Hello ladies and gentlemen, I am Naman Goyal and today we're going to have some discussion over

the topic- Ballistically launched UAVs.

so first, we may get to know what a UAV is? An unmanned aerial vehicle is a remotely controlled or
automated flying Vehicle capable of surveillance, defense,
attack and much more. A UAV can remotely controlled as
well as it can be automated also. That depends upon the
purpose it needs to serve. Size of UAVs differ from a few
inches to a few feet or more. And differing from in size
they too differ in composition. Existing as multirotor,
Fixed-wing, Hybrid etc. Further on all of them differ with their propulsion system, Controller etc.

Now, when we talk about ballistically launched UAVs, actually Ballistically launched UAVs are those
which does not take off from land rather it’s been launched from a launching system (Launcher), like
as a missile.

They are available as fixed wing UAVs as well as multirotor: -

Raytheon coyote, UVision Hero, Leonard Horus and Lockheed Martin Outrider are a few fixed-wing
Ballistically launched UAVs AND Spear Ninox and SQUID are considered under Ballistic multirotor
UAVs.
 Purpose Of Ballistic UAVs
Ballistic UAVs can be proved a great help in defense sector at multiple locations.

• Keeping eye on enemy at battle ground with the help of UAV is far better than many other
options. This eye in the sky can provide valuable info in a small timespan. Now, the question
arises that keeping a UAV at field is not feasible but Ballistic UAVs are being designed such
that can be compact so to keep anywhere and can be taken easily and its launching can be done
easily even with the help of a grenade launcher.
• Moving forward, a ballistic UAV can also be a great option for surveillance at any location of
natural calamity which could help them in doing rescue operation. After Reaching the location,
team can directly put a ballistic UAV into action and gather the info about most affected
locations. Resulting in stop losing life of innocent people because of lack of time.

Further on it can also be a helping element in space exploration.

• Many land Rovers went to mars and did a great job but imagine if a UAV would be deployed
on mars or any other planet, it could give us much more information is less time as compared
to a land vehicle.

Also, we can save our fuel or battery whatever used in this case as we all know tale-off take a huge
amount of power to reach its cruise altitude and if that cruise altitude could be covered without fuel
usage, then endurance of our UAV could be enhanced to a certain level.

Launching of Ballistic UAVs

Now we look about the launching system of Ballistic UAV. So,
Basically Ballistic UAV uses the core of the launch mechanism
as a re-purposed cannon or like a grenade launcher. Pressure is
supplied by a liquid CO2 canister that is regulated between 5.5
bar (indoor, to stay within ceiling clearance) and 6.9 bar
(outdoor, maximum safe) chamber pressure in gas phase. An
aluminum stand holds the launch tube in place and allows
adjustment of the launch angle. Accordingly, both the launch height and angle can be adjusted to avoid
local hazards. This was a way to launch a prototype of multirotor ballistic UAV.

And this can be another way to launch a Fixed

Wing UAV. With the help of a pneumatic
launcher that uses the concept same as air gun.
Gather the air and then release it to throw out the
subject.

Another sought of multirotor launcher

CITATION: - Daniel Pastor, Jacob Izraelevitz, Paul Nadan, Amanda Bouman, Joel Burdick, and
Brett Kennedy
arXiv:1911.10269v2 [eess.SY] 18 May 2020
Design and Autonomous Stabilization of a Ballistically-
Launched Multirotor (SQUID)
Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in
many areas such as emergency response, defense, and space exploration, where they can gather critical
situational data using onboard sensors. This paper presents a ballistically-launched, autonomously
stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an
onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate
autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s
ability to autonomously stabilize after a ballistic launch in a GPS-denied environment.

Mechanical Design
SQUID is dictated by three broad functional requirements.
The multirotor must: (I) launch from a tube (6- inch
diameter for this prototype), (ii) travel ballistically to a
predetermined height, and (iii) autonomously transition into
stable, multirotor flight. To satisfy these non-traditional
flight requirements, SQUID blends design elements from
both ballistic and multirotor platforms. The multirotor’s
central rigid body houses a battery and the perception and
control systems, and interfaces with six-fold-out arms with
rotors and three-fold-out fins which passively stabilize the
multirotor during ballistic motion.

Properties of SQUID
Mass 3.3 kg
Length 79 cm
Folded Diameter 15 cm
Unfolded Diameter (Propeller tip to tip) 58 cm
Thrust at Hover 56 %
Launch Speed 12 m/s
SQUID’s mechanical design and onboard active controls manage the deployment sequence. The
deployment pipeline comprises two primary phases: passive stabilization and active stabilization. In the
first phase, the multirotor’s aerodynamic design ensures attitude stability as it travels along a ballistic
trajectory after launch. Active stabilization begins once the arms are fully deployed and occurs before
the trajectory’s apogee. The following sections provide details on the launch stabilization process and
our experimental validation of these concepts.
Launching of SQUID: -
Prior to launch, SQUID rests in a
folded state inside the launch tube,
which is generally pointed upwards.
A 300-gram carriage assembly sits
between SQUID and the tube base,
transmitting launch loads generated
by the compressed gas directly to
the frame’s support columns. A 25
mm-thick polyethylene foam disk at
the base of the carriage creates a
low-friction seal which maximizes
the transfer of energy from the
compressed gas into kinetic energy
and prevents the carriage from
leaving the tube during launch.

Passive Stabilization – Launch without wind

After exiting the launch tube, the arms and fins deploy immediately due to the spring-loaded hinges.
This deployment has four effects on the aerodynamic stability: the COM is shifted towards the nose,
the AC is shifted rearward due to the fin lift, the fins increase aerodynamic damping in yaw, and mass
moves outwards which increases yaw inertia. The lower AC helps SQUID maintain orientation and
follow the intended flight path until active stabilization begins. The large displacement between the
COM and AC, coupled with the launch momentum, causes SQUID to orient robustly into the apparent
wind. When the launch tube is stationary and roughly vertical, this effect helps SQUID to passively
maintain orientation during the ballistic phase, which simplifies the transition to active stabilization.
Passive Stabilization – Launch in crosswind

During launch from a moving vehicle, SQUID experiences a strong crosswind, and will weathercock
its nose in the direction of the launch platform’s motion. Accordingly, SQUID’s passive stabilization
design ensures that the multirotor travels smoothly during the ballistic phase and that its orientation at
the beginning of the active stabilization phase is predictable. To validate SQUID’s expected passive
aerodynamic behavior before field testing, sub-scale wind tunnel tests were performed at the Center for
Autonomous Systems and Technologies (CAST) at Caltech. These tests were intended to prove that the
new folding fin architecture could provide a sufficient stabilizing effect in the presence of a crosswind.

Transition from passive to active stabilization

SQUID commences the autonomy pipeline once the distance sensor indicates the vehicle has cleared
the launch tube. The passive-to-active transition occurs after the vehicle has exited the tube and the
arms are fully deployed, allowing the motors to spin. Starting the motors early in the ballistic phase of
launch is important as the motors need to be fully spooled up and stabilizing the multirotor before
apogee. At apogee, the airspeed may not be sufficient to provide enough aerodynamic stabilization,
risking the multirotor entering a tumbling state from which it may not recover.

Active Stabilization
research into autonomously recovering a monocular vision-based quadrotor after its state-estimator
fails due to a loss of visual tracking. For our visual inertial odometry pipeline, we utilize the open-
source Robust Visual Inertial Odometry (ROVIO), an extended Kalman Filter that tracks both 3D
landmarks and image patch features. Since it tightly integrates image intensity information with inertial
data to produce odometry estimates, ROVIO is capable of operating in stark, low-texture environments
such as over pavement, water, and the surface of other planets. The first stage of the active stabilization
phase controls the attitude to a nominal zero-roll/pitch orientation using the IMU-based attitude
estimate. As the air pressure around the multirotor spikes on launch, the barometric altitude estimates
become unreliable and the altitude must be maintained open loop, biased upwards for safety. The
barometric readings stabilize within three seconds of launch, and at this point, SQUID begins actively
controlling its altitude and attempts to reduce the vertical velocity to zero. As no horizontal position or
velocity information is available, active control of the lateral position is not possible and SQUID
continues to drift in plane until the VIO can be initialized. Several conditions need to be met before the
VIO can be successfully initialized. Firstly, the pitch and roll rates need to be near-zero to ensure that
the camera captures frames with low motion blur. Secondly, the vertical velocity needs to be near-zero
so the distance between the multirotor and the ground remains constant, and the initial feature depth
can be well established using rangefinder measurements. Finally, the lateral velocity must be small
(once again to minimize motion blur), so the multirotor is allowed to drift for 10 s post spool up to
enable aerodynamic drag to bleed off excess speed. Future iterations of the autonomy pipeline will
sense when to initialize VIO directly from the detected motion blur, enabling the vehicle to enter
position stabilization sooner after launch. The VIO is considered initialized when the cumulative
variance of the VIO’s x- and y-position estimates drop below a preset threshold. The pose estimates are
then fed into the flight controller state estimator filter to be fused with the IMU. At this point, SQUID
has full onboard state estimation and can now control both altitude and lateral position.

The research described in this paper was performed by the California Institute of Technology and the
Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National
Aeronautics and Space Administration with funding provided by the DARPA Mobile Force Protection
Program.

Previously we had a glimpse of many fixed wing UAVs and about one of them we will have a detailed
outlook.
UVision’s Hero Series
Uvision’s Hero series is a ballistically launched UAV series with precise combat abilities.

According to Uvision these lethal solutions meet the requirements of today’s new battlefield doctrines
for combat operations in complex, dynamic environments. The company’s solutions are tailored for
unique flight qualities, advanced airborne guidance and navigation systems, precision attack munitions
and C4 stations fully integrated with communication links.

UVision’s Hero family of systems ranges from miniature tactical to larger operational loitering
munitions for air, land and naval platforms. A unique cruciform configuration enables high
maneuverability that maintains ‘eyes-on target’ and accurate hitting capabilities.
The Hero’s guidance assembly integrates a seeker with remote sensors and global positioning system
(GPS). The guidance system allows the weapon to engage static or moving targets with high precision.
The seeker guides the weapon towards the designated targets in terminal phase, while the GPS provides
target acquisition, positioning and navigation information both before and after launch.

A stabilized electro-optic / infrared (EO / IR) payload unit housed in the nose section is intended to
detect and track objects.

Uvision Hero provide unmanned aerial loitering munition systems for customers worldwide.

Hero Series is divided into 3 sections:-

1. Tactical System
2. Operational System
3. Strategic System

Tactical System: - Tactical weapons system, system integrating tactical weapons with electronic
equipment for target acquisition, aiming, or fire control or a combination of such purposes. Tactical
weapons are designed for offensive or defensive use at relatively short range with relatively immediate
consequences. They include weapons used for battlefield support, aerial combat, or naval combat.
within whole of the series HERO-20, HERO-30, HERO-70 and HERO-120 are considered under this
section.
HERO-20: - Man-pack portable and extremely light-weight, the Hero-20 is the smallest system in the
UVision family of smart loitering systems. Deployable within minutes, the compact Hero-20 is capable
of loitering 20min and is ideal for anti-personnel missions.

Weight (kg): 1.8

Warhead (kg): 0.2
Range: 10 km
Endurance (min): 20
Engine: Electrical
Launch method: Canister
HERO-30: - Man-pack portable and deployed within minutes, the Hero-30 is capable of speeds of up to
100 knots and is ideal for anti-personnel missions.

Weight (kg): 3
Warhead (kg): 0.5
Range (LOS): 5, 10, 40 km
Endurance (min): 30
Engine: Electrical
Launch method: Canister

HERO-70: - Extremely lightweight at 7 kg, the Hero-70 smart loitering system has a LOS datalink
range of 40 km. Perfect for light vehicle targets, the solution can ensure 45 minutes of flight time while
carrying a warhead of more than one kg.

Weight (kg): 7
Warhead (kg): 1.2
Range (LOS): 40 km
Endurance (min): 45
Engine: Electrical
Launch method: Canister

HERO-120: - Ideal for anti-tank missions, or other strategic objectives, the Hero-120 is the
largest of the short-range systems. It carries a 4.5 kg warhead and can endure an extended flight time of
60 minutes.

Weight (kg): 12.5

Warhead (kg): 4.5
Range (LOS): 40 km
Endurance (min): 60
Engine: Electrical
Launch method: Canister
Operational System: - That is used with Tanks, Naval Ships, Military Aircrafts etc. within whole of
the series HERO-250, HERO-400 and HERO-400EC are considered under this section. Hero 120 and
400 uses gasoline engines with same range of 150km and warhead of 5kg and 8kg, respectively.
Whereas in the same section when we talk about HERO- 400EC, it comes up with a whole electrical
engine, good range of 40 to 150 km with a warhead of 10kg. All 3 of them can be launched from a rail
launcher as well as from a canister.

HERO-250: - When reliable pinpoint strikes are required at long-ranges, the Hero-250 offers 3 hours of
flight time and a 150 km LOS range. Launched via canister or rail launcher, the Hero-250 is an
effective solution against operational targets.

Weight (kg): 25
Warhead (kg): 5
Range (LOS): 150 km
Endurance (hr): 3
Engine: Gasoline
Launch method: Launcher/Canister

HERO-400: - The Hero-400 is a revolutionary high precision loitering system that offers reliable
pinpoint strikes on operational targets in populated urban areas or remote locations. With 4 hours of
flight time and a 150 km range, the Hero-400 presents a significant advantage in modern asymmetric
conflicts.
Weight (kg): 40
Warhead (kg): 8 Range
(LOS): 150 km
Endurance (hr): 4
Engine: Gasoline
Launch method: Launcher/Canister
HERO-400EC: - The Hero-400EC is an innovative all-electric precision Electro-Optical/Infra-Red
(EO/IR) guided, man-in-the-loop Loitering Munition system that can locate, track and strike static and
moving targets with high accuracy and surprise. With these precision strike capabilities, a large multi-
purpose warhead and extended endurance, the Hero-400EC has been proven effective against a wide
variety of targets.
Weight (kg): 40
Warhead (kg): 10
Range (LOS): 40 km, 150 km
Endurance (min): 120
Engine: Electrical
Launch method: Canister, rail launcher

Strategic System: - Strategic weapons system, any weapons system designed to strike an enemy at the
source of his military, economic, or political power. In practice, this means destroying a nation’s cities,
factories, military bases, transportation, and communications infrastructure, and seat of government.
The term strategic weapons system refers not merely to the explosive devices themselves but rather to
the complex delivery systems that enable these warheads to reach their targets. Indeed, the
distinguishing feature of a strategic weapons system is its ability to deliver thermonuclear warheads
accurately from one continent to another. Hero series provide 2 UAVs for this section, and they are
HERO- 900 and HERO- 1250. Both of them are well and good with their specs that is, Range of
250km and 200km , endurance of about 7 hours and with warheads of 20kg and 30kg respectively.

HERO-900: - For strategic operations that require significant munitions, the Hero-900 is capable of
carrying a 20 kg warhead and enduring 7 hours of flight time. With an extremely long range of 250 km,
the Hero-900 is highly effective on the modern battlefield.

Weight (kg): 97
Warhead (kg): 20
Range (LOS): 250 km
Endurance (hr): 7
Engine: Gasoline
Launch method: Launcher/Canister
Hero-1250: - Hero-1250: As the largest UAV in UVision’s fleet of strategic systems, Hero 1250 carries
an extremely lethal 30 kg warhead. With long-range flight capabilities of 200 km, Hero 1250 acts as a
significant weapon in military strategy.

Weight (kg):I 125

Warhead (kg):I 30
Range (LOS): 200 km

Altogether after getting to know about UVisions’s HERO series , we found that its main concept is the
concept of Loitering Munition.
A loitering munition (also known as a suicide drone or kamikaze drone) is a weapon system
category in which the munition loiters around the target area for some time, searches for targets, and
attacks once a target is located. In other ways it can be said that Loitering munition is a type of
unmanned aerial vehicle designed to engage beyond line-of-sight ground targets with an explosive
warhead. Loitering munitions are often portable, and many are meant to provide ground units such as
infantry with a guided precision munition. They are equipped with high resolution electro-optical and
infrared cameras that enable the targeter to locate, surveil, and guide the vehicle to the target. A
defining characteristic of loitering munitions is the ability to “loiter” in the air for an extended period
before striking, giving the targeter time to decide when and what to strike. They enable faster reaction
times against concealed or hidden targets that emerge for short periods without placing high-value
platforms close to the target area, and also allow more selective targeting as the actual attack mission
can be aborted.
Now maybe one can be strike by a question are we replacing guided missiles by the loitering munitions
or must be said what is basically the difference between these Loitering munitions and guided missiles?
So, Loitering munitions fit in the niche between cruise missiles and unmanned combat aerial vehicles
(UCAVs) sharing characteristics with both. They differ from cruise missiles in that they are designed to
loiter for a relatively long time around the target area, and from UCAVs in that a loitering munition is
intended to be expended in an attack and has a built-in warhead.

CONCLUSION
Ultimately, we got to know about the concept of UAVs. Types of UAVs we learnt were multirotor and
Fixed-Wing. Then we got to know about ballistic UAVs. Under that we got to know about SQUID- A
multirotor Ballistic UAV and got to know info about its prototype. Then moving forward UVisions’s
HERO series came up. It’s a type of Fixed-Wing UAV that uses the concept of Loitering Munition.