Listing of Group 1 and 2 Multirotor UAS

Transcription

1 Listing of Group 1 and 2 Multirotor UAS PoC: Prof. Oleg Yakimenko, (831) , oayakime@nps.edu Version Updates Date Version 1 Initial Release 03/29/2017 Version 2 3DR Solo UAS is added 06/14/2017 Version 3 Single-rotor UAS are removed 06/16/2017 Version 4 Removed UAS that do not conform to the Listing of 06/29/2017 Approved Autopilots, GCS, e-devices and RC Controllers for NPS Group 1 and 2 Multirotor UAS. These UAS will be added to the COTS UAS Listing by AIRWorks at a later date. Version 5 Added DJI Inspire 2, DJI Spark, 3DR Iris-M Pro NPS Aqua-Quad, NPS Cross-Flow-Fan Quad, and DJI F330/F450/F550 airframes. Clarified rules for adding UAS to this list (see page 1). 07/14/2017 All UAS listed below are intended to be used in FY17-FY19 for educational and research purposes (to develop guidance, navigation, control, image processing, parameter estimation, tracking algorithms). This list is not intended to be complete or final and new aircraft will likely be added to this list. All UAS added to this list MUST COMPLY WITH THE LATEST Listing of Approved Autopilots / GCS / e-devices / RC Controllers for NPS Group 1 and 2 Multirotor UAS". Contents Autonomous UAS... 2 Blade Chroma... 2 DJI Inspire DJI Inspire DJI Matrice DJI Matrice 600 and 600 Pro... 9 DJI Phantom DJI Phantom DJI Phantom 4 and 4 Pro DJI Mavic Pro DJI Spark DR IRIS-M Pro DR Solo Nibbler Remotely Controlled UAS NPS Aqua-Quad NPS Cross-Flow-Fan Quad Airframes DJI Flame-Wheel F330/F450/F

2 Autonomous UAS Blade Chroma SAFE Plus Technology Exclusive SAFE Plus technology gives you several flight modes that make it easy to get into position for the perfect shot even if you ve never flown a drone before. Smart Mode Perfect for First-Time Pilots. Smart Mode uses Stick Relativity to move the drone in whatever direction the control stick is pushed, no matter which way its nose is pointed. It also creates a SAFE Circlebarrier that prevents you from flying too close to yourself or people standing next to you. AP (Aerial Photography) Mode For the Experienced Pilot. The drone responds like a conventional RC aircraft without Stick Relativity or the SAFE Circle. Response is smooth and predictable so panning and tracking shots look great. Follow Me Mode Your Built-In Copilot. The drone follows you at a distance and altitude you set so you can focus on lining up the perfect shot using the rudder and camera tilt controls. Tracking Mode Be the Star of the Show. The drone will follow and keep the camera pointed at whoever is holding the ST-10+ controller. This is a great way to capture yourself in action when no one else is around to fly for you. Source: 2

3 DJI Inspire 1 Aircraft Model T lbs (2845 g, including propellers and battery, without gimbal Weight and camera) 6.74 lbs (3060 g, including propellers, battery and Zenmuse X3) GPS Hovering Accuracy Vertical: ±1.64 feet (0.5 m) Horizontal: ±8.20 feet (2.5 m) Max Angular Velocity Pitch: 300 /s Yaw: 150 /s Max Tilt Angle 35 Max Ascent Speed 16.4 ft/s (5 m/s) Max Descent Speed 13.1 ft/s (4 m/s) Max Speed 49 mph or 79 kph (ATTI mode, no wind) Max Takeoff Sea Level 1.55 mi (2500 m) 2.8 mi (4500 m with specially-designed propeller) Max Wind Speed Resistance 10 m/s Max Flight Time Approx. 18 min Motor Model DJI 3510H Propeller Model DJI 1345T Indoor Hovering Enabled by default Operating Temperature 14 to 104 F (-10 to 40 C) Diagonal Distance(propeller excluded) 22.8 inch (581 mm, Landing Mode) Max Takeoff Weight 7.71 lbs(3500 g) Remote Controller Model GL658A MHz (Japan Only) Operating Frequency GHz Max Transmitting Distance(unobstructed, free of interference) EIRP Video Output Ports Power Supply Charging GHz Up to 5 km or 3.1 miles when FCC compliant Up to 3.5 km or 2.1 miles when CE compliant 10dBm@900m, 13dBm@5.8G, 20dBm@2.4G USB, mini-hdmi Built-in battery DJI charger

4 Dual User Capability Host-and-Slave connection Mobile Device Holder Tablet or Smart Phone Max Mobile Device Width 170mm Output Power 9 W Operating Temperature 14 to 104 F (-10 to 40 C) Less than 3 months: -4 to 113 F (-20 to Storage Temperature 45 C) More than 3 months: 72 to 82 F (22 to 28 C) Charging Temperature 32 to 104 F (0 to 40 C) Battery 6000mAh 2S LiPo Charger Model A14-100P1A Voltage 26.3 V Rated Power100 W Battery Name Intelligent Flight Battery Model TB48 Capacity 5700 mah Voltage 22.8 V Battery Type LiPo 6S Energy Wh Net Weight 670 g Operating Temperature Range14 to 104 F (-10 to 40 C) Storage Temperature Range Less than 3 months: -4 to 113 F (-20 to 45 C) More than 3 months: 72 to 82 F (22 to 28 C) Charging Temperature Range 32 to 104 F (0 to 40 C) Max Charging Power 180 W APP Name DJI GO Mobile Device System ios 8.0 or later, Android or later Requirements Supported Mobile Devices ios: iphone 5s, iphone 6, iphone 6 Plus, iphone 6s, iphone 6s Plus, iphone 7, iphone 7 Plus, ipod touch 6, ipad Pro, ipad Air, ipad Air Wi-Fi + Cellular, ipad mini 2, ipad mini 2 Wi-Fi + Cellular, ipad Air 2, ipad Air 2 Wi-Fi + Cellular, ipad mini 3, ipad mini 3 Wi-Fi + Cellular, ipad mini 4, and ipad mini 4 Wi-Fi + Cellular. This app is optimized for iphone 7 and iphone 7 Plus. Android: Samsung tabs 705c, Samsung S6, Samsung S5, Samsung NOTE4, Samsung NOTE3, Google Nexus 9, Google Nexus 7 II, Ascend Mate7, Huawei Mate 8, Nubia Z7 mini, SONY Xperia Z3, MI 3, MI PAD. *Support for additional devices available as testing and development continues. Source: 4

5 DJI Inspire 2 Aircraft Model T650 Weight 7.58 lbs (3440 g, including propellers and two batteries, without gimbal and camera) Max Takeoff Weight 8.82 lbs (4000 g) Vertical: ±1.64 feet (0.5 m) or ±0.33 feet (0.1 m, Downward Vision GPS Hovering Accuracy System enabled) Horizontal: ±4.92 feet (1.5 m) or ±0.98 feet (0.3 m, Downward Vision System enabled) Max Angular Velocity Pitch: 300 /s Yaw: 150 /s P-mode: 35 (Forward Vision System enabled: 25 ) Max Tilt Angle A-mode: 35 S-mode: 40 Max Ascent Speed P-mode/A-mode: 16.4 ft/s (5 m/s) S-mode: 19.7 ft/s (6 m/s) Max Descent Speed Vertical: 13.1 ft/s (4 m/s) Tilt: ft/s (4-9 m/s) Max Takeoff Sea Level 1.55 mi (2500 m) 3.1 mi (5000 m with specially-designed propeller) Max Wind Speed Resistance 10 m/s Max Flight Time Approx. 27 min (with Zenmuse X4S) Motor Model DJI 3512 Propeller Model DJI 1550T Indoor Hovering Enabled by default Operating Temperature -4 to 104 F (-20 to 40 C) Diagonal Distance(propeller excluded) 23.8 inch (605 mm, Landing Mode) Max Speed 58 mph or 94 kph(sport mode) Remote Controller Model GL6D10A Operating Frequency GHz Max Transmitting Distance(unobstructed, free of interference) EIRP Video Output Ports Power Supply Charging Dual User Capability GHz 2.4 GHz: 4.3 miles (7 km, FCC); 2.2 miles (3.5 km, CE); 2.5 miles (4 km, SRRC) 5.8 GHz: 4.3 miles (7 km, FCC); 1.2 miles (2 km, CE); 3.1 miles (5 km, SRRC) 2.4 GHz: 26 dbm (FCC); 17 dbm (CE); 20 dbm (SRRC) 5.8 GHz: 28 dbm (FCC); 14 dbm (CE); 20 dbm (SRRC) USB, HDMI Built-in battery DJI charger Host-and-Slave connection 5

6 Mobile Device Holder Tablet or Smart Phone Max Mobile Device Width 170 mm Output Power 9 W (Without supplying power to smart device) Operating Temperature -4 to 104 F (-20 to 40 C) Storage Temperature Less than 3 months: -4 to 113 F (-20 to 45 C) More than 3 months: 72 to 82 F (22 to 28 C) Charging Temperature 32 to 104 F (0 to 40 C) Battery 6000mAh 2S LiPo USB Supply Power ios: V (Max); Android: V (Max) Battery (Standard) Name Intelligent Flight Battery Model TB50 Capacity 4280 mah Voltage 22.8 V Battery Type LiPo 6S Energy Wh Net Weight 515 g Charging Temperature 41 to 104 F (5 to 40 C) Operating Temperature-4 to 104 F (-20 to 40 C) Max Charging Power 180 W Storage Temperature Less than 3 months: -4 to 113 F (-20 to 45 C) More than 3 months: 72 to 82 F (22 to 28 C) Downward Vision System Velocity Range <32.8 ft/s (10 m/s) at height of 6.56 feet (2 m) Altitude Range <32.8 feet (10 m) Operating Range <32.8 feet (10 m) Operating Environment Surfaces with clear patterns and adequate lighting (> 15 lux) Ultrasonic Sensor Operating Range feet ( cm) Ultrasonic Sensor Operating Environment Upward Infrared Sensor Obstacle Sensing Range feet (0-5 m) FOV ±5 Operating Environment Large-size non-reflective obstacles Non-absorbing material, rigid surface (thick indoor carpeting will reduce performance) Source: 6

7 DJI Matrice 100 Structure Diagonal Wheelbase 650 mm Weight (with TB47D battery) 2355 g Weight (with TB48D battery) 2431 g Max. Takeoff Weight 3600 g Expansion Bay Weight 45 g Battery Compartment Weight 160 g Zenmuse X3 Gimbal with Camera Weight247 g Propulsion System Motor Model DJI 3510 Propeller ModelDJI 1345s ESC Model DJI E SERIES 620D Other Operating Temperature-10 C to 40 C Charger Model A14-100P1A Voltage Output 26.3 V Power Rating 100 W Battery (Optional) Name Intelligent Flight Battery Model TB48D Capacity 5700 mah Voltage 22.8 V Type LiPo 6S Energy Wh Net Weight 676 g Operating Temperature-10 C to 40 C <3 months: -20 to 45 C Storage Temperature >3 months: 22 to 28 C Charging Temperature 0 C to 40 C Max. Charging Power 180 W Performance Hovering Accuracy (P-Mode With GPS) Vertical: 0.5 m, Horizontal: 2.5 m Max. Angular Velocity Pitch: 300 /s, Yaw: 150 /s Max. Tilt Angle 35 Max. Speed of Ascent 5 m/s 7

8 Max. Speed of Descent 4 m/s Max. Wind Resistance 10 m/s Max. Speed 22 m/s (ATTI mode, no payload, no wind) 17 m/s (GPS mode, no payload, no wind) Hovering Time (with TB47D battery) No payload: 22 min; 500g payload: 17 min;1kg payload: 13 min Hovering Time (with TB48D battery) No payload: 28 min; 500g payload: 20 min;1kg payload: 16 min Hovering Time (with two TB47D batteries) No payload: 33 min Hovering Time (with two TB48D battery) No payload: 40 min Hovering Time (with TB47D battery and Zenmuse X3) No payload: 19 min Hovering Time (with TB48D battery and Zenmuse X3) No payload: 23 min Flight Control System ModelN1 Remote Controller Name C ~5.825 GHz Operating Frequency 922.7MHz~927.7 MHz (Japan) 2.400~2.483 GHz (Lightbridge) CE: 3.5 km Transmission Distance (unobstructed, free of interference) FCC: 5 km 10dBm@900M EIRP 13dBm@5.8G 20dBm@2.4G Video Output USB, Mini-HDMI Power Supply Built-in battery Charger DJI approved charger Dual Users Capability Master-and-Slave control Mobile Device Holder Supports smartphones and tablets Output Power 9 W Operating Temperature -10 C to 40 C Storage Temperature <3 months: -20 C to 45 C >3 months: 22 C to 28 C Charging Temperature 0 C to 40 C Battery 6000 mah LiPo 2S Max Mobile Device Width 170mm Battery Name Intelligent Flight Battery Model TB47D Capacity 4500 mah Voltage 22.2 V Type LiPo 6S Energy 99.9 Wh Net Weight 600 g Operating Temperature-10 C to 40 C Storage Temperature <3 months: -20 C to 45 C >3 months: 22 C to 28 C Charging Temperature 0 C to 40 C 8

9 Max. Charging Power 180 W Source: DJI Matrice 600 and 600 Pro Aircraft Diagonal Wheelbase 1133 mm 1668 mm 1518 mm 727 mm with propellers, frame arms and GPS Dimensions mount unfolded (including landing gear) 437 mm 402 mm 553 mm with propellers, frame arms and GPS mount folded (excluding landing gear) Package Dimensions 525 mm 480 mm 640 mm Weight (with six TB47S batteries) 9.5 kg Weight (with six TB48S batteries) 10 kg Max Takeoff Weight Recommended 15.5 kg Hovering Accuracy (P- GPS) Vertical: ±0.5 m, Horizontal: ±1.5 m Max Angular Velocity Pitch: 300 /s, Yaw: 150 /s Max Pitch Angle 25 Max Wind Resistance 8 m/s Max Ascent Speed 5 m/s Max Descent Speed 3 m/s Max Service Ceiling Above Sea Level 2170R propellers: 2500 m; 2195 propellers: 4500 m Max Speed 40 mph / 65 kph (no wind) Hovering Time* (with six No payload: 32 min, 6 kg payload: 16 min TB47S batteries) Hovering Time* (with six No payload: 38 min, 5.5 kg payload: 18 min TB48S batteries) Ronin-MX; Zenmuse Z30, Zenmuse X5/X5R, Zenmuse X3, Zenmuse Supported DJI Gimbals XT; Zenmuse Z15 Series HD Gimbal: Z15-A7, Z15-BMPCC, Z15-5D III, Z15-GH4 Flight Control System Propulsion System A3 Pro Motor model: DJI 6010 Propeller model: DJI 2170R Retractable Landing Gear Standard Operating Temperature 14 Fto 104 F (-10 C to 40 C) 9

10 Charger (Model: MC6S600) Voltage Output 26.1 V Rated Power 600 W Single Battery Port Output Power100 W Optional Battery (Model: TB48S) Capacity 5700 mah Voltage 22.8 V Battery Type LiPo 6S Energy Wh Net Weight 680 g Operating Temperature14 F to 104 F (-10 C to 40 C) Max Charging Power 180 W Remote Controller MHz to 928 MHz (Japan); GHz to GHz; GHz to Operating Frequency GHz Max Transmission FCC Compliant: 3.1 mi (5 km), CE Compliant: 2.2 mi (3.5 km) Distance (Unobstructed, free of interference) Transmitter Power M, G, G (EIRP) Video Output Port HDMI, SDI, USB Operating Temperature 14 F to 104 F (-10 to 40 C) Battery 6000 mah LiPo 2S Standard Battery (Model: TB47S) Capacity 4500 mah Voltage 22.2 V Battery Type LiPo 6S Energy 99.9 Wh Net Weight 595 g Operating Temperature14 F to 104 F (-10 C to 40 C) Max Charging Power 180 W Source: 10

11 DJI Phantom 2 General Features Ready to Fly, Multifunctional Quad-rotor System Customized H3-2D and H3-3D Gimbal Support Precision Flight and Stable Hovering 25min Flight Time & Smart Battery Auto Return-to-Home & Landing Advanced Power Management Intelligent Orientation Control (IOC) Easy Battery Replacement Self-tightening Propeller Video Downlink Support CAN-Bus Expansion Module DJI Smart Battery Type 3S LiPo Capacity 5200mAh, 11.1V Charging Environment Range 0 to 4 Discharging Environment Range -20 to Aircraft Weight (Battery & Propellers included) 1000g Hover Accuracy (Ready to Fly) Vertical: 0.8m; Horizontal: 2.5m Max Yaw Angular Velocity 200 /s Max Tilt Angle 35 Max Ascent / Descent Speed Ascent: 6m/s; Descent: 2m/s Max Flight Speed 15m/s(Not Recommended) Diagonal Length 350mm Flight Time 25mins Take-off Weight 1300g Operating Temperature -10 C ~ 50 C Supported Battery DJI Smart Battery 2.4GHz Remote Control Operating Frequency 2.4GHz ISM Communication Distance (open area) 1000m Receiver Sensitivity (1%PER) -97dBm 11

12 Working Current/Voltage 120 Built-in LiPo Battery Working Current/Capacity3.7V, 2000mAh Source: 12

13 DJI Phantom 3 Aircraft Weight (Battery & Propellers Included) 1216 g Diagonal Size (Propellers Excluded) 350 mm Max Ascent Speed 5 m/s Max Descent Speed 3 m/s Max Speed 16 m/s (ATTI mode, no wind) Max Service Ceiling Above Sea Level 6000 m (Default altitude limit: 120 m above takeoff point) Max Flight Time Approx. 25 minutes Operating Temperature 0 C to 40 C Satellite Positioning Systems Built-in GPS Camera Sensor 1/2.3 Effective pixels:12 M Lens FOV (Field Of View) mm (35 mm format equivalent) f/ (video) ISO Range (photo) Electronic Shutter 8s -1/8000s Max Image Size Single Shot Burst Shooting: 3/5/7 shots Still Photography Modes Auto Exposure Bracketing (AEB): 3/5 Bracketed Frames at 0.7EV Bias Time-lapse 2.7K: 2704 x1520p 24/25/30 (29.97) Video Recording Modes FHD: 1920x1080p 24/25/30 HD: 1280x720p 24/25/30/48/50/60 Max Video Bitrate 40 Mbps Supported File Systems FAT32 ( 32 GB ); exfat ( > 32 GB ) Supported SD Cards Micro SD Card 8 GB included Operating Temperature 32 to 104 F ( 0 to 40 C ) Photo JPEG, DNG Video MP4, MOV (MPEG-4 AVC/H.264) Charger Voltage 17.4 V Rated Power 57 W App / Live View Mobile App DJI GO 13

14 EIRP Live View Working Frequency Live View Quality Latency Required Operating Systems NPS Group 1 and 2 Multirotor UAS, PoC: Oleg Yakimenko at oayakime@nps.edu Recommended Devices 100mW 2.4GHz ISM 30fps Low Latency Video (depending on conditions and mobile device) ios 8.0 or later Android or later ios: iphone 5s, iphone 6, iphone 6 Plus, iphone 6s, iphone 6s Plus, ipod touch 6, ipad Pro, ipad Air, ipad Air Wi-Fi + Cellular, ipad mini 2, ipad mini 2 Wi-Fi + Cellular, ipad Air 2, ipad Air 2 Wi-Fi + Cellular, ipad mini 3, ipad mini 3 Wi-Fi + Cellular, ipad mini 4, and ipad mini 4 Wi-Fi + Cellular. This app is optimized for iphone 5s, iphone 6, iphone 6 Plus, iphone 6s and iphone 6s Plus. Android: Samsung tabs 705c, Samsung S6, Samsung S5, Samsung NOTE4, Samsung NOTE3, Google Nexus 9, Google Nexus 7 II, Ascend Mate7, Huawei Mate 8, Nubia Z7 mini, SONY Xperia Z3, MI 3, MI PAD *Support for additional Android devices available as testing and development continues. Power Spectral Density 6.9mW/MHz Gimbal Controllable Range Pitch -90 to +30 Stabilization 3-axis (pitch, roll, yaw) Remote Controller Operating Frequency GHz GHz, MHz MHz (Japan) Max Transmission Distance FCC: 1000 m; CE: 500 m (outdoors and unobstructed, aircraft's altitude at 400 feet (120 m)) Operating Temperature 32 to 104 F ( 0 to 40 C ) Battery 2600 mah LiPo Transmitter Power (EIRP) FCC: 20 dbm CE: 16 dbm Operating Voltage V Charging Port Micro USB Intelligent Flight Battery Capacity 4480 mah Voltage 15.2 V Battery Type LiPo 4S Energy 68 Wh Net Weight 365 g Operating Temperature 14 to 104 F ( -10 to 40 C ) Max Charging Power 100 W Source: 14

15 DJI Phantom 4 and 4 Pro Aircraft Weight (Battery & Propellers Included) 1380 g Max Ascent Speed 6 m/s (Sport mode) Max Descent Speed 4 m/s (Sport mode) Max Speed 20 m/s (Sport mode) Max Service Ceiling Above Sea Level feet (6000 m) Max Flight Time Approx. 28 minutes Operating Temperature 32 to 104 F (0 to 40 C) Satellite Positioning Systems GPS / GLONASS Vertical: +/- 0.1 m (when Vision Positioning is active) or +/-0.5 m GPS Hover Accuracy Range Horizontal: +/- 0.3 m (when Vision Positioning is active) or +/-1.5 m Diagonal Size (Propellers Excluded) 350 mm Forward Vision System Obstacle Sensory Range 2-49 feet ( m) Operating Environment Surface with clear pattern and adequate lighting (lux > 15) Camera Sensor 1/2.3 (CMOS), Effective pixels:12.4 M Lens FOV mm (35 mm format equivalent) f/2.8, focus at (video) ISO Range (photo) Electronic Shutter 8s -1/8000s Max Image Size Single shot Burst shooting: 3 / 5 / 7 frames Still Photography Modes Auto Exposure Bracketing ( AEB ): 3 / 5 bracketed frames at 0.7 EV Bias Timelapse HDR UHD: (4K) 24 / 25p Video Recording Modes (4K) 24 / 25 / 30p 15

16 (2.7K) 24 / 25 / 30p FHD: / 25 / 30 / 48 / 50 / 60 / 120p HD: / 25 / 30 / 48 / 50 / 60p Max Video Bitrate 60 Mbps Supported File Systems FAT32 ( 32 GB ); exfat ( > 32 GB ) Photo JPEG, DNG ( RAW ) Video MP4, MOV (MPEG-4 AVC/H.264) Micro SD Supported SD Cards Max capacity: 64 GB. Class 10 or UHS-1 rating required Operating Temperature 32 to 104 F ( 0 to 40 C ) Charger Voltage 17.4 V Rated Power 100 W App / Live View Mobile App DJI GO EIRP 100mW Power Spectral 6.9mW/MHz Density Live View Working 2.4GHz ISM Frequency Live View 30fps Quality Latency 220ms (depending on conditions and mobile device) Required Operating Systems Recommended Devices ios 8.0 or later Android or later ios: iphone 5s, iphone 6, iphone 6 Plus, iphone 6s, iphone 6s Plus, ipod touch 6, ipad Pro, ipad Air, ipad Air Wi-Fi + Cellular, ipad mini 2, ipad mini 2 Wi-Fi + Cellular, ipad Air 2, ipad Air 2 Wi-Fi + Cellular, ipad mini 3, ipad mini 3 Wi-Fi + Cellular, ipad mini 4, and ipad mini 4 Wi-Fi + Cellular. This app is optimized for iphone 5s, iphone 6, iphone 6 Plus, iphone 6s and iphone 6s Plus. Android: Samsung tabs 705c, Samsung S6, Samsung S5, Samsung NOTE4, Samsung NOTE3, Google Nexus 9, Google Nexus 7 II, Ascend Mate7, Huawei Mate 8, Nubia Z7 mini, SONY Xperia Z3, MI 3, MI PAD *Support for additional Android devices available as testing and development continues. Gimbal Controllable Range Pitch -90 to +30 Stabilization 3-axis (pitch, roll, yaw) Downward Vision System Velocity Range 10 m/s ( 2 m above ground ) Altitude Range 0-33 feet (0-10 m) Operating Range 0-33 feet (0-10 m) Operating Environment Surface with clear pattern and adequate lighting (Lux > 15) Remote Controller 16

17 Operating Frequency GHz to GHz FCC Compliant: 3.1 mi ( 5 km ); Max Transmission Distance CE Compliant: 2.2 mi ( 3.5 km )( Unobstructed, free of interference ) Operating Temperature 32 to 104 F ( 0 to 40 C ) Battery 6000 mah LiPo 2S Transmitter Power (EIRP) FCC: 23 dbm CE: 17 dbm Operating Voltage 1.2A Intelligent Flight Battery Capacity 5350 mah Voltage 15.2 V Battery Type LiPo 4S Energy 81.3 Wh Net Weight 462 g Operating Temperature 14 to 104 F ( -10 to 40 C ) Max Charging Power 100 W Source: 17

18 DJI Mavic Pro Aircraft Folded H83mm x W83mm x L198mm Diagonal Size (Excluding Propellers) 335 mm 1.62 lbs (734 g) (exclude gimbal cover) Weight (including battery and propellers) 1.64 lbs (743 g) (include gimbal cover) Max Ascent Speed 16.4 ft/s (5 m/s) in Sport mode Max Descent Speed 9.8 ft/s (3 m/s) Max Speed 40 mph (65 kph) in Sport mode without wind Max Service Ceiling Above Sea Level feet (5000 m) Max Flight Time 27 minutes (0 wind at a consistent 15.5 mph (25 kph)) Max Hovering Time 24 minutes (0 wind) Overall flight time 21 minutes ( In normal flight, 15% remaining battery level ) Max Flight Distance 8 mi (13 km, 0 wind) Operating Temperature 32 to 104 F (0 to 40 C) GPS Mode GPS / GLONASS Vertical: Hover Accuracy +/- 0.1 m (when Vision Positioning is active) or +/-0.5 m Horizontal: +/- 0.3 m (when Vision Positioning is active) or +/-1.5 m Remote Controller Operating Frequency 2.4 GHz to GHz FCC Compliant: 4.3 mi (7 km); Max Transmission Distance CE Compliant: 2.5 mi (4 km) (Unobstructed, free of interference) Operating Temperature 32 to 104 F ( 0 to 40 C ) Battery 2970mAh Transmitter Power (EIRP) FCC: 26 dbm CE: 20 dbm Operating Voltage 3.7V Supported Mobile Device Size Thickness Supported: mm Max length: 160mm Supported USB port types: Lightning, Micro USB(Type-B),USB(Type- C) Gimbal Pitch: -90 to +30 Controllable Range Roll: 0 or 90 (Horizontally and vertically) 18

19 Stabilization 3-axis (pitch, roll, yaw) Forward Vision System Precision measurement range: 2 ft (0.7 m) to 49 ft (15 m) Obstacle Sensory Range Detectable range: 49 ft (15 m) to 98 ft (30 m) Operating Environment Surface with clear pattern and adequate lighting (lux > 15) Downward Vision System Velocity Range 22.4 mph (36 kph) at 6.6 ft (2 m) above ground Altitude Range 1-43 feet ( m) Operating Range 1-43 feet ( m) Operating Environment Surface with clear pattern and adequate lighting (lux > 15) Camera Sensor 1/2.3 (CMOS), Effective pixels:12.35 M (Total pixels:12.71m) FOV mm (35 mm format equivalent) f/2.2 Lens Distortion < 1.5% Focus from 0.5 m to (video) ISO Range (photo) Shutter Speed 8s -1/8000s Image Max Size Single shot Burst shooting: 3/5/7 frames Still Photography Modes Auto Exposure Bracketing (AEB): 3/5 bracketed frames at 0.7 EV Bias Interval C4K: p 4K: /25/30p Video Recording Modes 2.7K: /25/30p FHD: /25/30/48/50/60/96p HD: /25/30/48/50/60/120p Max Video Bitrate 60 Mbps Supported File Formats FAT32 ( 32 GB ); exfat ( > 32 GB ) Photo JPEG, DNG Video MP4, MOV (MPEG-4 AVC/H.264) Micro SD Supported SD Card Types Max capacity: 64 GB. Class 10 or UHS-1 rating required Operating Temperature 32 to 104 F ( 0 to 40 C ) Wi-Fi Operating Frequency 2.4G/5G Max Transmission Distance 80m(Distance),50m(Height) (Unobstructed, free of interference) Max Speed 14 km/h (9 mph) Max Ascent Speed 6.6 ft/s(2 m/s) Max Descent Speed 3.3 ft/s(1 m/s) Charger Voltage V Rated Power 50 W Intelligent Flight Battery Capacity 3830 mah Voltage 11.4 V 19

20 Battery Type LiPo 3S Energy 43.6 Wh Net Weight Approx.0.5 lbs(240 g) Operating Temperature 41 to 104 F ( 5 to 40 C ) App / Live View Mobile App DJI GO Live View Quality Latency Required Operating Systems Recommended Devices 720p@30fps 1080p@30fps(Remote Controller) 720p@30fps(Wi-Fi) 720p@60fps 1080p@30fps(DJI Goggles) ms (depending on conditions and mobile device) ios 8.0 or later Android or later ios: iphone 5s, iphone 6, iphone 6 Plus, iphone 6s, iphone 6s Plus, iphone 7, iphone 7 Plus, ipod touch 6, ipad Pro, ipad Air, ipad Air Wi-Fi + Cellular, ipad mini 2, ipad mini 2 Wi-Fi + Cellular, ipad Air 2, ipad Air 2 Wi-Fi + Cellular, ipad mini 3, ipad mini 3 Wi-Fi + Cellular, ipad mini 4, and ipad mini 4 Wi-Fi + Cellular. This app is optimized for iphone 5s, iphone 6, iphone 6 Plus, iphone 6s, iphone 6s Plus, iphone 7 and iphone 7 Plus. Android: Samsung tabs 705c, Samsung S6, Samsung S5, Samsung NOTE4, Samsung NOTE3, Google Nexus 9, Google Nexus 7 II, Ascend Mate7, Huawei P8 Max, Huawei Mate 8, Nubia Z7 mini, SONY Xperia Z3, MI 3, MI PAD, Smartisan T1. *Support for additional Android devices available as testing and development continues. Source: 20

21 DJI Spark NPS Group 1 and 2 Multirotor UAS, PoC: Oleg Yakimenko at oayakime@nps.edu Aircraft Takeoff Weight 300 g Dimensions mm Diagonal Distance (propellers excluded)170 mm Max Ascent Speed 9.8 ft/s (3 m/s) in Sport Mode without wind Max Descent Speed 9.8 ft/s (3 m/s) in Auto Landing Mode Max Speed 31 mph (50 kph) in Sport Mode without wind Max Service Ceiling Above Sea Level 13,123 feet (4,000 m) Max Flight Time 16 minutes (no wind at a consistent 12.4 mph (20 kph)) Max Hovering Time 15 minutes (no wind) Operating Temperature Range 32 to 104 F (0 to 40 C) Satellite Positioning Systems GPS/GLONASS Vertical: Hover Accuracy Range +/- 0.1 m (when Vision Positioning is active) or +/-0.5 m Horizontal: +/- 0.3 m (when Vision Positioning is active) or +/-1.5 m 2.4 GHz Transmitter Power (EIRP) FCC: 25 dbm; CE: 18 dbm; SRRC: 18 dbm 5.8 GHz FCC: 27 dbm; CE: 14 dbm; SRRC: 27 dbm Operating Frequency GHz; GHz 3D sensing system Obstacle Sensing Range1-16 ft (0.2-5 m) Operating Environment Detects diffuse reflective surfaces (>20%) larger than 20x20 cm (walls, trees, people, etc.) Camera 1/2.3" CMOS Sensor Effective pixels: 12 MP FOV mm (35 mm format equivalent) f/2.6 Lens (shooting range: 2 m to ) Video: ISO Range Photo: Electronic Shutter Speed 2-1/8000 s Image Size Single Shot Burst Shooting: 3 frames Still Photography Modes Auto Exposure Bracketing (AEB): 3 bracketed frames at 0.7 EV bias Interval: 2/3/5/7/10/15/20/30/60 s Video Resolution FHD: p Max Video Bitrate 24 Mbps Supported File Systems FAT32 Photo Format JPEG Video Format MP4 (MPEG-4 AVC/H.264) 21

22 Remote controller Operating Frequency GHz; GHz GHz (unobstructed, free of interference) FCC: 1.2 mi (2 km); CE: 0.3 mi (500 m); SRRC: 0.3 mi (500 m) Max Transmission Distance GHz (unobstructed, free of interference) FCC: 1.2 mi (2 km); CE: 0.18 mi (300 m); SRRC: 0.7 mi (1.2 km) Operating Temperature Range 32 to 104 F (0 to 40 C) Battery 2970 mah 2.4 GHz FCC: 26 dbm; CE: 18 dbm; SRCC: 18 dbm Transmitter Power (EIRP) 5.8 GHz FCC: 28 dbm; CE: 14 dbm; SRCC: 26 dbm Operating Current/Voltage 950 V Thickness range: mm Supported Mobile Device Size Max length: 160 mm Intelligent flight battery Capacity 1480 mah Voltage 11.4 V Max Charging Voltage V Battery Type LiPo 3S Energy Wh Net Weight Approx. 0.2 lbs (95 g) Charging Temperature Range41 to 104 F (5 to 40 C) Gimbal Controllable RangePitch: -85 to 0 Stabilization 2-axis mechanical (pitch, roll) Vision system Velocity Range 22.4 mph (36 kph) at 6.6 ft (2 m) above ground Altitude Range 0-26 ft (0-8 m) Operating Range 0-98 ft (0-30 m) Operating Environment Detects clearly patterned surfaces with adequate lighting (lux>15) and diffuse reflectivity (>20%) Wi-Fi Operating Frequency 2.4 GHz/5.8 GHz Max Transmission Distance100 m(distance), 50 m(height) (Unobstructed, free of interference) Charger Input V; 50/60 Hz; 0.5 A Output5 V/3 A; 9 V/2 A; 12 V/1.5 A Recommended micro SD cards Sandisk 16/32 GB UHS-1 Micro SDHC Kingston 16/32 GB UHS-1 Micro SDHC Samsung 16/32 GB UHS-I Micro SDHC Model Sandisk 64 GB UHS-1 Micro SDXC Kingston 64 GB UHS-1 Micro SDXC Samsung 64 GB UHS-I Micro SDXC Source: 22

23 3DR IRIS-M Pro Features minutes flight time* Payload capacity 400 g (0.8 lbs) Integrated LEDs on all arms for trouble-free directional awareness Remote controller with on-screen telemetry for instant data as you fly Screw on, self-tightening propellers for easy assembly Ready to Fly - Inside the IRIS+ box is everything you need to fly. Simply attach the props, charge the battery, and you re ready to fly manually with the included remote controller autonomously with a Mac, PC or Android device. Follow Me - 3DR s 3rd Person View (3PV) Follow Me technology turns your IRIS+ into your own hands-free aerial camera crew that puts you in the middle of your own adventure. IRIS+ can be easily setup to follow any GPS-enabled Android device with OTG compatibility. Not only will IRIS+ follow you, but this advanced technology controls the gimbal to keep the camera centered on you, capturing sweeping cinematic video from a perspective unlike any other. Automatic Mission Planning - Using the free DroidPlanner app, IRIS+ users can plan flights by simply drawing a flight plan on any Android tablet or phone. This allows for hands free flight control, your drone will go where you tell it to go, with virtually unlimited waypoints - even keep IRIS+ pointing to the same location via a Region of Interest (ROI) waypoint throughout the entire flight. This enables fun autonomous journeys, and automatically stabilized video capture that would be otherwise impossible. Flight Protection - The IRIS+ can land itself automatically, or return to a home point if it travels out of range or runs out of battery. *Flight time varies with payload, wind conditions, elevation, temperature, humidity, flying style, and pilot skill. Listed flight time applies to elevations less than 2,000 ft above sea level. IRIS+ includes: Ready-to-fly IRIS+ quadcopter Flight battery and charger Controller and ground station radio Set of four tall legs Tool kit Operation Manual and Flight Checklist Source: 23

24 3DR Solo NPS Group 1 and 2 Multirotor UAS, PoC: Oleg Yakimenko at oayakime@nps.edu Solo is a quad-rotor aerial vehicle powered by the 3DR Pixhawk 2 autopilot system and APM:Copter flight control software. Solo communicates with the controller and Solo app over the 3DR Link secure Wi-Fi connection. Autopilot: 3DR Pixhawk 2 Flight code: ArduPilot Copter Control: 3DR Solo Controller Wireless communication: 3DR Link 1.0 Frequency: 2.4 GHz Height: Motor-to-motor dimension: Propulsion: Propeller: Weight with battery: Controller battery life: Extended controller battery life: Controller battery: Power: Battery: Battery weight: Estimated flight time: 10 in. (25 cm) 18 in. (26 cm) 880 KV motors, two clockwise rotating motors and two counterclockwise rotating motors 10 in. x 4.5 in. (25 cm x 11.4 cm) 3.3 lbs. (1.5 kg) 3 hours 6 hours Li-ion 2600 mah 7.2 Vdc (5200 mah for extended battery) Electric (rechargeable lithium polymer battery) Lithium polymer, 5200 mah, 14.8 Vdc 1 lb. (.5 kg) 25 minutes* Maximum altitude: 328 ft. (100 m) Range:.5 miles** (.8 km) Payload capacity: 1.1 lbs. (500 g) Cruise speed: Maximum speed: Maximum climb rate: Maximum descent rate: Headwind limitation: Crosswind limitation: 5.7 mph (2.5 m/s) 55 mph (25.5 m/s) 11 mph (5.0 m/s) 5.5 mph (2.5 m/s) 25 mph (11 m/s) 25 mph (11 m/s) Camera: Streaming video compatible with GoPro HERO 3, 3+ or 4 24

25 Solo app compatibility: Full compatibility with GoPro HERO 4 ios 8.0 or later / Android 4.3 or later Operating temperature: 32 F F (0 C - 45 C) Operating relative humidity: 0-85% RH *Flight time varies with payload, wind conditions, elevation, temperature, humidity, flying style, and pilot skill. Listed flight time applies to elevations less than 2,000 ft above sea level. **Range varies with location, antenna orientation, background noise and multi-path Source: 25

26 Nibbler NPS Group 1 and 2 Multirotor UAS, PoC: Oleg Yakimenko at oayakime@nps.edu System Characteristics 1. Model: Nibbler 3D Printed UAS 2. Characteristics: Wingspan-24; Length-24, Weight-4.8 lbs., including batteries and onboard computer, 5.2 lbs. with payload 3. Payloads including spectrums used: Mixed instrumentation that may include electro-optical (EO) sensor, infrared (IR) sensor, communications system, computer system, and other sensors. All sensors are located within aircraft though may require ports to outside (i.e., camera lens projecting below aircraft). Payload uses the GHz spectrum. 4. Power Plant: BP A2217/9 brushless motor or equivalent, powered by 3 Cell LiPo batteries. Flight duration of 16 min loiter (around 15 min cruise, 8 min at max speed), cruise speed of 10 mph (8.7 knots). Max speed of 40 mph (35 knots). 5. Avionics: COTS ArduPilot autopilot. 6. Datalink: ArduPilot autopilot Command Link ( MHz). R/C Control Link uses the GHz band. Payload also uses GHz band. Selected channels for R/C and payload are de-conflicted. 7. Method of pilotage: Automatic takeoff, landing, navigation to waypoints and loitering is the primary method of pilotage. The R/C controller can also be used for manual control. Autopilot commands are provided by ground station or onboard computer. Pilot can take manual control at any time during operations. If communications are lost with autopilot, autopilot will return to the launch point for manual recovery by backup R/C system. 8. Flight altitude: Maximum tested altitude of 2000 feet AGL or lower if restricted by airspace limitations with normal operating altitudes of feet AGL. 9. Range: Continuous Line-of-Sight (LOS) distances only. Maximum range of autopilot/ ground station radio link is 1 mile for ArduPilot autopilot. Maximum range of R/C radio link has been tested to one mile. Maximum duration of flight with full batteries has been tested to 16 min of loiter, 15 min cruise, and 8 min at max speed. 10. Wind speed: For launch/landing operations, a maximum wind speed less than 20 knots is required. For the quadcopter, cross-winds do not affect the landing or takeoff, so there is no restriction for cross-wind. Cruise speed is 8.7 knots, with a maximum speed of 35 knots. 11. Launch method: Automatic takeoff under the control of the ArduPilot autopilot. Vertical takeoff to pre-defined altitude proceeding to first mission waypoint. 12. Landing method: Automatic landing under the control of the ArduPilot autopilot. Vertical landing from pre-defined altitude. Location is specified as mission landing waypoint. 26

27 13. Flight control: COTS ArduPilot autopilot controls mechanically linked servos for the model aircraft s control surfaces and engine throttle. A manual system using a COTS R/C transmitter is able to control the same control surfaces and engine when the autopilot is in Manual Mode. 14. Autopilots: The autopilot system consists of on-board avionics and a ground station, communicating using the MHz band with 100 mw of RF power. The COTS vendor supplies software to interface to the ground station. Through this software, waypoints can be entered over a geo-referenced map, with the same map displaying the GPS location of the remotely piloted aircraft (RPA). Mission altitude limits are established beforehand to ensure that avionics will keep the RPA at a safe altitude if an erroneous altitude is entered into a waypoint. A series of waypoints comprises a flight path. The RPA can be sent to a new flight path by sending the RPA to any waypoint within the desired flight path. 15. Manual: An R/C receiver is also connected to the ArduPilot autopilot. The pilot controlling the R/C transmitter may place the ArduPilot in Manual mode by moving the Flap control to the Manual position. This manual control R/C system operates at 2.4 GHz. 27

28 Remote-Controlled UAS (No autopilot) NPS Aqua-Quad NPS self-manufactured RC multirotor UAS (no autopilot) Specs: Diameter up to 1.2m, weight up to 5kg, cruise hover up to about 10m/s, max speed - 15m/s 28

29 NPS Cross-Flow-Fan Quad NPS self-manufactured RC multirotor UAS (no autopilot). It is an experimental proof-of-concept UAS for VTOL applications with wing-embedded cross-flow-fan technology. Dimensions Size: 1000 mm x 1000 mm x 750 mm Wingspan: N/A Weight 750 gr 26 oz GPS None Performance Unspecified Video & Image None Software None Sensors None Inertial Navigation System None Hardware None Wi-Fi and Transmissions None Removable Battery 2700 mah / 25 A 3-cell LiPo Battery Battery life: 45 min General Features Standard remote control, line of site Video: 29

30 Airframes DJI Flame-Wheel F330/F450/F550 F330 F450 F550 Model Flame Wheel 330 (F330) Frame Weight 156g Diagonal Wheelbase 330mm Takeoff Weight 600g ~ 1200g Recommended Propeller 8 4.5in Recommended Battery 3S~4S LiPo Recommended Motor 22 12mm (Stator size) Recommended ESC 15A OPTO Model Flame Wheel 450 (F450) Frame Weight 282g Diagonal Wheelbase 450mm Takeoff Weight 800g ~ 1600g Recommended Propeller in ; 8 4.5in Recommended Battery 3S~4S LiPo Recommended Motor 22 15mm or 22 12mm Recommended ESC 15A OPTO Model Flame Wheel 550 (F550) Frame Weight 478g Diagonal Wheelbase 550mm Takeoff Weight 1200g ~ 2400g Recommended Propeller in ; 8 4.5in Recommended Battery 30

31 3S~4S LiPo Recommended Motor 22 12mm (Stator size) Recommended ESC 15A OPTO Source: 31