SAE AS 6060-2010 JAUS Environment Sensing Service Set《无人系统联合体系结构(JAUS)环境感应式耐用装置》.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 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 revised, reaffirmed, stabilized, or cancelled. SAE invites your written comments and suggestions. Copyright 2015 SAE International All rights reserved. No part of this p

3、ublication may 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: +1 724-776-497

4、0 (outside USA) 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/AS6060 AEROSPACE STANDARD AS6060 Issued 2010-11 Reaffirmed 2015-04 JAUS Environme

5、nt Sensing Service Set RATIONALE AS6060 has been reaffirmed to comply with the SAE five-year review policy. INTRODUCTION The primary goal of the JAUS Environment Sensing Service Set is logical interoperability between communicating elements in an unmanned system. To this end, each service defines th

6、e messages (vocabulary) and protocol (rules) for data exchange. This logical interoperability is independent of the physical transport, and it is expected that a Transport Standard, such as the JAUS/SDP Transport Specification AS5669, is used in conjunction with this specification. Each service in t

7、he JAUS Environment Sensing Service Set can be described using the JAUS Service Interface Definition Language (JSIDL) AS5684. 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 require

8、d to understand or implement this Specification, it is highly recommended for supporting context. For convenience, the JAUS Environment Sensing Service Set contains both a text based and XML based representation for each service. The AS6060 Standard does not replace the latest JAUS Reference Archite

9、cture Version 3.3 RA33P1, RA33P2, RA33P3, but is a direct evolution of that work. At time of publication, there has not been multiple independent implementations of this standard. As such, adopters should consider this standard “experimental” as errata to the document are discovered during initial i

10、mplementation and testing. 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. The tables and diagrams in this document are hand-transcribed from the JSIDL XML specification in

11、 the Appendixes. In case of transcription errors, the XML specification should be considered correct. TABLE OF CONTENTS 1. SCOPE 5 1.1 Purpose . 5 1.2 Compliance . 5 1.3 Document Organization 5 2. REFERENCES 5 2.1 Applicable Documents 5 2.1.1 SAE Publications . 6 2.1.2 JAUS Technical References . 6

12、2.1.3 Other Publications . 6 2.2 Definitions . 7 2.3 List of Acronyms 7 3. SERVICE DEFINITIONS 8 3.1 Range Sensor . 8 3.1.1 Description 8 3.1.2 Assumptions 9 3.1.3 Vocabulary 9 3.1.4 Protocol Behavior 10 3.2 Visual Sensor 11 3.2.1 Description 11 3.2.2 Assumptions 11 3.2.3 Vocabulary 11 3.2.4 Protoco

13、l Behavior 12 3.3 Digital Video 13 3.3.1 Description 13 3.3.2 Assumptions 13 3.3.3 Vocabulary 13 3.3.4 Protocol Behavior 14 3.4 Analog Video . 15 3.4.1 Description 15 3.4.2 Assumptions 15 3.4.3 Vocabulary 15 3.4.4 Protocol Behavior 16 3.5 Still Image . 17 3.5.1 Description 17 3.5.2 Assumptions 17 3.

14、5.3 Vocabulary 17 3.5.4 Protocol Behavior 18 4. DECLARED TYPES 19 4.1 CommandClass. 19 4.1.1 ID 0801h: ConfirmSensorConfiguration 19 4.1.2 ID 0802h: SetRangeSensorConfiguration 21 4.1.3 ID 0803h: SetVisualSensorConfiguration . 22 4.1.4 ID 0804h: SetDigitalVideoSensorConfiguration 24 4.1.5 ID 0805h:

15、ControlDigitalVideoSensorStream . 26 4.1.6 ID 0806h: SetAnalogVideoSensorConfiguration 26 4.1.7 ID 0807h: SetStillImageSensorConfiguration . 27 4.2 QueryClass . 28 4.2.1 ID 2801h: QueryRangeSensorCapabilities . 28 4.2.2 ID 2802h: QueryRangeSensorConfiguration 29 SAE INTERNATIONAL AS6060 2 OF 1154.2.

16、3 ID 2803h: QueryRangeSensorData 29 4.2.4 ID 2804h: QueryRangeSensorCompressedData . 30 4.2.5 ID 2805h: QuerySensorGeometricProperties . 31 4.2.6 ID 2806h: QueryVisualSensorCapabilities 31 4.2.7 ID 2807h: QueryVisualSensorConfiguration . 31 4.2.8 ID 2808h: QueryDigitalVideoSensorCapabilities 32 4.2.

17、9 ID 2809h: QueryDigitalVideoSensorConfiguration . 32 4.2.10 ID 2810h: QueryAnalogVideoSensorCapabilities . 33 4.2.11 ID 2811h: QueryAnalogVideoSensorConfiguration 33 4.2.12 ID 2812h: QueryStillImageSensorCapabilities 34 4.2.13 ID 2813h: QueryStillImageSensorConfiguration . 34 4.2.14 ID 2814h: Query

18、StillImageData 34 4.3 InformClass . 35 4.3.1 ID 4801h: ReportRangeSensorCapabilities 35 4.3.2 ID 4802h: ReportRangeSensorConfiguration . 37 4.3.3 ID 4803h: ReportRangeSensorData . 38 4.3.4 ID 4804h: ReportRangeSensorCompressedData 40 4.3.5 ID 4805h: ReportSensorGeometricProperties 41 4.3.6 ID 4806h:

19、 ReportVisualSensorCapabilities . 42 4.3.7 ID 4807h: ReportVisualSensorConfiguration 44 4.3.8 ID 4808h: ReportDigitalVideoSensorCapabilities . 46 4.3.9 ID 4809h: ReportDigitalVideoSensorConfiguration 47 4.3.10 ID 4810h: ReportAnalogVideoSensorCapabilities 49 4.3.11 ID 4811h: ReportAnalogVideoSensorC

20、onfiguration . 49 4.3.12 ID 4812h: ReportStillImageSensorCapabilities. 49 4.3.13 ID 4813h: ReportStillImageSensorConfiguration 51 4.3.14 ID 4814h: ReportStillImageData . 52 5. NOTES 53 TABLE OF FIGURES FIGURE 1 Range Sensor Service 8 FIGURE 2 Bearing and Inclination Definition . 9 FIGURE 3 Range Sen

21、sor Service Protocol Behavior 10 FIGURE 4 Visual Sensor Service . 11 FIGURE 5 Visual Sensor Service Protocol Behavior . 12 FIGURE 6 Digital Video Service . 13 FIGURE 7 Digital Video Service Protocol Behavior . 14 FIGURE 8 Analog Video Service 15 FIGURE 9 Analog Video Service Protocol Behavior 16 FIG

22、URE 10 Still Image Service 17 FIGURE 11 Still Image Service Protocol Behavior . 18 TABLE OF TABLES TABLE 1 Range Sensor Service Vocabulary . 9 TABLE 2 Range Sensor Service State Transition Table 10 TABLE 3 Range Sensor Service Transition Actions 10 TABLE 4 Range Sensor Service Guard Conditions . 11

23、TABLE 5 Visual Sensor Service Vocabulary 12 TABLE 6 Visual Sensor Service State Transition Table 12 TABLE 7 Visual Sensor Service Transition Actions . 12 TABLE 8 Digital Video Service Vocabulary 14 TABLE 9 Digital Video Service State Transition Table 14 TABLE 10 Digital Video Service Transition Acti

24、ons . 14 TABLE 11 Analog Video Service Vocabulary. 16 TABLE 12 Analog Video Service State Transition Table . 16 SAE INTERNATIONAL AS6060 3 OF 115TABLE 13 Analog Video Service Transition Actions 16 TABLE 14 Still Image Service Vocabulary . 18 TABLE 15 Still Image Sensor Service Guard Conditions . 18

25、TABLE 16 Still Image Service State Transition Table 18 TABLE 17 Still Image Sensor Service Transition Actions 19 TABLE 18 Confirm Sensor Configuration Message Encoding . 19 TABLE 19 Set Range Sensor Configuration Message Encoding 21 TABLE 20 Set Visual Sensor Configuration Message Encoding . 23 TABL

26、E 21 Set Digital Video Sensor Configuration Message Encoding . 25 TABLE 22 Control Digital Video Sensor Stream 26 TABLE 23 Set Analog Video Sensor Configuration Message Encoding . 27 TABLE 24 Set Still Image Sensor Configuration Message Encoding 27 TABLE 25 Query Range Sensor Capabilities Message En

27、coding . 29 TABLE 26 Query Range Sensor Configuration Message Encoding 29 TABLE 27 Query Range Sensor Data Message Encoding 30 TABLE 28 Query Range Sensor Compressed Data Message Encoding 30 TABLE 29 Query Sensor Geometric Properties Message Encoding . 31 TABLE 30 Query Visual Sensor Capabilities Me

28、ssage Encoding . 31 TABLE 31 Query Visual Sensor Configuration Message Encoding . 32 TABLE 32 Query Digital Video Sensor Capabilities Message Encoding . 32 TABLE 33 Query Digital Video Sensor Configuration Message Encoding 33 TABLE 34 Query Analog Video Sensor Capabilities Message Encoding 33 TABLE

29、35 Query Analog Video Sensor Configuration Message Encoding . 33 TABLE 36 Query Still Image Sensor Capabilities Message Encoding 34 TABLE 37 Query Still Image Sensor Configuration Message Encoding 34 TABLE 38 Query Still Image Data Message Encoding 35 TABLE 39 Report Range Sensor Capabilities Messag

30、e Encoding 35 TABLE 40 Report Range Sensor Configuration Message Encoding . 37 TABLE 41 Report Range Sensor Data Message Encoding . 39 TABLE 42 Report Range Sensor Compressed Data Message Encoding . 40 TABLE 43 Report Sensor Geometric Properties Message Encoding 41 TABLE 44 Report Visual Sensor Capa

31、bilities Message Encoding 43 TABLE 45 Report Visual Sensor Configuration Message Encoding 45 TABLE 46 Report Digital Video Sensor Capabilities Message Encoding 46 TABLE 47 Report Digital Video Sensor Configuration Message Encoding . 48 TABLE 48 Report Analog Video Sensor Capabilities Message Encodin

32、g . 49 TABLE 49 Report Analog Video Sensor Configuration Message Encoding 49 TABLE 50 Report Still Image Sensor Capabilities Message Encoding . 50 TABLE 51 Report Still Image Sensor Configuration Message Encoding. 51 TABLE 52 Report Still Image Data Message Encoding . 52 APPENDIX A XML FOR SERVICE D

33、EFINITIONS . 54 APPENDIX B XML FOR DECLARED TYPE SETS . 71 SAE INTERNATIONAL AS6060 4 OF 1151. SCOPE This document defines a set of standard application layer interfaces called JAUS Environment Sensing Services. JAUS Services provide the means for software entities in an unmanned system or system of

34、 unmanned systems to communicate and coordinate their activities. The Environment Sensing Services represent typical environment sensing capabilities commonly found across all domains and types of unmanned systems in a platform-independent manner. At present, five services are defined in this docume

35、nt: Range Sensor: Determine the proximity of objects in the platforms environment Visual Sensor: Provides common configuration and setup for different types of imaging systems Digital Video: A type of Visual Sensor that manages digital video Analog Video: A type of Visual Sensor that manages analog

36、video Still Image: A type of Visual Sensor that manages and encodes individual digital images Each service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Lang

37、uage AS5684. 1.1 Purpose The purpose of this document is to facilitate interoperation of unmanned vehicle systems, subsystems, and payloads by standardization of the message set and associated protocol. 1.2 Compliance The JAUS Environment Sensing Service Set must support compliance assessment. To do

38、 so, this specification must be sufficiently precise to enable the “compliant” / “not compliant” distinction to be made independently of the underlying transport mechanism. It is important to note that implementations are considered compliant to individual Service Definitions within this Specificati

39、on; it is not necessary that a single entity realize each Service to be considered compliant. 1.3 Document Organization The layout of this document is as follows. Section 2 lists external references used throughout the specification. Section 3 specifies the JAUS Service Definition for each of the se

40、rvices, with particular emphasis on the description, assumptions, message set, and protocol behavior. Section 4 describes the message encoding for each message set. Finally, Appendix A and Appendix B contain the complete JSIDL representation for each service and their associated message set. 2. REFE

41、RENCES 2.1 Applicable Documents The following publications form a part of this document to the extent specified herein. The applicable issue of all publications shall be the issue in effect on the date of the publication for this specification, unless otherwise noted. In the event of conflict betwee

42、n the text of this document and references cited herein, the text of this document takes precedence. SAE INTERNATIONAL AS6060 5 OF 1152.1.1 SAE Publications Available from SAE International, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or 724-776-4970

43、(outside USA), Web address: www.sae.org. AIR5665A Architecture Framework for Unmanned Systems AS6009 JAUS Mobility Service Set AS5669A JAUS/SDP Transport Specification AS5710A JAUS Core Service Set AS5684A JAUS Service Interface Definition Language 2.1.2 JAUS Technical References RA33P1 JAUS Referen

44、ce Architecture Specification, Volume II, Part 1, Architecture Framework, Version 3.3, June 22, 2007 RA33P2 JAUS Reference Architecture Specification, Volume II, Part 2, Message Definition, Version 3.3, June 22, 2007 RA33P3 JAUS Reference Architecture Specification, Volume II, Part 3, Message Set, V

45、ersion 3.3, June 22, 2007 2.1.3 Other Publications bnt Barry N. Taylor. The International System of Units (SI), National Institute of Standards and Technology Special Publication 330, 1991 Edition. http:/physics.nist.gov/Document/sp330.pdf crane Kinematic Analysis of Robot Manipulators, Carl D. Cran

46、e III and Joseph Duffy, Cambridge University Press, 1998 jpeg ITU-T81 http:/www.w3.org/Graphics/JPEG/itu-t81.pdf mpeg-2 ISO/IEC 13818-1:2007 mpeg4avc ISO/IEC 14496-10:2008 mpeg4visual ISO/IEC 14496-2:2004 nitf NATIONAL IMAGERY TRANSMISSION FORMAT VERSION 2.1, March 1, 2001 http:/www.gwg.nga.mil/ntb/

47、baseline/docs/2500c/2500C.pdf rng Relax NG: http:/www.oasis-open.org/committees/relax-ng/spec-20011203.html Standard lightweight XML schema language. tiff TIFF, Revision 6.0, Final June 3, 1992 http:/ rfc1951 DEFLATE Compressed Data Format Specification version 1.3 http:/tools.ietf.org/html/rfc1951

48、bzip2 bzip2 library for data compression http:/www.bzip.org/1.0.5/bzip2-manual-1.0.5.html lzma LZMA data compression algorithm SDK http:/www.7-zip.org/sdk.html SAE INTERNATIONAL AS6060 6 OF 1152.2 Definitions Capabilities: This document denotes a sensors capabilities as the entire range of parameter

49、s and values supported by the sensor. These are intrinsic to the make, model, and type of sensor, and cannot be modified at run-time by the client. Configuration: While capabilities represents the entire range of supported parameters, the configuration represents the current or active settings. Configurations can be