DEC. 2015 FALL VALIDATION EXPERIMENT RESULTS:
(Note: Project scope has changed since this experiment)
| Functional Requirements | Test item | Result |
| Rotorcraft shall sense position of deck in relation to the rotorcraft. | Heading detection at minimum 50m distance | Check ✔ |
| 10m distance : Orientation and position of deck can be seen | Check ✔ | |
| Rotorcraft shall land on stationary deck. | Rotorcraft shall land within 50cm of center of the deck, as measured from the center of the rotorcraft. | Fail ✖ |
| Non-Functional Requirements | Test item | Result |
| Operation of autonomous landing mode shall be possible without radio commands and in GPS-denied conditions. | Does the system operate in GPS-denied condition? | Check ✔ |
| Autonomous landing sequence shall execute after a single user “go” command. | Is the user interface very simple? | Check ✔ |
| System shall operate without damage to rotorcraft or deck. | Is the system still perfect? | Check ✔ |
APRIL 2016 SPRING VALIDATION EXPERIMENT RESULTS:
- Evaluate Functional & Non-functional Requirements
| Functional Requirements | Performance Requirement | Result |
| Identify the deck within the environment | 1 false positive deck identification allowable in 100 trials | Succeed with 100 % identification rate |
| Rotorcraft shall sense position of deck relative to the rotorcraft:
1. Detection at 5m distance 2. 10cm + 4cm/m allowable error |
Succeed with required distance and the error is less than 5 cm | |
| Predict dynamics of the deck | Predict the deck within 4cm/m of current distance to the deck | Success |
| Rotorcraft shall robustly follow a trajectory | Follow planned trajectory 99% of time, within 0.8cm/m of current distance to deck | Failed with error larger than the requirement |
| Rotorcraft shall land on the landing zone of the deck. | Rotorcraft shall land within 50cm of center of the deck, as measured from the center of the rotorcraft | Success |
| Rotorcraft shall land on a dynamically moving deck | Success | |
| Rotorcraft shall perform 8 successful landings over a 10 cycle lifetime. | Failed with the landing rate around 60% |
|
Nonfunctional Requirements |
Constraint/Requirement |
Result |
| System shall operate in EMCON conditions. | Operation of autonomous landing mode shall be possible without radio commands and in GPS-denied conditions. | Success |
| System shall operate with minimal user input. | Autonomous landing sequence shall execute after a single user “go” command. | Success |
| Rotorcraft shall land safely. | System shall operate without damage to rotorcraft or deck. | Success |
2. Evaluate with SVE Test Plan
| Test Plan | Criteria | Result |
| Stable Hovering | Quad shall not display jerky movements | Success |
| Quad does not move greater than 30cm away from original position during hovering | Succeed with the error less than 30cm | |
| Landing in a static deck | Quad lands within three minutes of switching to autonomous mode | Succeed with landing time less than 30 seconds |
| Quad lands without damage to itself, the deck, or any surroundings | Success | |
| Quad lands within 50cm of the center of the deck | Success | |
| Landing on a dynamically moving deck | Quad lands within three minutes of switching to autonomous mode | Succeed with landing time less than 30 seconds |
| Quad lands without damage to itself, the deck, or any surroundings | Success | |
| Quad lands within 50cm of the center of the deck | Success |