SAE AS 5669A-2009 JAUS SDP Transport Specification《JAUS SDP运输规范》.pdf

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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 theref

2、rom, 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 ma

3、y 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.orgSAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/AS5669AAEROSPACESTANDARDAS5669A Issued 2007-12 Revised 2009-02 Superseding AS5669 (R) JAUS / SDP T

5、ransport Specification RATIONALERevision A of the AS5669 JAUS Transport Specification changes the document scope from that of a transport specification specifically for JAUS to that of a transport specification capable of message transport for any Software Defined Protocol (SDP) that supports indivi

6、dual entity addressing and other common protocol mechanisms. JAUS messages are used as an example SDP, and can be properly transported by AS5669. FOREWORDThis document, the JAUS / SDP Transport Specification, delineates the formats and protocols employed for the transport of messages between complia

7、nt entities for all supported link-layer protocols and media. This document may be read in conjunction with AIR5645 (JAUS Transport Considerations), which provides reference and background information pertaining to the transport of JAUS messages between compliant entities, including characteristics

8、of unmanned systems, JAUS and various communication media that are important for the design and implementation of efficient transports. Those interested in the transport of messages across currently supported media should use this Transport Specification AS5669 document; those interested in the tran

9、sport of messages across new (currently unsupported) media should refer to the JAUS Transport Considerations document. This is a living document: as requirements are identified for the support of new transport media, those transports will be specified in sections added in subsequent revisions of thi

10、s document. Likewise, new functionalities may provoke additional revisions of this document. Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5669A Page 2 of 55TABLE OF CONTENTS 1.1 Purpose . 41

11、.2 Compliance . 41.3 Document Organization 41.4 Field of Application 42. REFERENCES 52.1 Applicable Documents 52.2 Other Applicable References 62.3 Acronyms 63. CONTEXT . 93.1 Required Capabilities 94. GENERAL TRANSPORT HEADER PAYLOAD WRAPPER 105. TRANSPORT STANDARDS: COMMON CHARACTERISTICS 135.1 He

12、ader Compression Techniques 145.1.1 Header Compression 145.1.2 Header Compression: An Example 165.1.3 Header Compression and Broadcast 275.1.4 Additional LSB Techniques . 285.1.5 Header Compression: Summary 285.2 Packing Multiple Application Messages Per Transport Packet 285.3 Multi-Part Messaging:

13、Multiple Transport Packets Per Application Message . 285.4 Maximum Packet Sizes . 295.5 Broadcast Semantics 295.6 Discovery 306. JAUS OVER IP . 306.1 JUDP : JAUS Over UDP . 306.1.1 Characteristics of JUDP 306.1.2 Application Domains . 306.1.3 Communications Environments 316.1.4 Description 316.1.5 I

14、mplementation of Broadcast Semantics 326.1.6 Encapsulation 336.1.7 Maximum Packet Size (MPS) . 356.1.8 Message Prioritization . 366.1.9 Compression . 366.1.10 Integrity Mechanisms 366.1.11 Configuration . 366.2 JTCP : JAUS Over TCP 376.2.1 Characteristics of JTCP 376.2.2 Application Domains . 376.2.

15、3 Communications Environment 386.2.4 Description 386.2.5 Implementation of Broadcast Semantics 396.2.6 Encapsulation 396.2.7 Maximum Packet Size (MPS) . 406.2.8 Message Prioritization . 406.2.9 Compression . 406.2.10 Integrity Mechanisms 416.2.11 Configuration . 416.3 Use of Non-Standard Ports in JU

16、DP it should also enable the determination of this same distinction at the Application Layer. The JAUS Transport Considerations report AIR5645 outlines compliance considerations in more detail we only summarize the resultant Transport Rules here for usage with JAUS and other SDP payloads: 1. Transpo

17、rt shall not modify the content or format of any transported payload. 2. All Transport packets shall explicitly state the version of Transport. These considerations are supported by the standards defined in this document. 1.3 Document Organization The Transport Specification defines a family of tran

18、sports for the conveyance of SDP messaging among entities compliant with the specific SDP such as JAUS. It details message formats, protocols, typical operating environments, and best practices. The Transport Considerations Report AIR5645 provides background information and delineates criteria for t

19、he design of transports for JAUS messaging across various media and environments. In this respect, the Transport Considerations Report serves as a meta-specification. The Transport Considerations Report explores the impact on JAUS messaging of each of the following: Characteristics of communications

20、 media. Characteristics of JAUS messaging. Requirements/constraints of unmanned systems operations. 1.4 Field of Application The Field of Application for the Transport Specification is data communications between nodes on a computer network.Copyright SAE International Provided by IHS under license w

21、ith SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5669A Page 5 of 552. REFERENCES 2.1 Applicable Documents AIR5645 “JAUS Transport Considerations”, Version 1.0, SAE, 2007. X3.28 American National Standards Institute, “Procedures for the Use of the Commun

22、ication Control Characters of American National Standard Code for Information Interchange in Specified Data Communication Links,“ ANSI X3.28-1976, December 1975.RFC1661 Simpson, W., “The Point-to-Point Protocol (PPP),“ RFC-1661, Daydreamer, July 1994.RFC1662 Simpson, W., “PPP in HDLC-like Framing,“

23、RFC-1662, Daydreamer, July 1994.RFC1994 Simpson, W., “PPP Challenge Handshake Authentication Protocol (CHAP),” RFC-1994, DayDreamer, August 1996. RFC2284 Blunk, L. and J. Vollbrecht, “PPP Extensible Authentication Protocol (EAP),” RFC-2284, Merit Network, Inc, March 1998. RFC1055 Romkey, J., “A Nons

24、tandard for Transmission of IP Datagrams over Serial Lines: SLIP,“ RFC-1055, June 1988.RFC914 Farber, David et al, “A Thinwire Protocol for connecting personal computers to the INTERNET,“ RFC-914, September 1984.RFC768 Postel, J., “User Datagram Protocol,“ RFC-768, 28 August 1980.RFC793 Information

25、Sciences Institute, “Transmission Control Protocol,“ RFC-793, September 1981.RFC794 Cerf, V., “Pre-emption,“ RFC-794, September 1981. RFC813 Clark, David D., “Window and acknowledgment strategy in TCP,“ RFC-813, July 1982.X.25 International Telecommunication Union, “Interface between Data Terminal E

26、quipment (DTE) and Data Circuit-terminating Equipment (DTE),“ ITU-T Recommendation X.25, October 1996.TECHDEV National Academy of Sciences, “Technology Development for Army Unmanned Ground Vehicles,“ National Academies Press, Washington, 2003. FLET82 Fletcher, John G., “An Arithmetic Checksum for Se

27、rial Transmissions,“ IEEE Transactions on Communications, January, 1982, IEEE, New York.KODIS92 Kodis, John, “Fletchers Checksum,“ Dr. Dobbs Journal, May 1992.KOOP04 Koopman, Philip and Tridib Chakravarty, “Cyclic Redundancy Code (CRC) Polynomial Selection for Embedded Networks,“ International Confe

28、rence on Dependable Systems and Networks (DSN-2004).SAXENA90 Saxena, Nirmal R. and Edward J. McCluskey, “Analysis of Checksums, Extended-Precision Checksums and Cyclic Redundancy Checks,“ IEEE Transactions on Computers, vol. 39 no.7, July 1990, IEEE, New York.PEREZ83 Perez, Aram, “Byte-Wise CRC Calc

29、ulations,“ IEEE Micro, June 1983, IEEE, New York.WILLIA93 Williams, Ross N., “A Painless Guide to CRC Error Detection Algorithms,“ Rocksoft, Adelaide, Australia, August 1993 available via ftp: ftp.adelaide.edu.au/pub/rocksoft/crc_v3.txtCopyright SAE International Provided by IHS under license with S

30、AENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5669A Page 6 of 55RAMABA88 Ramabadran, Tenkasi V. and Sunil S. Gaitonde, “A Tutorial on CRC Computations,“ IEEE Micro, August 1988, IEEE, New York.RFC1950 RFC-1950 ZLIB 3.3 Specification. Defines a lossless co

31、mpressed data format. The format currently uses the DEFLATE compression method. RFC1951 RFC-1951 DEFLATE 1.3 Specification Defines a lossless compressed data format that compresses data using a combination of the LZ77 algorithm and Huffman coding, with efficiency comparable to the best currently ava

32、ilable general-purpose compression methods.RFC1952 RFC-1952 GZIP 4.3 Specification Defines a lossless compressed data format that is compatible with the widely used GZIP utility The format currently uses the DEFLATE compression method. RFC3095 Bormann, C. (ed.), “RFC-3095 - Robust Header Compression

33、 (RoHC): Framework and Four Profiles,“ 2001.RFC1144 Jacobson, V., “RFC-1144 - Compressing TCP/IP Headers for Low-Speed Serial Links,“ February 1990.SUTT91 Sutterfield, Robert A., “Low-Cost IP Connectivity,“ Sun User Group, San Jose, CA, 9 December 1991.RFC2365 Meyer, D., “RFC-2365 Administratively S

34、coped IP Multicast,” University of Oregon, July 1998. RFC2608 Guttman, E., et al, “RFC-2608 Service Location Protocol, Version 2,” Network Working Group, IETF, June 1999. 2.2 Other Applicable References COMER96 Comer, Douglas, “Internetworking with TCP/IP,” Volume 1, Prentice-Hall, New York, 1996TAN

35、EN96 Tanenbaum, Andrew S., “Computer Networks,“ Third Edition, Prentice-Hall, New York, 1996STEVENS93 Stevens, W. Richard, “TCP/IP Illustrated,“ Volume 1, Addison Wesley, New York, 1993.DOUGLA99 Douglass, Bruce Powel, “Custom Embedded Communications Protocols,“ (Whitepaper), I-Logix, Inc., Andover,

36、MA, 1999.CHESH05 Cheshire, Stuart the packet defined is the IP datagram. IPS Internet Protocol Suite The protocol suite defining network communications using the TCP/IP family of protocols. ISO International Organization for Standardization A non-governmental organization that leverages the activiti

37、es of the national standards organizations of 146 countries, ISO is the largest developer of technical standards in the world. JAUS Joint Architecture for Unmanned Systems An architecture for use in the research, development, design, acquisition and deployment of Unmanned Systems JTCP JAUS over TCP

38、The standard for the transmission of JAUS messages over TCP communications links, as defined in Section 6.2 of this document. JUDP JAUS over UDP The standard for the transmission of JAUS messages over UDP communications links, as defined in 6.1 of this document. JSerial JAUS over Serial The standard

39、 for the transmission of JAUS messages over serial communications links, as defined in Section 7 of this document. MSN Message Sequence Number A unique identifying “serial number” assigned to packets as transmitted; the MSN is typically used in the detection of missed messages, in providing assuranc

40、e of correct sequence of delivery, and in the requesting of retries when multiple outstanding messages are supported.Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5669A Page 8 of 55MTU Maximu

41、m Transfer Unit The Maximum Transfer Unit (MTU) is a term for the size of the largest datagram that can be passed by a layer of a communications protocol. NAK Acknowledgment (negative) Generally, a byte or message sent to indicate unsuccessful receipt or non-receipt or a packet or message. Specifica

42、lly, the ASCII control character octet of value 0x15. OCU Operator Control Unit A device by means of which a human operator may control an Unmanned System. OSI Open Systems Interconnect A data communications model developed by ISO to assure communications interoperability across disparate systems. P

43、DU Protocol Data Unit An application message (for the purposes of this specification, this will be assumed to be a JAUS message) being propagated down the protocol stack on the sender side, or up the protocol stack on the receiver side. PPP Point-to-Point Protocol An encapsulation protocol for sendi

44、ng IP datagrams across serial communications links, PPP also incorporates strong blockchecks, control protocols and a high degree of configurability. RFC1661RA Reference Architecture (JAUS) The Reference Architecture is the technical specification used to implement unmanned systems in compliance wit

45、h the Joint Architecture for Unmanned Systems (JAUS). RF Radio Frequency Electromagnetic energy or signaling based thereon whose frequency is normally associated with radio wave propagation. SLIP Serial Line Internet Protocol An encapsulation protocol for sending IP datagrams across serial communica

46、tions links. RFC1055SDP Software Defined Protocol A communications protocol that is defined by implementation of its lexicons in software. It is assumed to be an addressed entity, message based protocol TCP Transmission Control Protocol A reliable, connection-oriented message delivery protocol defin

47、ed by RFC793 and related IETF documents.UMS Unmanned Systems. UAV An unmanned aerial vehicle; may be teleoperated or autonomous. UGV An unmanned ground vehicle; may be teleoperated or autonomous. USV An unmanned surface-of-water vehicle; may be teleoperated or autonomous. UUV An unmanned undersea ve

48、hicle; may be teleoperated or autonomous. UDP User Datagram Protocol An unreliable best-effort connectionless message delivery protocol defined by RFC768 and related IETF documents. Copyright SAE International Provided by IHS under license with SAENot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5669A Page 9 of 553. CONTEXT The context for the JAUS / SDP Transport Specification is network data communications. The JAUS / SDP Transport Layer provides the inter