driver Service . 37 4.13 Global Path Segment Driver Service 40 4.14 Local Path Segment Driver Service 45 4.15 Velocity State Driver Service 48 5. DECLARED TYPES 52 5.1 CommandClass
16、. 52 5.1.1 ID 0402h: SetGlobalPose . 52 5.1.2 ID 0403h: SetLocalPose . 53 5.1.3 ID 0405 h: SetWrenchEffort 53 5.1.4 ID 0407 h: SetGlobalVector 55 5.1.5 ID 0408 h: SetLocalVector 56 5.1.6 ID 040A h: SetTravelSpeed 56 5.1.7 ID 040Ch: SetGlobalWaypoint 57 5.1.8 ID 040Dh: SetLocalWaypoint 58 5.1.9 ID 04
17、0Fh: SetGlobalPathSegment 59 5.1.10 ID 0410h: SetLocalPathSegment 60 5.1.11 ID 0412h: SetGeomagneticProperty . 61 5.1.12 ID 0415h: SetVelocityCommand . 61 5.1.13 ID 0416h: SetAccelerationLimit . 62 5.1.14 ID 041Ah: SetElement. 63 5.1.15 ID 041Bh: DeleteElement . 64 5.1.16 ID 041Ch: ConfirmElementReq
18、uest . 64 5.1.17 ID 041Dh: RejectElementRequest 65 5.1.18 ID 041Eh: ExecuteList 65 5.2 QueryClass . 66 5.2.1 ID 2402h: QueryGlobalPose . 66 5.2.2 ID 2403h: QueryLocalPose . 66 Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted with
19、out license from IHS-,-,-SAE AS6009 Page 3 of 146 5.2.3 ID 2404h: QueryVelocityState . 66 5.2.4 ID 2405h: QueryWrenchEffort . 67 5.2.5 ID 2407h: QueryGlobalVector . 67 5.2.6 ID 2408h: QueryLocalVector . 67 5.2.7 ID 240Ah: QueryTravelSpeed . 68 5.2.8 ID 240Ch: QueryGlobalWaypoint 68 5.2.9 ID 240Dh: Q
20、ueryLocalWaypoint . 68 5.2.10 ID 240Fh: QueryGlobalPathSegment . 69 5.2.11 ID 2410h: QueryLocalPathSegment . 69 5.2.12 ID 2412h: QueryGeomagneticProperty 69 5.2.13 ID 2415h: QueryVelocityCommand 70 5.2.14 ID 2416h: QueryAccelerationLimit 70 5.2.15 ID 2417h: QueryAccelerationState . 70 5.2.16 ID 241A
21、h: QueryElement 71 5.2.17 ID 241Bh: QueryElementList 71 5.2.18 ID 241Ch: QueryElement Count 71 5.2.19 ID 241Eh: QueryActiveElement 71 5.3 InformClass . 72 5.3.1 ID 4402h: ReportGlobalPose 72 5.3.2 ID 4403h: ReportLocalPose 72 5.3.3 ID 4404h: ReportVelocityState 72 5.3.4 ID 4405h: ReportWrenchEffort
22、73 5.3.5 ID 4407h: ReportGlobalVector 73 5.3.6 ID 4408h: ReportLocalVector 73 5.3.7 ID 440Ah: ReportTravelSpeed 74 5.3.8 ID 440Ch: ReportGlobalWaypoint 74 5.3.9 ID 440Dh: ReportLocalWaypoint 74 5.3.10 ID 440Fh: ReportGlobalPathSegment 74 5.3.11 ID 4410h: ReportLocalPathSegment 75 5.3.12 ID 4412h: Re
23、portGeomagneticProperty . 75 5.3.13 ID 4415h: ReportVelocityCommand . 75 5.3.14 ID 4416h: ReportAccelerationLimit . 75 5.3.15 ID 4417h: ReportAccelerationState 76 5.3.16 ID 441Ah: ReportElement . 77 5.3.17 ID 441Bh: ReportElementList . 77 5.3.18 ID 441Ch: ReportElementCount . 77 5.3.19 ID 441Eh: Rep
24、ortActiveElement . 78 6. NOTES 78 APPENDIX A XML FOR SERVICE DEFINITIONS 79 APPENDIX B XML FOR DECLARED TYPE SETS 121 Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS6009 Page 4 of 146 TABLE OF
25、 FIGURES Figure 1 Definition of Platform Orientation 10 Figure 2 Permitted Travel Corridor between Waypoints . 11 Figure 3 Example Scenario for List Manipulation . 12 Figure 4 Example Scenario for Inserting a New Element . 12 Figure 5 Example Scenario for Circular List Segments 12 Figure 6 Failure C
26、ase Leaving an Existing Element Orphaned 13 Figure 7 Example Scenario for Deleting an Existing Element 13 Figure 8 List Manager Service 14 Figure 9 List Manager service protocol behavior 15 Figure 10 Global pose Sensor Service . 17 Figure 11 Global pose sensor protocol behavior 18 Figure 12 Local po
27、se Sensor Service . 19 Figure 13 Local pose sensor Service Protocol Behavior 20 Figure 14 Velocity state Sensor Service . 21 Figure 15 Velocity State sensor Service Protocol Behavior 22 Figure 16 Acceleration State Sensor Service . 22 Figure 17 Acceleration State sensor Service Protocol Behavior 23
28、Figure 18 Primitive Driver Service . 24 Figure 19 Primitive driver service protocol behavior . 25 Figure 20 Global vector Driver Service . 26 Figure 21 Global vector Driver Service Protocol Behavior 27 Figure 22 Local vector Driver Service . 28 Figure 23 Local vector Driver Service Protocol Behavior
29、 . 29 Figure 24 Global Waypoint Driver Service 30 Figure 25 Global waypoint Driver Service Protocol Behavior . 31 Figure 26 Local Waypoint Driver Service 32 Figure 27 Local waypoint Driver Service Protocol Behavior . 33 Figure 28 Global Waypoint List Driver Service . 34 Figure 29 Global waypoint Dri
30、ver List Service Protocol Behavior 35 Figure 30 Local Waypoint List Driver Service . 37 Figure 31 Local waypoint List Driver Service Protocol Behavior 38 Figure 32 Global path segment Driver Service . 40 Figure 33 Sample Path Segment with Control Points Shown . 41 Figure 34 Effect of Weighting Param
31、eter w1 on Curve Shape . 42 Figure 35 Slope Continuity at Path Segment Connection Point . 42 Figure 36 Global path segment Driver Service Protocol Behavior . 43 Figure 37 Local path segment Driver Service . 45 Figure 38 Local path segment Driver Service Protocol Behavior . 47 Figure 39 Velocity Stat
32、e Driver Service 49 Figure 40 Velocity State driver service protocol behavior . 50 TABLE OF TABLES TABLE 1 List Manager Service Vocabulary . 15 TABLE 2 List Manager Service Transition Table . 16 TABLE 3 List Manager Service State Conditions Table . 16 TABLE 4 List Manager Service Transition Actions
33、16 TABLE 5 Global pose sensor Service Vocabulary . 17 TABLE 6 Global pose sensor Service State Transition Table . 18 TABLE 7 Global pose sensor Service State Conditions Table 18 TABLE 8 Global pose sensor Service Transition Actions 18 TABLE 9 Local pose sensor Service Vocabulary . 19 TABLE 10 Local
34、pose sensor Service State Transition Table . 20 TABLE 11 Local pose sensor Service State Conditions Table 20 Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS6009 Page 5 of 146 TABLE 12 Local po
35、se sensor Service Transition Actions 20 TABLE 13 Velocity State sensor Service Vocabulary 21 TABLE 14 Velocity State sensor Service State Transition Table . 22 TABLE 15 Velocity State sensor Service Transition Actions . 22 TABLE 16 Acceleration State sensor Service Vocabulary . 23 TABLE 17 Accelerat
36、ion State sensor Service State Transition Table . 23 TABLE 18 Acceleration State sensor Service Transition Actions 23 TABLE 19 Primitive Driver Service Vocabulary 24 TABLE 20 Primitive Driver Service Transition Table 25 TABLE 21 Primitive Driver Service State Conditions Table . 25 TABLE 22 Primitive
37、 Driver Service Transition Actions . 25 TABLE 23 Global vector Driver Service Vocabulary 26 TABLE 24 Global vector Driver Service Transition Table 27 TABLE 25 Global vector Driver Service State Conditions Table . 27 TABLE 26 Global vector Driver Service Transition Actions . 27 TABLE 27 Local vector
38、Driver Service Vocabulary 28 TABLE 28 Local vector Driver Service Transition Table 29 TABLE 29 Local vector Driver Service State Conditions Table . 29 TABLE 30 Local vector Driver Service Transition Actions . 29 TABLE 31 Global Waypoint Driver Service Vocabulary . 30 TABLE 32 Global Waypoint Driver
39、Service Entry/Exit Action Table 31 TABLE 33 Global waypoint Driver Service Transition Table 31 TABLE 34 Global waypoint Driver Service State Conditions Table . 31 TABLE 35 Global waypoint Driver Service Transition Actions . 32 TABLE 36 Local Waypoint Driver Service Vocabulary . 33 TABLE 37 Local Way
40、point Driver Service Entry/Exit Action Table 33 TABLE 38 Local waypoint Driver Service Transition Table 33 TABLE 39 Local waypoint Driver Service State Conditions Table . 34 TABLE 40 Local waypoint Driver Service Transition Actions . 34 TABLE 41 Global Waypoint List Driver Service Vocabulary 35 TABL
41、E 42 Global Waypoint List Driver Service Entry/Exit Action Table 36 TABLE 43 Global waypoint List Driver Service Transition Table . 36 TABLE 44 Global waypoint List Driver Service State Conditions Table 36 TABLE 45 Global waypoint List Driver Service Transition Actions 37 TABLE 46 Local Waypoint Lis
42、t Driver Service Vocabulary 38 TABLE 47 Local Waypoint List Driver Service Entry/Exit Action Table . 39 TABLE 48 Local waypoint List Driver Service Transition Table . 39 TABLE 49 Local waypoint List Driver Service State Conditions Table 39 TABLE 50 Local waypoint List Driver Service Transition Actio
43、ns 40 TABLE 51 Global Path Segment Driver Service Vocabulary . 43 TABLE 52 Global Path Segment Driver Service Entry/Exit Action Table 43 TABLE 53 Global path segment Driver Service Transition Table 44 TABLE 54 Global path segment Driver Service State Conditions Table . 44 TABLE 55 Global path segmen
44、t Driver Service Transition Actions . 45 TABLE 56 Local Path Segment Driver Service Vocabulary . 46 TABLE 57 Local Path Segment Driver Service Entry/Exit Action Table 47 TABLE 58 Local path segment Driver Service Transition Table 47 TABLE 59 Local path segment Driver Service State Conditions Table .
45、 48 TABLE 60 Local path segment Driver Service Transition Actions . 48 TABLE 61 Velocity State Driver Service Vocabulary . 49 TABLE 62 Velocity State Driver Service Entry/Exit Action Table . 50 TABLE 63 Velocity State Driver Service Transition Table . 50 TABLE 64 Velocity State Driver Service State
46、Conditions Table . 51 TABLE 65 Velocity State Driver Service Transition Actions . 51 TABLE 66 Set global pose Message Encoding . 52 TABLE 67 Set local pose Message Encoding 53 TABLE 68 Set wrench effort Message Encoding . 54 TABLE 69 Set Global vector Message Encoding . 55 TABLE 70 Set Local vector
47、Message Encoding 56 Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS6009 Page 6 of 146 TABLE 71 Set travel speed Message Encoding 56 TABLE 72 Set global waypoint Message Encoding . 57 TABLE 73
48、Set local waypoint Message Encoding . 58 TABLE 74 Set global path segment Message Encoding . 59 TABLE 75 Set local path segment Message Encoding 60 TABLE 76 Set geomagnetic property Message Encoding . 61 TABLE 77 SET velocity COMMAND Message Encoding 61 TABLE 78 SET ACCELERATION LIMIT Message Encoding 62 TABLE 79 Set Element Message Encoding . 63 TABLE 80 Delete Element Message Encoding 64 TABLE 81 Confirm Element Request Message Encoding . 64 TABLE 82 Reject Element Request Message Encoding . 65 TABLE 83 Execute List Message Encoding . 65 TABLE 84 Query global pose Message Encoding . 6
