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 2017 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:/standards.sae.org/AS6009A AEROSPACE STANDARD AS6009 REV. A Issued 2009-04 Revised 2017-11 Superseding AS6009 JAUS
5、 Mobility Service Set RATIONALE The rationale for this revision was that the notion of Mobility needed to be extended to include maritime vehicles and it needed to be synchronized with changes in the JAUS Core Service Set.The List manager Service was promoted to the Core; consequently, it was delete
6、d from this document. Global and Local Pose have been updated to support additional altitude types. Depth has been added to several services to support unmanned undersea vehicles (UUVs). The following services have been added: Navigation State Service, Global Loiter Driver Service, Local Loiter Driv
7、er Service, Global Operating Zone Service, Local Operating Zone Service, GPS Fix Service, and an Inertial Sensor Control Service. INTRODUCTION The primary goal of the JAUS Mobility Service Set is logical interoperability between communicating elements in an unmanned system. To this end, each service
8、 defines the 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 Transport Specification AS5669A, is used in conjunction with this specification. Each serv
9、ice in the JAUS Mobility Service Set is described using the JAUS Service Interface Definition Language JSIDL. 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 required to understand
10、or implement this Specification, it is highly recommended for supporting context. For convenience, the JAUS Mobility Service Set contains both a text based and XML based representation for each service. This document uses a number of conventions to simplify the text. All names are given in Camel Cas
11、e. 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 the Appendixes. In case of transcription errors, the XML specification should be considered correct. SAE INTERNATIONAL AS60
12、09A Page 2 of 249 TABLE OF CONTENTS 1. SCOPE 10 1.1 Purpose . 10 1.2 JAUS Core Service Set . 10 1.3 Compliance . 11 1.4 Document Organization. 11 2. REFERENCES 12 2.1 Applicable Documents 12 2.2 List of Acronyms 12 2.3 Definitions 13 3. COMMON CONVENTIONS 15 3.1 Platform orientation . 15 3.2 Waypoin
13、t Tolerance 16 3.3 Path Tolerance (Travel Corridor) 16 3.4 Constant values . 17 3.5 Safe Motion on Exit from Ready State 17 4. SERVICE DEFINITIONS . 18 4.1 Global Pose Sensor Service . 18 4.2 Local Pose Sensor Service . 20 4.3 Velocity State Sensor Service . 22 4.4 Acceleration State Sensor Service
14、24 4.5 Primitive Driver Service . 26 4.6 Global Vector Driver Service . 28 4.7 Local Vector Driver Service . 30 4.8 Global Waypoint Driver Service 33 4.9 Local Waypoint Driver Service 35 4.10 Global Waypoint List Driver Service 38 4.11 Local Waypoint List Driver Service . 42 4.12 Global Path Segment
15、 Driver Service. 45 4.13 Local Path Segment Driver Service 51 4.14 Velocity State Driver Service . 54 4.15 Navigation State Service . 58 4.16 Global Operating Zone Service . 59 4.17 Local Operating Zone Service . 62 4.18 Global Loiter Driver Service 65 4.19 Local Loiter Driver Service 69 4.20 GPSFix
16、 Service . 73 4.21 Inertial Sensor Control Service 75 5. DECLARED TYPES 78 5.1 CommandClass . 78 5.1.1 ID 0402h: SetGlobalPose (Deprecated) 78 5.1.2 ID 04A2h: SetGlobalPoseExt 79 5.1.3 ID 0403h: SetLocalPose (Deprecated) . 80 5.1.4 ID 04A3h: SetLocalPoseExt 81 5.1.5 ID 0405 h: SetWrenchEffort 82 5.1
17、.6 ID 0407 h: SetGlobalVector (Deprecated) 84 5.1.7 ID 04A7 h: SetGlobalVectorExt . 84 5.1.8 ID 0408 h: SetLocalVector (Deprecated) 86 5.1.9 ID 04A8 h: SetLocalVectorExt . 86 5.1.10 ID 040A h: SetTravelSpeed (Deprecated) 88 5.1.11 ID 04AA h: SetTravelSpeedExt . 88 5.1.12 ID 040Ch: SetGlobalWaypoint
18、(Deprecated) 89 5.1.13 ID 04ACh: SetGlobalWaypointExt . 90 5.1.14 ID 040Dh: SetLocalWaypoint (Deprecated) 91 SAE INTERNATIONAL AS6009A Page 3 of 249 5.1.15 ID 04ADh: SetLocalWaypointExt 92 5.1.16 ID 040Fh: SetGlobalPathSegment (Deprecated) 93 5.1.17 ID 04AFh: SetGlobalPathSegmentExt 94 5.1.18 ID 041
19、0h: SetLocalPathSegment (Deprecated) 95 5.1.19 ID 04B0h: SetLocalPathSegmentExt 96 5.1.20 ID 0412h: SetGeomagneticProperty . 97 5.1.21 ID 0415h: SetVelocityCommand (Deprecated) . 99 5.1.22 ID 04B5h: SetVelocityCommandExt 100 5.1.23 ID 0416h: SetAccelerationLimit . 101 5.1.24 ID 0422h: DeleteZone . 1
20、02 5.1.25 ID 0423h: SetGlobalOperatingZone 102 5.1.26 ID 0427h: SetLocalOperatingZone 103 5.1.27 ID 0425h: SetGlobalLoiter . 104 5.1.28 ID 0426h: SetLocalLoiter . 107 5.1.29 ID 0428h: RequestGPSFix 110 5.1.30 ID 0429h: InertialSensorControl 111 5.1.31 ID 041Eh: ExecuteList (Deprecated) . 111 5.1.32
21、ID 041AEh: ExecuteListExt . 112 5.2 QueryClass 112 5.2.1 ID 2402h: QueryGlobalPose (Deprecated) . 112 5.2.2 ID 24A2h: QueryGlobalPoseExt 113 5.2.3 ID 2403h: QueryLocalPose (Deprecated) . 113 5.2.4 ID 24A3h: QueryLocalPoseExt 114 5.2.5 ID 2404h: QueryVelocityState (Deprecated) . 114 5.2.6 ID 24A4h: Q
22、ueryVelocityStateExt 114 5.2.7 ID 2405h: QueryWrenchEffort . 115 5.2.8 ID 2407h: QueryGlobalVector (Deprecated) . 115 5.2.9 ID 24A7h: QueryGlobalVectorExt 115 5.2.10 ID 2408h: QueryLocalVector (Deprecated) . 116 5.2.11 ID 24A8h: QueryLocalVectorExt . 116 5.2.12 ID 240Ah: QueryTravelSpeed (Deprecated
23、) . 116 5.2.13 ID 24AAh: QueryTravelSpeedExt 117 5.2.14 ID 240Ch: QueryGlobalWaypoint (Deprecated) 117 5.2.15 ID 24ACh: QueryGlobalWaypointExt 117 5.2.16 ID 240Dh: QueryLocalWaypoint (Deprecated) 118 5.2.17 ID 24ADh: QueryLocalWaypointExt 118 5.2.18 ID 240Fh: QueryGlobalPathSegment (Deprecated) . 11
24、8 5.2.19 ID 24AFh: QueryGlobalPathSegmentExt 119 5.2.20 ID 2410h: QueryLocalPathSegment (Deprecated) . 119 5.2.21 ID 24B0h: QueryLocalPathSegmentExt 120 5.2.22 ID 2412h: QueryGeomagneticProperty . 120 5.2.23 ID 2415h: QueryVelocityCommand (Deprecated) . 120 5.2.24 ID 24B5h: QueryVelocityCommandExt .
25、 121 5.2.25 ID 2416h: QueryAccelerationLimit . 121 5.2.26 ID 2417h: QueryAccelerationState (Deprecated) 121 5.2.27 ID 24B7h: QueryAccelerationStateExt 122 5.2.28 ID 2421h: QueryNavigation . 122 5.2.29 ID 2423h: QueryGlobalOperatingZone 123 5.2.30 ID 2427h: QueryLocalOperatingZone . 123 5.2.31 ID 242
26、4h: QueryExcursion 123 5.2.32 ID 2425h: QueryGlobalLoiter . 124 5.2.33 ID 2426h: QueryLocalLoiter 124 5.2.34 ID 2428h: QueryGPSFix 124 5.2.35 ID 2429h: QueryInertialSensorStatus 124 5.2.36 ID 241Eh: QueryActiveElement . 125 5.2.37 ID 4402h: ReportGlobalPose (Deprecated) 125 5.2.38 ID 44A2h: ReportGl
27、obalPoseExt . 125 5.2.39 ID 4403h: ReportLocalPose (Deprecated) 127 5.2.40 ID 44A3h: ReportLocalPoseExt. 127 5.2.41 ID 4404h: ReportVelocityState (Deprecated) 128 SAE INTERNATIONAL AS6009A Page 4 of 249 5.2.42 ID 44A4h: ReportVelocityStateExt 129 5.2.43 ID 4405h: ReportWrenchEffort 131 5.2.44 ID 440
28、7h: ReportGlobalVector (Deprecated) 132 5.2.45 ID 44A7h: ReportGlobalVectorExt. 132 5.2.46 ID 4408h: ReportLocalVector (Deprecated) 132 5.2.47 ID 44A8h: ReportLocalVectorExt 133 5.2.48 ID 440Ah: ReportTravelSpeed (Deprecated) 133 5.2.49 ID 44AAh: ReportTravelSpeedExt. 133 5.2.50 ID 440Ch: ReportGlob
29、alWaypoint (Deprecated) . 134 5.2.51 ID 44ACh: ReportGlobalWaypointExt . 134 5.2.52 ID 440Dh: ReportLocalWaypoint (Deprecated) . 134 5.2.53 ID 44ADh: ReportLocalWaypointExt . 134 5.2.54 ID 440Fh: ReportGlobalPathSegment (Deprecated) 135 5.2.55 ID 44AFh: ReportGlobalPathSegmentExt . 135 5.2.56 ID 441
30、0h: ReportLocalPathSegment (Deprecated) 135 5.2.57 ID 44B0h: ReportLocalPathSegmentExt . 136 5.2.58 ID 4412h: ReportGeomagneticProperty 136 5.2.59 ID 4415h: ReportVelocityCommand (Deprecated) 136 5.2.60 ID 44B5h: ReportVelocityCommandExt 136 5.2.61 ID 4416h: ReportAccelerationLimit . 137 5.2.62 ID 4
31、417h: ReportAccelerationState (Deprecated) . 137 5.2.63 ID 44B7h: ReportAccelerationStateExt . 138 5.2.64 ID 442Ah: ReportNavigation 139 5.2.65 ID 4423h: ReportGlobalOperatingZone. 140 5.2.66 ID 4427h: ReportLocalOperatingZone 140 5.2.67 ID 4424h: ReportExcursion . 140 5.2.68 ID 4425h: ReportGlobalL
32、oiter 141 5.2.69 ID 4426h: ReportLocalLoiter . 141 5.2.70 ID 4428h: ReportGPSFix. 142 5.2.71 ID 4429h: ReportInertialSensorStatus. 144 5.2.72 ID 441Eh: ReportActiveElement 144 6. NOTES 145 6.1 Revision Indicator 145 SAE INTERNATIONAL AS6009A Page 5 of 249 APPENDIX A XML FOR SERVICE DEFINITIONS 146 F
33、IGURE 1 DEFINITION OF PLATFORM ORIENTATION . 15 FIGURE 2 PERMITTED TRAVEL CORRIDOR BETWEEN WAYPOINTS 16 FIGURE 3 GLOBAL POSE SENSOR SERVICE 18 FIGURE 4 GLOBAL POSE SENSOR PROTOCOL BEHAVIOR 19 FIGURE 5 LOCAL POSE SENSOR SERVICE . 20 FIGURE 6 LOCAL POSE SENSOR SERVICE PROTOCOL BEHAVIOR 21 FIGURE 7 VEL
34、OCITY STATE SENSOR SERVICE . 22 FIGURE 8 VELOCITY STATE SENSOR SERVICE PROTOCOL BEHAVIOR 23 FIGURE 9 ACCELERATION STATE SENSOR SERVICE . 24 FIGURE 10 ACCELERATION STATE SENSOR SERVICE PROTOCOL BEHAVIOR 25 FIGURE 11 PRIMITIVE DRIVER SERVICE . 26 FIGURE 12 PRIMITIVE DRIVER SERVICE PROTOCOL BEHAVIOR 27
35、 FIGURE 13 GLOBAL VECTOR DRIVER SERVICE 28 FIGURE 14 GLOBAL VECTOR DRIVER SERVICE PROTOCOL BEHAVIOR 29 FIGURE 15 LOCAL VECTOR DRIVER SERVICE . 31 FIGURE 16 LOCAL VECTOR DRIVER SERVICE PROTOCOL BEHAVIOR 32 FIGURE 17 GLOBAL WAYPOINT DRIVER SERVICE 33 FIGURE 18 GLOBAL WAYPOINT DRIVER SERVICE PROTOCOL B
36、EHAVIOR . 34 FIGURE 19 LOCAL WAYPOINT DRIVER SERVICE . 36 FIGURE 20 LOCAL WAYPOINT DRIVER SERVICE PROTOCOL BEHAVIOR 37 FIGURE 21 GLOBAL WAYPOINT LIST DRIVER SERVICE . 39 FIGURE 22 GLOBAL WAYPOINT DRIVER LIST SERVICE PROTOCOL BEHAVIOR. 40 FIGURE 23 LOCAL WAYPOINT LIST DRIVER SERVICE 42 FIGURE 24 LOCA
37、L WAYPOINT LIST DRIVER SERVICE PROTOCOL BEHAVIOR . 43 FIGURE 25 GLOBAL PATH SEGMENT DRIVER SERVICE . 45 FIGURE 26 SAMPLE PATH SEGMENT WITH CONTROL POINTS SHOWN 46 FIGURE 27 EFFECT OF WEIGHTING PARAMETER W1 ON CURVE SHAPE . 47 FIGURE 28 SLOPE CONTINUITY AT PATH SEGMENT CONNECTION POINT . 47 FIGURE 29
38、 GLOBAL PATH SEGMENT DRIVER SERVICE PROTOCOL BEHAVIOR 48 FIGURE 30 LOCAL PATH SEGMENT DRIVER SERVICE 51 FIGURE 31 LOCAL PATH SEGMENT DRIVER SERVICE PROTOCOL BEHAVIOR . 52 FIGURE 32 VELOCITY STATE DRIVER SERVICE 55 FIGURE 33 VELOCITY STATE DRIVER SERVICE PROTOCOL BEHAVIOR 56 FIGURE 34 NAVIGATION STAT
39、E SERVICE . 58 FIGURE 35 NAVIGATION STATE SERVICE PROTOCOL BEHAVIOR 59 FIGURE 36 OPERATING ZONE SERVICE . 60 FIGURE 37 OPERATING AND EXCLUSION ZONES . 60 FIGURE 38 GLOBAL OPERATING ZONE SERVICE PROTOCOL BEHAVIOR . 61 FIGURE 39 LOCAL OPERATING ZONE SERVICE 63 FIGURE 40 OPERATING AND EXCLUSION ZONES .
40、 63 FIGURE 41 LOCAL OPERATING ZONE SERVICE PROTOCOL BEHAVIOR . 64 FIGURE 42 GLOBAL LOITER DRIVER SERVICE 66 FIGURE 42A EXAMPLE LOITER PATTERNS . 67 FIGURE 43 GLOBAL LOITER DRIVER SERVICE PROTOCOL BEHAVIOR 68 FIGURE 44 LOCAL LOITER DRIVER SERVICE . 70 FIGURE 44A EXAMPLE LOITER PATTERNS . 71 FIGURE 45
41、 LOCAL LOITER DRIVER SERVICE PROTOCOL BEHAVIOR 72 FIGURE 46 GPSFIX SERVICE 73 FIGURE 47 GPSFIX SERVICE PROTOCOL BEHAVIOR . 74 FIGURE 48 INERTIAL SENSOR CONTROL SERVICE 75 FIGURE 49 INERTIAL SENSOR CONTROL SERVICE PROTOCOL BEHAVIOR . 76 SAE INTERNATIONAL AS6009A Page 6 of 249 TABLE 1 GLOBAL POSE SENS
42、OR SERVICE VOCABULARY 19 TABLE 2 GLOBAL POSE SENSOR SERVICE STATE TRANSITION TABLE 19 TABLE 3 GLOBAL POSE SENSOR SERVICE STATE CONDITIONS TABLE . 20 TABLE 4 GLOBAL POSE SENSOR SERVICE TRANSITION ACTIONS 20 TABLE 5 LOCAL POSE SENSOR SERVICE VOCABULARY . 21 TABLE 6 LOCAL POSE SENSOR SERVICE STATE TRAN
43、SITION TABLE 22 TABLE 7 LOCAL POSE SENSOR SERVICE STATE CONDITIONS TABLE 22 TABLE 8 LOCAL POSE SENSOR SERVICE TRANSITION ACTIONS. 22 TABLE 9 VELOCITY STATE SENSOR SERVICE VOCABULARY . 23 TABLE 10 VELOCITY STATE SENSOR SERVICE STATE TRANSITION TABLE . 24 TABLE 11 VELOCITY STATE SENSOR SERVICE TRANSIT
44、ION ACTIONS . 24 TABLE 12 ACCELERATION STATE SENSOR SERVICE VOCABULARY . 25 TABLE 13 ACCELERATION STATE SENSOR SERVICE STATE TRANSITION TABLE. 25 TABLE 14 ACCELERATION STATE SENSOR SERVICE TRANSITION ACTIONS . 25 TABLE 15 PRIMITIVE DRIVER SERVICE VOCABULARY . 27 TABLE 16 PRIMITIVE DRIVER SERVICE ENT
45、RY/EXIT ACTION TABLE 27 TABLE 17 PRIMITIVE DRIVER SERVICE TRANSITION TABLE 27 TABLE 18 PRIMITIVE DRIVER SERVICE STATE CONDITIONS TABLE 27 TABLE 19 PRIMITIVE DRIVER SERVICE TRANSITION ACTIONS . 28 TABLE 20 GLOBAL VECTOR DRIVER SERVICE VOCABULARY . 29 TABLE 21 GLOBAL VECTOR DRIVER SERVICE ENTRY/EXIT A
46、CTION TABLE . 29 TABLE 22 GLOBAL VECTOR DRIVER SERVICE TRANSITION TABLE . 30 TABLE 23 GLOBAL VECTOR DRIVER SERVICE STATE CONDITIONS TABLE 30 TABLE 24 GLOBAL VECTOR DRIVER SERVICE TRANSITION ACTIONS 30 TABLE 25 LOCAL VECTOR DRIVER SERVICE VOCABULARY 31 TABLE 26 LOCAL VECTOR DRIVER SERVICE ENTRY/EXIT
47、ACTION TABLE 32 TABLE 27 LOCAL VECTOR DRIVER SERVICE TRANSITION TABLE 32 TABLE 28 LOCAL VECTOR DRIVER SERVICE STATE CONDITIONS TABLE 32 TABLE 29 LOCAL VECTOR DRIVER SERVICE TRANSITION ACTIONS . 33 TABLE 30 GLOBAL WAYPOINT DRIVER SERVICE VOCABULARY . 34 TABLE 31 GLOBAL WAYPOINT DRIVER SERVICE ENTRY/E
48、XIT ACTION TABLE . 34 TABLE 32 GLOBAL WAYPOINT DRIVER SERVICE TRANSITION TABLE . 35 TABLE 33 GLOBAL WAYPOINT DRIVER SERVICE STATE CONDITIONS TABLE . 35 TABLE 34 GLOBAL WAYPOINT DRIVER SERVICE TRANSITION ACTION 35 TABLE 35 LOCAL WAYPOINT DRIVER SERVICE VOCABULARY . 36 TABLE 36 LOCAL WAYPOINT DRIVER S
49、ERVICE ENTRY/EXIT ACTION TABLE . 37 TABLE 37 LOCAL WAYPOINT DRIVER SERVICE TRANSITION TABLE . 37 TABLE 38 LOCAL WAYPOINT DRIVER SERVICE STATE CONDITIONS TABLE 38 TABLE 39 LOCAL WAYPOINT DRIVER SERVICE TRANSITION ACTIONS . 38 TABLE 40 GLOBAL WAYPOINT LIST DRIVER SERVICE VOCABULARY 39 TABLE 41 GLOBAL WAYPOINT LIST DRIVER SERVICE ENTRY/EXIT ACTION TABLE 40 TABLE 42 GLOBAL WAYPOINT LIST DRIVER SERVICE TRANSITION TABLE 41 TABLE 43 GLOBA
