InstantEye Mk-3 GEN4-D1, Product Manual

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InstantEye Mk-3 GEN4-D1 sUAS Technical Manual
Revision M1.2
August 14, 2019
COPYRIGHT ©2018 InstantEye Robotics, a division of Physical Sciences Inc.
ITAR or EXPORT CONTROLLED
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The aircraft performance allows operation up to 12,000 feet with little to no degradation
in performance other than a slight decrease in endurance. Operational AGL altitudes
typically range from 50 to 600 feet. This maximizes the target resolution while still
remaining undetected.
3.5.4. Video Feed
In its standard configuration, the aircraft is equipped with a gimbaled camera payload pod.
The stabilized cameras have a range of 0 to 90 degrees, in 5-degree increments. The
camera position is controlled by the camera wheel on the left-underside of the GCS-D.
The vehicle transmits both EO/IR feeds to the GCS at a time. Camera views can be
toggled using the CAMERA button on the GCS-D. Once it is initialized, the camera gimbal
assumes a 45-degree angle and the EO camera video is transmitted to the GCS. Note,
when the aircraft is powered down, the camera gimbal assumes a 90-degree angle
(pointing downward). A single CAMERA button press toggles to the IR camera. A second
press toggles back to the EO camera.
While using the gimbaled cameras, the camera aim point displays a grid at the center of
view when it is possible to calculate the ground position. The camera aim point points to
an estimated GPS location on the ground. When the gimbaled camera is in a near-
horizontal position, no camera aim point is shown and the location is of the aircraft is
shown as indicated by A/C in place of the camera aimpoint in the GPS bar.
3.5.5. Modes
The aircraft enters and exits modes as a result of both GCS inputs and internal logic.
3.5.5.1. Navigation
NAV mode activates the translational position controller. While outside, the controller
uses both GPS satellites and the onboard sensors to determine position. The mode is
directly enabled and disabled by pressing the NAV button and indirectly enabled when
HOME , or lost communications mode is enabled. Additionally, NAV mode is disabled if
the aircraft’s GPS signal is significantly degraded and “ Warning: Aircraft lost GPS; NAV
mode disabled ” will be displayed on the screen.
3.5.5.2. Altitude
ALT mode activates the vertical position controller. Both barometric pressure sensors and
accelerometers are used to determine altitude. It is enabled and disabled directly by
pressing the
ALT
button and indirectly enabled when HOME or lost communications mode
is enabled.
3.5.5.3. Home
HOME mode activates the translational position controller and commands the aircraft to
return to the location of the GCS. If the GCS GPS is not fixed, the aircraft will return to the
last known location of the GCS or the launch point. This mode is enabled directly by
pressing the
HOME
button while not in indoor mode, and indirectly when the aircraft
enters lost communication mode and again, while not in indoor mode. It is disabled by