Attachment 0

Ref.
Ares(2018)6161964 - 30/11/2018
HORIZON 2020
CAMELOT SPECIFICATIONS
CAMELOT
740736
Deliverable Information
Deliverable Number: D3.1 Work Package: WP3
Date of Issue: 30/11/2018
Document Reference: 740736-CAMELOT-CAMELOT_Specifications
Version Number: 2.0
Nature of Deliverable: Dissemination Level of Deliverable:
Report Public
Author(s): TEKEVER ASDS (Responsible), PIAP, BAES, EXODUS, UPVLC, NAVAL
Keywords: Technical Specifications, User Interface, Middleware, Hardware, Data Model,
Interfaces
Abstract:
The present deliverable contains the CAMELOT system technical specifications that allow
the implementation of the system. The deliverable starts by presenting the NATO STANAG
4817 architecture in comparison with the CAMELOT SOA architecture. Afterwards, the
specifications (hardware, middleware and data model) are reported, alongside with the
evidences that support the choices made by the consortium. A possible user interface is also
described in the deliverable. Until the final implementation much may change, however the
present deliverable is the baseline for this work phase.
CAMELOT Specifications
CAMELOT
Document History
Date Version Remarks
01/06/2018 0.1 Skeleton
20/07/2018 0.2 Added introduction
03/08/2018 0.3 Added data model section and annex I
09/08/2018 0.4 Added middleware section and requirements
10/08/2018 0.5 Added middleware benchmarks
12/08/2018 1.0 Issue
Revised document addressing the remarks received from the
midterm review report:
 Section 3 now includes all the results from T3.1. Information
exchange requirements, operating system, and software
development best practices were added;
30/11/2018 2.0
 Section 3.6.2 was changed to describe the CAMELOT and
the most recent version of this document is enclosed in
Annex 1;
 Paragraph was added on section 3.7.1 was to explain the
feasibility of the Protocol Adaptors.
Document Authors
Entity Contributors
João CARVALHO
André PITA
TEKEVER ASDS
Luís SIMÃO
Pedro CONSTANTINO
PIAP Mateusz MACIAS
BAES Robert WHATMORE
Vasileios SARRIS
EXODUS
Dimitris KARAMITROS
UPVLC Francisco PÉREZ
Adrien NEGRE
NAVAL
Quentin TIRROLONI
Disclosure Statement: The information contained in this document is the property of

CAMELOT Consortium and it shall not be reproduced, disclosed, modified or communicated
to any third parties without the prior written consent of the abovementioned entities.
740736-CAMELOT-CAMELOT_Specifications Page 2 of 291

CAMELOT
Executive Summary
The present deliverable comprises the technical specifications of the CAMELOT system in
regards to the User Interface (UI), middleware, data model, and external interfaces that will
allow the implementation of the consortium’s vision for the CAMELOT system.
Firstly, the document starts by presenting the CAMELOT architecture and its baseline
architecture, the STANAG 4817, to provide clarity to the reader on the generic framework
adopted, which impacts directly the technical specifications presented in the following
chapters.
Following the description on the architectures, this deliverable presents the technical
specifications of CAMELOT in descending order of the OSI layers, i.e. starting from the UI
and finishing in the lowest layer, the physical layer. Therefore, the first section, the
CAMELOT UI, depicts a series of figures that illustrate the interface that enables the end-
user to access information coming from the CAMELOT system and control the unmanned
assets available at any given moment.
Afterwards, the work performed by the consortium in the definition of an appropriate

middleware solution is reported. Given the diverse background of the partners, several
middleware solutions were proposed by each beneficiary and no consent was reached
during the first discussions. In this sense, a middleware benchmark as performed, being the
solutions under analysis DDS, ECOA, JAUS, Kafka, RabbitMQ with JSON, and ZeroMQ with
Protocol Buffers.
The CAMELOT data model structure is then presented. This data model departs from both
the SAE UCS 3.4 and the EUCISE 2020 data model. The data structures of the CAMELOT
data model are presented in Annex I.
External interfaces with the local Ground Control Stations (GCSs) and legacy systems (e.g.
GNR’s SIVICC) are presented. At the present moment, the interfaces with the unmanned
assets are done through specific protocol adaptors which are the responsibility of each asset
provider. Concerning the legacy systems, the interface is done through an Application
Programming Interface (API) Representational State Transfer (REST), by which the legacy
system can receive and produce information, and consume CAMELOT services. Chapter 3
ends by providing a vision on the distributed hardware architecture foreseen at the moment
by the consortium.
Finally, lessons learnt and forthcoming steps are presented in Chapter 4.

CAMELOT
Table of Contents
Document History .................................................................................................................. 2
Document Authors................................................................................................................. 2
Executive Summary .............................................................................................................. 3
Table of Contents .................................................................................................................. 4
List of Tables ......................................................................................................................... 6
List of Figures........................................................................................................................ 7
List of Acronyms .................................................................................................................... 8
1 Introduction ...................................................................................................................10
2 STANAG 4817 and CAMELOT Architectures ................................................................12
2.1 STANAG 4817 current status .................................................................................12
2.2 CAMELOT proposed architecture...........................................................................13
3 CAMELOT Architecture Specifications ..........................................................................15
3.1 User Interface (UI) ..................................................................................................15
3.2 Information exchange requirements .......................................................................21
3.3 Principles and best practices ..................................................................................26
3.4 Operating system ...................................................................................................27
3.4.1 Docker ............................................................................................................27
3.4.2 Operating sytem decision ................................................................................29
3.5 Middleware .............................................................................................................29
3.5.1 Requirements ..................................................................................................30
3.5.2 Middleware solutions .......................................................................................34
3.5.3 Benchmark ......................................................................................................41
3.6 Data Model .............................................................................................................49
3.6.1 Baseline data models ......................................................................................50
3.6.2 CAMELOT ICD................................................................................................53
3.7 External Interfaces – Interoperability Adaptors .......................................................54
3.7.1 Protocol Adaptors............................................................................................54
3.7.2 Interface to Legacy Systems ...........................................................................56
3.8 Hardware ...............................................................................................................56
4 Conclusions...................................................................................................................59
Acknowledgements ..............................................................................................................60
References ...........................................................................................................................61
Annex 1 ................................................................................................................................62
CAMELOT Information Control Document (ICD) ...............................................................62
Multi Domain System Connection..................................................................................62

CAMELOT
Vehicle Telemetry (UCS 3.4) .........................................................................................63

Vehicle Tasking (UCS 3.4) ............................................................................................71
Payload Tasking (UCS 3.4) ...........................................................................................80
EO IR Payloads (UCS 3.4) ............................................................................................81
Laser Payloads (UCS 3.4) .............................................................................................89
SAR Payloads (UCS 3.4) ..............................................................................................91
Alerts (UCS 3.4) ............................................................................................................94
Mission Overlays (UCS 3.4) ..........................................................................................96
Mission Structures (UCS 3.4) ......................................................................................106

CAMELOT
List of Tables
Table 1 – List of acronyms .................................................................................................... 8
Table 2 – OSI Model layers ..................................................................................................10
Table 3 – Information exchange requirements ......................................................................22
Table 4 – General requirements ...........................................................................................31
Table 5 – Performance requirements ...................................................................................33
Table 6 – Security requirements ...........................................................................................33
Table 7 – Non-technical / soft requirements .........................................................................34
Table 8 – DDS benchmark ...................................................................................................41
Table 9 – ECOA benchmark .................................................................................................42
Table 10 – JAUS benchmark ................................................................................................43
Table 11 – Kafka benchmark ................................................................................................45
Table 12 – RabbitMQ with JSON benchmark .......................................................................46
Table 13 – ZeroMQ with Protocol Buffers benchmark ..........................................................48
Table 14 – Structure of the Attributes of the Action class [15] ...............................................52
Table 15 – CAMELOT ICD header structure ........................................................................53

CAMELOT
List of Figures
Figure 1 – Multi-Domain Control Station (STANAG 4817) architecture [1] ............................13
Figure 2 – CAMELOT proposed architecture ........................................................................14
Figure 3 – Main screen of the preliminary version of the CAMELOT user interface ..............16
Figure 4 – Tooltip for assessing one of the asset’s identification, status and payload data ...16
Figure 5 – Tooltip for assessing multiple assets’ identification, status and payload data.......17
Figure 6 – Tool to exchange messages between CAMELOT System and local operators ....17
Figure 7 – Video screen of the videos collected by the assets ..............................................18
Figure 8 – Status screen of the operational assets ...............................................................18
Figure 9 – Status screen with identification, video, detections and messages for an asset ...19
Figure 10 – Detections screen foreseen for the CAMELOT system user interface................19
Figure 11 – Example of the creation of a target within the UI ................................................20
Figure 12 – Example of the target information window of the UI ...........................................20
Figure 13 - Best practices high level overview ......................................................................26
Figure 14: Comparison between Containers and Virtual Machines .......................................28
Figure 15 – Container development process ........................................................................28
Figure 16 – Simplified representation of an assembly schema .............................................35
Figure 17 – Kafka simplified architecture [8] .........................................................................37
Figure 18 – Anatomy of a Topic in Kakfa [9] .........................................................................37
Figure 19 – RabbitMQ message architecture .......................................................................38
Figure 20 – ZeroMQ messaging patterns [11] ......................................................................40
Figure 21 – Comparison of four messaging protocols for complex structures [12] ................40
Figure 22 – UCS 3.4 (PR) Information Model structure [14] ..................................................51
Figure 23 – EUCISE 2020 data model structure [15] ............................................................52
Figure 24 – Protocol adaptors to the adopted data model ....................................................55
Figure 25 – CAMELOT hardware architecture ......................................................................57

CAMELOT
List of Acronyms
Table 1 – List of acronyms
Acronym Meaning
AATC Automatic Asset Tasking and Control
AMQP Advanced Message Queuing Protocol
API Application Programming Interface
ARP Address Resolution Protocol
ASC Application Software Component
ASTM American Society for Testing and Materials
ATM Asynchronous Transfer Mode
C2 Command and Control
CAL CAMELOT Adaptor Layer
CDM Conceptual Data Model
CISE Common Information Sharing Environment
DDS Data Distribution Service
DMA Data Manager and Analytics
ECOA European Component Oriented Architecture
ESB Enterprise Service Bus
ETL Extract, Transform, Load
GCS Ground Control Station
GUI Graphic User Interface
GVA Generic Vehicle Architecture
HMI Human Machine Interface
HTTP HyperText Transfer Protocol
ICMP Internet Control Message Protocol
IDL Interface Definition Language
IER Information Exchange Requirements
IP Internet Protocol
IPSec IP Security Protocol
IT Information Technologies
JAUS Joint Architecture for Unmanned Systems
JCGUAS Joint Capability Group Unmanned Aerial Systems
JMS Java Message Service
JSIDL JAUS Service IDL
JSON JavaScript Object Notation
JTS JAUS ToolSet
LDM Logical Data Model
MDA Model Driven Architecture
MDCS Multi-Domain Control Station
MQTT Message Queuing Telemetry Transport
MRS Mission-Related Services
MSMDC2 Multi Service Multi Domain Command and Control
NATO North Atlantic Treaty Organization
NetBIOS Network Basic Input/Output System
NIAG NATO Industrial Advisory Group
NNAG NATO Naval Armaments Group
OJSS OpenJAUS Service Set
OMG Object Management group
OS Operating System
OSD Office of the Secretary of Defence
OSI Open Systems Interconnection
PPTP Point-to-Point Tunnelling Protocol
PR Public Release
QoS Quality of Service

CAMELOT
Acronym Meaning
REST Representational State Transfer
ROS Robot Operating System
ROS Robot Operating System
RPC Remote Procedure Call
RPC Remote Procedure Call
RTI Real-Time Interface
RTOS Real-Time Operating System
S2S Service-to-Service
SAE Society of Automotive Engineers
SASL Simple Authentication and Security Layer
SDS Sensing & Detection Services
SLA Service Level Agreement
SMTP Simple Mail Transfer Protocol
SOA Service-Oriented Architecture
SSL Secure Sockets Layer
STANAG Standardisation Agreement
STOMP Streaming Text Oriented Messaging Protocol
Tb Terabyte
TCP Transmission Control Protocol
TLS Transport Layer Security
UAS Unmanned Aerial System
UCS UAS Control Station
UDP User Datagram Protocol
UGV Unmanned Ground Vehicle
UI User Interface
UML Unified Modelling Language
USB Universal Serial Bus
USV Unmanned Surface Vehicle
UUV Unmanned Underwater Vehicle
VDS Visualization & Display Services
WG Working Group
WP Work Package
XML Extensible Markup Language

CAMELOT
1 Introduction
Deliverable D2.2 reported a large portion of work performed by the CAMELOT consortium in
the definition of the CAMELOT Service-Oriented Architecture (SOA), work performed under
Work Package (WP) 2. However, the definition of a high-level architecture does not make it
implementable or operational. Therefore, the present deliverable aims at defining the
specifications of the CAMELOT architecture that will allow its implementation. In order to
achieve this, it may be necessary to remember the reader of the OSI model.
The Open Systems Interconnection (OSI) model is a conceptual framework for

understanding the relationships inside computer systems and software programs. Being a
layered model, the OSI model is structured into seven (7) layers, starting in the physical
means of transmitting information to the applications that the user control. Table 2 depicts
the seven layers of the model.
Table 2 – OSI Model layers
OSI Model
Protocol
Central Devices
Layer Data Unit Description of the Function
/ Protocols
(PDU)
High-level Application Programming
SMTP, HTTP,
7 Application Interfaces (APIs), including resource
FTP, DNS
sharing, remote file access, etc.
Translation of data between a
networking service and an
6 Presentation application, including character SSL, TLS
Data encoding, data compression,
encryption/decryption, etc.
Managing communication sessions,
i.e. continuous exchange of
5 Session information in the form of multiple NetBIOS, PPTP
back-and-forth transmissions
between two nodes
Reliable transmission of data
Segment, segments between points on a
4 Transport TCP, UDP
Datagram network, including segmentation,
acknowledgement and multiplexing
Structuring and managing a multi-
IP, ARP, ICMP,
3 Network Packet node network, including addressing,
IPSec
routing and traffic control
Reliable transmission of data frames
PPP, ATM,
2 Data Link Frame between two nodes connected by a
Ethernet
physical layer
Ethernet, USB,
Transmission and reception of raw bit
1 Physical Symbol Bluetooth,
streams over a physical medium
IEEE802.11
For the CAMELOT architecture to be fully specified, each of the seven layers depicted in
Table 2 has to be specified in terms of protocols. The list presented in the most right column
of the table above is a non-exhaustive list of possible protocols for each layer.

CAMELOT
Since the goal of CAMELOT is to build on open standards and past effort, within the scope of
this project new protocols won’t be defined. Most of the higher layers (5 to 7) will be defined
through the usage of middleware. Thus, the present deliverable comprises a full section on
the benchmark of middleware solutions that meet the CAMELOT requirements.
Since it is the desire of the CAMELOT consortium to implement a middleware solution, the
definition of the lower-layers (1-4) will no longer be an issue. Widely used middleware
solutions typically define the lower layers without the need for direct implementation from the
consortium.
Before entering into the details of the CAMELOT specifications, the present deliverable
summarizes, in chapter 2, the work performed under the NATO Multi-Domain Control Station
(MDCS) Working Group (WG), now STANAG 4817, and the CAMELOT architecture.
Chapter 3 comprises the CAMELOT specifications, including a proposal for user interface, a
benchmark on possible middleware solutions, the CAMELOT data model and the hardware
architecture.
Chapter 4 concludes the deliverable and looks towards the future and the next steps towards
the implementation of the CAMELOT architecture.

CAMELOT
2 STANAG 4817 and CAMELOT Architectures

As mentioned previously in deliverable D2.2: CAMELOT Architecture and Data Model,
CAMELOT’s system framework is based on the most recent efforts of the MDCS WG, soon
to become STANAG 4817. Due to a process that is inherently confidential, until this moment
it was not possible to publicly use information from the MDCS WG. The present section aims
at providing a clearer view on both the MDCS framework and the CAMELOT architecture
enabling the reader to understand where the differences lay and where can synergies be
found.
2.1 STANAG 4817 current status

The STANAG 4817 first efforts were sponsored by the Joint Capability Group Unmanned
Aerial Systems (JCGUAS) through two NATO Industrial Advisory Group (NIAG) studies
related to MDCS: i) the SG-157 – Feasibility of an MDCS Architecture, and ii) SG-202 –
Development of an MDCS Data Model. The outcomes from these studies leveraged content
from the Office of the Secretary of Defence (OSD) UAS Control Station (UCS), namely the
UCS 2.4. The final recommendation of both SG-157 and SG-202 was the update for the UCS
3.4 (Mayer, 2018).
Upon conclusion of the SG-202 study, the JCGUAS proposed standardisation efforts, which
were approved on January 2018 by the NATO Naval Armaments Group (NNAG), creating
the STANAG 4817 – Framework Architecture for Multi-Domain Unmanned Platform Control
Systems. A specialist team was composed and the official STANAG kick-off meeting was on
March 26th-29th, 2018 (Mayer, 2018).
The STANAG 4817 specialist team has one overarching objective, which is to define a
common architecture framework for an MDCS. This objective may be achieved through i) the
identification of the key functional subsystems needed for an MDCS to interact with
operators, legacy systems, and future unmanned assets and external systems; ii) the
definition of the capabilities that hardware and middleware must provide; and iii) provide
explicit support for increasing levels of autonomy (Mayer, 2018).
To reach these objectives, the STANAG 4817 had to make decisions from the start. These
decisions are depicted below (Mayer, 2018):
• Incorporate all SG-202 recommendations;
• Base data model development on UCS 3.4 Public Release rather than MDCS 3.1;
• Adopt FACE 3.0 data model requirements;
• Adopt UCS technical governance rules;
• Use Enterprise Architect (EA) modelling tool and Unified Modelling Language (UML)
for Edition 1 development;
• Limit Edition 1 scope to the harbour protection scenario.
So far, the major developments under STANAG 4817 have been the revision of the MDCS
data model in an attempt to incorporate the FACE shared data model, and apply FACE
construction rules to define Service-to-Service (S2S) interfaces. Additionally, the team has
been incorporating SG-202 services into the architectural model, and defining specifications /
requirements to several components of the architecture, namely the generic protocol
adapter, the core service infrastructure, the non-core service contracts and the sample
implementation (Mayer, 2018).

CAMELOT
Figure 1, present below, depicts the high-level architecture for MDCS foreseen by the
STANAG 4817.
MDCS Framework
External
Interfaces
MDCS
Logical
UAV Platform Data Model
STANAG 4586
Interface MDCS Service
Service (Internal)
UGV Platform
JAUS Interface
Service MDCS Service
USV Platform
(Internal)
JANUS
Interface
Service MDCS Service
UUV Platform (Internal)
Other Interface MDCS

Service Service
Other Platforms Registry
(Space/UGS…)
Scope of Framework
Figure 1 – Multi-Domain Control Station (STANAG 4817) architecture (Mayer, 2018)
Finally, it is important to highlight that once fully defined, the architectural framework of
STANAG 4817 will enable dynamic interoperability of unmanned assets across different
systems from several suppliers, as well as the application of technologies fro one domain to
others and the support to hybrid or cross-domain vehicles. In a nutshell, the STANAG 4817
will enable the natural integration of multi-domain heterogeneous unmanned assets under
one single architectural framework, reducing the cost and effort of developing new Command
and Control (C2) frameworks through the adoption of a predesigned solution (Mayer, 2018).
2.2 CAMELOT proposed architecture

The CAMELOT system architecture is based on a distributed system that will offer scalability,
availability and security capabilities, as required according to the end-users. The core of the
system, will be designed in a flexible and modular framework so that implementation of new
functionalities is easy and cost-effective (Gómez Lasquetty, et al., 2018).
Since it is based on the STANAG 4817 architectural framework it is evident that some
modules may have direct correspondence to the modules defined in such Standardisation
Agreement. The CAMELOT architecture can be found in Figure 2, present in the forthcoming
page. A description of the framework will succeed the illustration (Gómez Lasquetty, et al.,
2018).

CAMELOT
ASSETS
ASSET-1 ASSET-2 ASSET-3 ASSET-4 ASSET-5 ASSET-6 CAL CAMELOT Adaptor Layer
AATC Automatic Asset Tasking & Control
DMA Data Manager and analytics
CCL CAMELOT Core Layer

PROPRIETARY PROTOCOL
MR S. Mission-related Services
JAUS S4586 S4748 I. Adapters
VD S. Visualization & Display Services
CAL
1 SD S. Sensing & Detection Services
ACCESS CONTROL
ASSET-1 Assets
LAYER
AATC
DB ABSTRACTION LAYER
WEB APPs Assets Adapters
C2-1 Command & Controll Applications

SYSTEM DB
C2-1 LDB
HTTPS DMA CORE LDB
CA Local Database
CAMELOT INTEROPERABILITY
1 Access Control Requests
DESKTOP APPs
2 C2 Client Requests
SERVICES (API REST)

MR Services (NOSQL DB)
Web Application (Chrome)
C2-2 LDB
 PLATFORM CONFIG. Web Application (Firefox)

MOBILE APPs VD Services  SENSORS MANAGEMENT
 USERS MANAGEMENT Windows Application
SD Services  SCHEDULED TASKS ADMIN.
2  ETC. Linux Application
C2-3 LDB
Android Application
EXISTING C2 SYSTEM ADMINISTRATION MODULE iOS Application
SYSTEMS
CAMELOT PLATFORM (MDCS Extension)
Figure 2 – CAMELOT proposed architecture
The CAMELOT framework consists of four main modules that will be developed along the
different work packages of the project (Gómez Lasquetty, et al., 2018):
 CAMELOT Adaptor Layer (CAL) – Adapts the different data models and information
available in connected assets to the CAMELOT Data Model. Making a parallel with the
STANAG 4817, this layer is equivalent to the Interface Services defined in STANAG
4817’s MDCS. While STANAG only comprises adapters to STANAG 4586, JAUS and
JANUS, the CAL will comprise adapters to much more communication protocols (e.g.
ROS, Mavlink) depending on the needs of end-users. In the CAMELOT system it is
possible to add new adapters depending on the platforms that will be connected;
 Automatic Asset Tasking & Control (AATC) – Exposes different methods to control the
different assets connected to the platform;
 Data Manager and analytics (DMA) – Brings to the platform a set of advanced analysis
and data management functions to perform information operations;
 CAMELOT Core Layer – Contains all internal functionalities required by the platform to
perform CAMELOT main capabilities. This module includes Mission-Related Services
(MRS), Visualization & Display Services (VDS) and Sensing & Detection Services (SDS).
Once again, this core layer is equivalent to the MDCS Services (Internal) of STANAG
4817.
Additionally, the platform will expose different interoperability services accessible by a

Representational State Transfer (REST) Application Programming Interface (API) that will
allow the different C2 systems to interact with the platform to receive and supply information,
or even to consume the provided services (Gómez Lasquetty, et al., 2018). This interface is
equivalent to the Other Interface Service in STANAG 4817.

CAMELOT
3 CAMELOT Architecture Specifications

Departing from the architecture described in the previous chapter, the present aims at
providing the technical specifications for the CAMELOT system, organised according to the
layers of OSI presented in chapter 1, i.e. the specifications will be reported starting from the
higher layers and ending in the lower ones. The contents of this section are summarized
below:
 User interface (UI) – The UI is the interface by which the operator accesses the
information available within CAMELOT and commands and controls the available
assets. Section 3.1 comprises the first concept for this interface;
 Middleware – As explained before, the middleware will allow the CAMELOT
beneficiaries to define several OSI layers without having to manually program each
one. This will allow faster implementation of the CAMELOT system and guarantee
the scalability, modularity and distributed characteristics that the consortium desires.
Section 3.2 comprises the benchmark of the several solutions that can become the
adopted solution;
 Data model – It was defined by all partners that a viable solution to ensure that the
distributed system is able to communicate is to have the CAMELOT system
“speaking” one data model. This data model is defined in section 3.3 and in Annex I;
 Interfaces – To ensure communication with assets that make use of different
protocols and avoid ad-hoc implementation of the CAMELOT data model every time
a new asset from a different provider is added to the system, protocol adaptors from
the CAMELOT data model to a large set of protocols will be implemented. This will
support the pick-and-mix approach desired by the CAMELOT consortium;
 Hardware – The hardware architecture is described in section 3.5 and closes the set
of technical specifications for the CAMELOT system.
3.1 User Interface (UI)

During the conceptualization of the CAMELOT architecture, a proposal for the UI was
developed taking into account that the primary user of the system will be a law enforcement
officer, who will make use of it to monitor and control missions, and also to receive the
information collected by the assets deployed in the field. Additionally, it is intended for this
officer to be able to make requests to the different Ground Control Stations (GCSs) that are
in field operating the assets.
Having the above mentioned in mind, it is desired for the user to monitor the CAMELOT
system in three distinct layers, as described below:
 A general mission overview in the format of a map with overlays;
 A view of the payload data captured by the assets (e.g. video stream captured by an
UAV) and its respective detections;
 A view of the status of the platforms (e.g. telemetry data, power status, etc.).
In that sense, the preliminary version of the UI contains four main screens: the (i) Main tab;
(ii) the Videos tab; (iii) the Status tab; and (iv) the Detections tab. A short summary of each
tab and its main capabilities is provided below.

CAMELOT
The main screen, depicted in Figure 3, displays the map with the active vehicles in real time.
In this map, colour codes are employed in order to specify the current status of each asset
(red means that the asset is currently performing a mission; green means the asset is
available; and orange indicates that the asset may require on-site attention from the user).
On the left side of the screen there is a toolbox with different possible actions for the current
screen (e.g. turn radar on/off, define waypoints, or even create pinpoints or clusters of
assets), and on the right side, there’s an expandable tab to toggle the visibility of the
available assets, clusters, detections and targets.
Figure 3 – Main screen of the preliminary version of the CAMELOT user interface
In Figure 4, one can observe that by hovering an asset, a tooltip appears and it allows the
user to: access the asset’s identification and, at the same time, to know its status, as well as
to visualise the payload data captured by it. Figure 5 demonstrates that this tool is intended
to work for multiple assets at the same time.
Figure 4 – Tooltip for assessing one of the asset’s identification, status and payload data

CAMELOT
Figure 5 – Tooltip for assessing multiple assets’ identification, status and payload data
Additionally, the UI is expected to allow the user to exchange messages directly with the
GCS operators, in a chat-alike box that appears in the left-bottom corner, as depicted in
Figure 6.
Figure 6 – Tool to exchange messages between CAMELOT System and local operators
From the experience of the CAMELOT partners, the interaction with the local operators
proves to be extremely beneficial for someone on a control room. In this sense, it was
mandatory to include such tool in the CAMELOT UI.

CAMELOT
In the Videos tab, the user has the opportunity to select and visualize the videos captured by
a cluster of unmanned assets (previously created by the user in the Main tab). This is
depicted in Figure 7. Additionally, an alike screen is available to show the status of the
platforms for the same cluster (see Figure 8).
Figure 7 – Video screen of the videos collected by the assets
Figure 8 – Status screen of the operational assets
Additionally, in the Status tab the user is also able to view a layout with several types of
information for a specific asset (e.g. identification/status, payload data (video), detections
and messages with the asset operator (depicted in Figure 9).

CAMELOT
Figure 9 – Status screen with identification, video, detections and messages for an asset
As for the Detections tab, it describes the list of detections performed by the CAMELOT
system, allowing the user to obtain detailed information on each one, alongside with imagery
that may have been collected during the operation. This is illustrated in Figure 10.
Figure 10 – Detections screen foreseen for the CAMELOT system user interface

CAMELOT
Ultimately, the Main tab also includes a capability for the user to create a target – see Figure
11. After the target’s creation, the user is able to assess its information (e.g. type,
coordinates, notes) – see Figure 12.
Figure 11 – Example of the creation of a target within the UI
Figure 12 – Example of the target information window of the UI
Additionally, it is important to state that this preliminary version of the UI also includes a tool
to refine the visualisation of the Main tab (e.g. this tool toggles the visibility of a certain type
of platforms).
It is important to mention that the above presented UI will be present in the desk interface
(i.e. regular PC monitor, led wall, distributed TVs) of the CAMELOT system. The remaining

CAMELOT
visualisation UI’s (e.g. augmented and virtual reality googles) will have their own UI.
However, it is very important for the consortium to have visual coherence throughout all the
UI devices. In this sense, the work under WP3 will serve as input for the work under WP6,
and vice-versa.
Finally, please note that the preliminary version of the user interface that was present above
is an on-going work, so it is expected that this version will be iterated based on the feedback
from all partners of the CAMELOT project.
3.2 Information exchange requirements

During CAMELOT Technical Meeting 3 (TM3), held in Rochester, the interfaces required by
each module to comply with the Functional (FR) and Non-Functional Requirements (NFR) –
presented in D2.1 and D2.2 – were discussed and all interactions between components were
defined. As a result, a document was produced and validated by the consortium that
described all high-level inputs and outputs for each task.
As explained in D2.1, the Information Exchange Requirements (IER) are derived, and can b
traced back, to the FR and NFR. From these, and using the use cases to be demonstrated
(UC_LAND_IM_01 and UC_MAR_DS_01) as inputs, the consortium started defining the
information exchange and registered in a table describing:
 Sending and receiving nodes – describes which module or sub-module is the
sender and which is the recipient of information. The correspondents can be external
to the system (e.g. CISE);
 Format of messages – describes the format of information to be sent (e.g. digital
imagery, text messages, binary);
 Actions – specifies the message type from the ICD, in order to guarantee traceability
between the CAMELOT IER and ICD;
 Criticality – defines if the message is critical or not to define whether delivery should
be ensured (for example, non-critical information can be ent using UDP protocols,
while critical must be sent through TCP, which is a protocol that guarantee delivery).
Criticality support the priorization of data, which is a desired requirement for the
CAMELOT communications;
 Timeliness – describes the periodicity of the information to be shared, i.e. the rate at
which that message is refreshed;
 Rationale for each interface – specifies the Functional (FR) and Non-Functional
Requirements (NFR) applicable to the IER, i.e. traceability
This work allowed the consortium to start defining an ICD for information sharing and use it
to start the development work of each work package.
Messages for sending information regarding telemetry from assets and payloads were
defined, tasking commands, routes and missions, alerts, areas of interest, etc. This work is
described in more detail in section 3.5.
The Information Exchange Requirements can be found in the next page.

CAMELOT
Table 3 – Information exchange requirements

Product / Applicable
ID Format Remarks Info/Chart Sending Node Receiving Node Critical Timeliness
Action FR/NFR
Alert Data IER_ALERT_01 Text Msg AlertType Mental Workload Assessment UCS Yes Variable minutes to hours FR_SDS_07
IER_ALERT_02 Text Msg AlertType Sensor Projection UCS Yes Variable minutes to hours FR_SDS_07
FR_VDS_12
FR_VDS_13
3D Real Time Modeling and FR_VDS_14
IER_ALERT_03 Text Msg UCS alert AlertType UCS No Variable minutes to hours
Visualization FR_VDS_20
FR_VDS_22
FR_VDS_27
FR_VDS_12
FR_VDS_13
IER_ALERT_04 Text Msg Detection alert AlertType Sensing and Detection Module No Variable minutes to hours
FR_VDS_22
FR_VDS_27
FR_VDS_12
FR_VDS_13
FR_VDS_14
Augmented Reality and HMD
IER_ALERT_05 Text Msg UCS alert AlertType UCS No Variable minutes to hours FR_VDS_20
Visualisation
FR_VDS_22
FR_VDS_23
FR_VDS_27
FR_VDS_12
FR_VDS_13
FR_VDS_22
FR_VDS_27
FR_VDS_12
FR_VDS_13
IER_ALERT_07 Text Msg UCS alert AlertType UCS Mobile Applications No Variable minutes to hours FR_VDS_14
FR_VDS_20
FR_VDS_22
FR_VDS_12
FR_VDS_13
FR_VDS_22
FR_VDS_27
FR_SDS_07
IER_ALERT_09 Text Msg AlertType AIS/Radar/Video Correlation UCS No Variable minutes to hours
FR_SDS_11
Automatic Identification on video FR_SDS_03
IER_ALERT_10 Text Msg AlertType AIS/Radar/Video Correlation No Variable minutes to hours
Information FR_SDS_07
FR_SDS_04
FR_SDS_05
IER_ALERT_11 Text Msg AlertType AIS/Radar/Video Correlation Suspicious Behaviour detection No Variable minutes to hours
FR_SDS_06
FR_SDS_11
FR_SDS_03
IER_ALERT_12 Text Msg AlertType Suspicious Behaviour detection AIS/Radar/Video Correlation No Variable minutes to hours
FR_SDS_07
Asset Query IER_AQUERY_01 Text Msg QueryRequest Any Module UCS No Variable minutes to hours FR_AATC_02
Asset Query FR_AATC_02
Response FR_AATC_03
IER_AQRESP_01 Text Msg QueryResponse UCS Any Module No Variable minutes to hours
FR_AATC_09
FR_AATC_14

CAMELOT
Action FR/NFR
Asset
Register IER_AREG_01 Text Msg ConnectRequest Any Capable C2 Module UCS No Variable minutes to hours FR_AATC_01
Asset
IER_ASUBS_01 Text Msg SubscribeRequest Any Module UCS No Variable minutes to hours FR_AATC_01
Subscription
Flight Route FR_AATC_04
IER_FLIGHT_01 Text Msg RoutePath UCS UxV Yes Variable minutes to hours
FR_AATC_08
IER_FLIGHT_02 Text Msg Graph of Actions RoutePath Semantic Data Fusion Data Management and analytics No Variable minutes to hours FR_AATC_12
IER_FLIGHT_03 Text Msg RoutePath UCS Semantic Data Fusion No Variable minutes to hours FR_AATC_12
IER_FLIGHT_04 Text Msg RoutePath Mission Preparation Semantic Data Fusion Yes Variable minutes to hours FR_AATC_12
IER_FLIGHT_05 Text Msg Graph of Actions RoutePath Semantic Data Fusion Semantic Data Fusion No Variable minutes to hours FR_AATC_12
FR_AATC_12
IER_FLIGHT_06 Text Msg RoutePath UCS Mission Optimisation Yes Variable minutes to hours
FR_MRS_05
IER_FLIGHT_07 Text Msg RoutePath UCS Mission Preparation Yes Variable minutes to hours FR_AATC_12
IER_FLIGHT_08 Text Msg RoutePath Mission Preparation UCS Yes Variable minutes to hours FR_AATC_12
FR_AATC_12
IER_FLIGHT_09 Text Msg RoutePath UCS Mission Replanning Yes Variable minutes to hours
FR_MRS_08
FR_AATC_12
IER_FLIGHT_10 Text Msg Graph of Actions RoutePath Semantic Data Fusion Suspicious Behaviour detection No Variable minutes to hours FR_SDS_05
FR_SDS_06
Image Digital
IER_IMAGE_01 Digital UxV UCS No Variable multiple a sec FR_CAL_01
Products Imagery
Digital
IER_IMAGE_02 Digital UCS Data Management and analytics No Variable multiple a sec
Imagery
Digital
IER_IMAGE_03 Digital UCS UxV Tasking and Control No Variable multiple a sec FR_AATC_02
Imagery
Digital
IER_IMAGE_04 Digital UCS Sensor Tasking and Control No Variable multiple a sec FR_SDS_04
Imagery
Digital
IER_IMAGE_05 Digital UCS Platform Cross-Tasking No Variable multiple a sec
Imagery
Digital
IER_IMAGE_06 Digital UCS Sensor Projection No Variable multiple a sec
Imagery
FR_VDS_12
Digital Augmented Reality and HMD FR_VDS_13
IER_IMAGE_07 Sensor imagery Digital UCS No Variable multiple a sec
Imagery Visualisation FR_VDS_14
FR_VDS_20
Digital
IER_IMAGE_08 Digital UCS ATD of Full motion video No Variable multiple a sec FR_SDS_09
Imagery
Digital Automatic Identification on video
IER_IMAGE_09 Digital UCS No Variable multiple a sec FR_SDS_10
Imagery Information
Module
IER_MODREG_01 Text Msg ConnectRequest Any Module UCS No Variable minutes to hours FR_AATC_01
Register
Overlay IER_OVERLAY_01 Text Msg AreaOfInterest Data Management and analytics UCS No Variable minutes to hours FR_DMA_04
FR_CIS_04
IER_OVERLAY_09 Text Msg AreaOfInterest UCS CISE Interface No Variable minutes to hours
FR_CIS_05
IER_OVERLAY_10 Text Msg Search area AreaOfInterest 3D real time modeling and visualization UCS No Variable minutes to hours FR_VDS_22
Search area (from Augmented reality and HMD
IER_OVERLAY_11 Text Msg AreaOfInterest UCS No Variable minutes to hours FR_VDS_22
UI) Visualisation
IER_OVERLAY_12 Text Msg AreaOfInterest CBRN Sensor correlation UCS No Variable minutes to hours FR_SDS_07
IER_OVERLAY_14 Text Msg AreaOfInterest ATD of Full motion video UCS No Variable minutes to hours FR_SDS_09

CAMELOT
Action FR/NFR
Sensor FR_AATC_10
Tasking EoIrSensorType
IER_SENTASK_01 Text Msg UCS UxV Yes Variable minutes to hours FR_AATC_12
LaserSensorType
FR_AATC_13
Sensor FR_AATC_10
Telemetry EOIRStatusRptType
IER_SENTEL_01 Text Msg UxV UCS No Variable multiple a sec FR_AATC_12
SarStatusRptType
FR_AATC_13
FR_VDS_12
EOIRStatusRptType Augmented Reality and HMD FR_VDS_13
IER_SENTEL_02 Text Msg UCS No Variable multiple a sec
SarStatusRptType Visualisation FR_VDS_14
FR_VDS_20
EOIRStatusRptType
IER_SENTEL_03 Text Msg UCS Data Management and analytics No Variable multiple a sec FR_AATC_04
SarStatusRptType
EOIRStatusRptType
IER_SENTEL_04 Text Msg UCS UxV Tasking and Control No Variable multiple a sec FR_SDS_04
SarStatusRptType
EOIRStatusRptType
IER_SENTEL_05 Text Msg UCS Sensor Tasking and Control No Variable multiple a sec
SarStatusRptType
EOIRStatusRptType
IER_SENTEL_06 Text Msg UCS Platform Cross-Tasking No Variable multiple a sec
SarStatusRptType
EOIRStatusRptType
IER_SENTEL_07 Text Msg UCS Sensor Projection No Variable multiple a sec
SarStatusRptType
Tasking IER_TASK_01 Text Msg VehicleWaypointActionType UCS UxV Yes Variable minutes to hours FR_AATC_05
IER_TASK_02 Text Msg VehicleWaypointActionType Mission Optimisation Semantic Data Fusion Yes Variable multiple a sec FR_MRS_05
IER_TASK_03 Text Msg VehicleWaypointActionType Mission Preparation Semantic Data Fusion Yes Variable multiple a sec
IER_TASK_04 Text Msg VehicleWaypointActionType Mission Replanning Semantic Data Fusion Yes Variable multiple a sec FR_MRS_08
IER_TASK_05 Text Msg VehicleWaypointActionType UxV Tasking and Control UCS Yes Variable multiple a sec FR_AATC_03
FR_AATC_09
IER_TASK_06 Text Msg VehicleWaypointActionType Automatic Sensor Management UCS Yes Variable multiple a sec
FR_AATC_10
IER_TASK_07 Text Msg VehicleWaypointActionType Sensor Tasking and Control UCS Yes Variable multiple a sec
IER_TASK_08 Text Msg VehicleWaypointActionType Platform Cross-Tasking UCS Yes Variable multiple a sec
FR_MRS_03
IER_TASK_09 Text Msg VehicleWaypointActionType Mission Optimisation UCS Yes Variable multiple a sec
FR_MRS_05
FR_MRS_01
IER_TASK_10 Text Msg VehicleWaypointActionType UCS Mission Preparation Yes Variable multiple a sec
FR_MRS_02
IER_TASK_11 Text Msg VehicleWaypointActionType Mission Preparation UCS Yes Variable multiple a sec FR_MRS_03
FR_MRS_01
IER_TASK_12 Text Msg VehicleWaypointActionType UxV Tasking and Control Mission Preparation Yes Variable multiple a sec FR_MRS_02
FR_MRS_04
IER_TASK_13 Text Msg VehicleWaypointActionType Automatic Sensor Management Mission Preparation Yes Variable multiple a sec
IER_TASK_14 Text Msg VehicleWaypointActionType Mission Replanning UCS Yes Variable multiple a sec FR_MRS_08
Task command Augmented reality and HMD
IER_TASK_15 Text Msg VehicleWaypointActionType UCS Yes Variable multiple a sec
(from UI) Visualisation
Telemetry IER_TELDATA_01 Text Msg KinematicPlatformInfo UxV UCS No Variable multiple a sec FR_AATC_10
Data IER_TELDATA_02 Text Msg KinematicPlatformInfo UCS Data Management and analytics No Variable multiple a sec FR_DMA_05
FR_CIS_04
IER_TELDATA_03 Text Msg KinematicPlatformInfo UCS CISE Interface No Variable multiple a sec
FR_CIS_05

CAMELOT
Action FR/NFR
IER_TELDATA_04 Text Msg SystemType UCS Resource Availability Mapper Yes Variable minutes to hours
IER_TELDATA_05 Text Msg KinematicPlatformInfo UCS UxV Tasking and Control No Variable multiple a sec FR_AATC_02
FR_SDS_01
IER_TELDATA_06 Text Msg KinematicPlatformInfo UCS Automatic Sensor Management No Variable multiple a sec FR_SDS_02
FR_SDS_04
IER_TELDATA_07 Text Msg KinematicPlatformInfo UCS Sensor Tasking and Control No Variable multiple a sec FR_SDS_04
IER_TELDATA_08 Text Msg KinematicPlatformInfo UCS Platform Cross-Tasking No Variable multiple a sec
IER_TELDATA_09 Text Msg KinematicPlatformInfo UCS Mission Optimisation No Variable multiple a sec FR_MRS_05
IER_TELDATA_10 Text Msg KinematicPlatformInfo UCS Mission Replanning No Variable multiple a sec FR_MRS_06
IER_TELDATA_11 Text Msg KinematicPlatformInfo UCS Sensor Projection No Variable multiple a sec
FR_VDS_12
FR_VDS_13
IER_TELDATA_12 Text Msg Sensor footprint KinematicPlatformInfo UCS No Variable multiple a sec
FR_VDS_25
FR_VDS_27
FR_VDS_12
FR_VDS_13
Augmented Reality and HMD FR_VDS_14
IER_TELDATA_13 Text Msg Sensor footprint KinematicPlatformInfo 3D real time modeling and visualization No Variable multiple a sec
Visualisation FR_VDS_20
FR_VDS_25
FR_VDS_27
FR_VDS_12
FR_VDS_13
Entity/sensor
IER_TELDATA_14 Text Msg KinematicPlatformInfo UCS Mobile Applications No Variable multiple a sec FR_VDS_14
pos/orient info
FR_VDS_20
FR_VDS_25
IER_TELDATA_15 Text Msg KinematicPlatformInfo UCS AIS/Radar/Video Correlation No Variable multiple a sec FR_SDS_04
IER_TELDATA_16 Text Msg KinematicPlatformInfo UCS CBRN Sensor correlation No Variable multiple a sec FR_SDS_04
Vehicle Info IER_VINFO_01 Text Msg SystemType UCS Network Security No Variable minutes to hours FR_SAM_02

CAMELOT
3.3 Principles and best practices

Developing solid and well-designed Software is a challenge. Systems and environments
become more complex and technologies change fast. Developers with years of experience
have the advantage over younger colleagues of having made many mistakes over the time.
Mistakes they used to learn and write better applications next time.
It is known to experienced developers that it is not possible to simply give experience to

inexperienced developer. It is a known fact that developer must acquire such experience with
practice. However, what one can do is to provide "best practices", making some of the good
and bad decisions from concrete projects abstracted.
The following image shows a high-level vision of what best practices should cover, and
bellow some best practices will be pointed and detailed.
Figure 13 - Best practices high level overview
The development process needs to take in account and deal with the following:
 Select the methodology that best suits you. The development life-cycle depends
heavily on the process adopted. The waterfall model, agile methodology, iterative
spiral approach are all proven ways of achieving success. Selecting the one that suits
the specific project is of extreme importance.
 Define your goal in a matter of functionality, timescale and cost
 Before committing to delivering any functionality, you must establish deadlines and
available resources. Prepare an estimate of the work, and if it appears that your goals
are too ambitious, you should re-negotiate.
 Requirements that are outside of the plan should be made optional so that you can
work on them if time or funds allow
 Be flexible and, if possible, try and predict how goals will change, and the ways in
which these changes can be incorporated into your plan
 Produce a plan that addresses: design, implementation, testing and documentation

CAMELOT
 Approach goals iteratively. If possible, deal with the highest priority and highest risk
requirements first. Each iteration should be seen as a mini project, and should
produce a testable product. Obtain feedback from the stakeholders of the project.
Review the goals with your stakeholders, assess whether you have met the
requirements and start the next iteration
 Software Patterns describe how to solve typical problems that appear in many
application scenarios in similar ways. These patterns can be seen as abstracted
knowledge that guides you in better solving your concrete problems.
 As most development efforts are done in teams, often even distributed: Setup and
configure various groupware applications (source code management, bug-tracking,
mailing lists, other collaboration tools)
 Define the dependencies of the applications: which libraries or subsystems are
needed, what are the connections between these, how are they initialised and
configured and what libraries are the libraries depending on
 Figure out and setup the best suited platform and basic environment for the
application (component management and configuration, logging, testing, other
development-related tools)
 Find a fitting persistence technology, setup the development, test and production
system including all configuration options
 Select the UI technology and get all required additional libraries and environments
working together
 Get all components working properly together and understand how they interact
correctly
 Code review is an indispensable way of promoting code quality.
These are just some of the problems to take into consideration when developing a system
like CAMELOT. We can see, that the pure "setup" of a working environment to start from,
needs a lot of experience and knowledge. Select the proper tools and libraries to start with,
getting them running together and so on.
3.4 Operating system

One of the biggest challenges of CAMELOT is to interconnect all modules and services and
make them communicate and exchange information amongst themselves to better provide
data to the user and also to provide a more reliable decision support environment base on all
collected data.
Having such a heterogeneous environment where each partner can use its own developing
language and operating system created a challenge on how to connect everything together
and allow all this interoperability to work.
3.4.1 Docker
In order to facilitate integration and mitigate compatibility issues between CAMELOT’s
different service modules, the CAMELOT development team studied the possibility to
implement CAMELOT Operational System (OS) using Docker technology.
Docker is a computer development platform that leverages operating-system-level

virtualization for creating, deploying and running applications using containers. The idea
behind Docker is that an application can be configured as a Docker infrastructure that
permits the deployment of a set of Docker containers, each of them corresponding to a

CAMELOT
specific service and running in a separate environment. This technology offers a lot of
advantages among which:
 Versioning, that is we can have different versions in each container;
 An independent system since each service can be in one isolated container, that way
it’s easy to update, create or deploy new services without compromise a whole;
 Multiple instances of the application;
 All services are included in one place;
 Maintaining consistency is a lot easier;
 It is possible to define a local development environment that is exactly like a live
server, running multiple development environments working with the exact same
settings eliminating the need for a development team to have the same versions of
everything installed on their machine.
And last but not least one of the main advantages of using such platform relative to using
virtual machines is that, whereas virtual machines are an abstraction of physical hardware,
that require a full copy of an operating system, the application code and necessary binaries
and libraries, containers virtualize the operating system instead of physical hardware,
packaging software and dependencies together into a standardized unit that includes
everything it needs to run. Docker allows for multiple containers to be run in the same
machine, while sharing the OS kernel while running isolated processes in user space.
Figure 14: Comparison between Containers and Virtual Machines
A container is launched by running a container image that is a lightweight, standalone,

executable package of software that bundles everything needed to run an application (OS,
software, application code and configuration files) in a single file. The container image is
defined by a “Dockerfile” that is text file with the list of steps necessary to create the image
(configure OS, install required software, copy project files, etc). Once the Dockerfile is
finished, it is built into an image deployed to form a container.
Dockerfile Image Container

Figure 15 – Container development process
In a distributed application, like CAMELOT, different pieces of the application are called
services. For example, it will include services (and sets of sub-services) for each developed
module, a service for the front-end and service that will work in the background such as

CAMELOT
communications, data management or semantic fusion. Docker allows for these different
services to be defined and run within Docker platform using Docker compose.
3.4.2 Operating sytem decision

To decide a common operating system for CAMELOT to run could limit some of the choices
in the overall outcome of the project and could also limit some of the functionalities projected
in proposal time. This needed to be overcome in the smoothest way possible and so the
consortium had some discussions on it to decide how to proceed.
Docker, apart from being a good solution, was not consensual and would be only required if
some deployment and communication restrictions were imposed to the consortium by the
end users during usage of CAMELOT. Since this was not the case, the consortium decided
to go in a different direction and run each component in separate physical location and
having a common Middleware to handle all communications between different modules.
Also, this can prove scalability of the system for having other modules on different locations
connecting to CAMELOT in the future.
3.5 Middleware
Before going into detail regarding the several options for middleware, it is important to
understand the definition of middleware. In this sense, middleware can be defined as
(Techopedia Inc., 2018):
A computer software layer situated between applications

and operating systems that are typically used in
distributed systems where it simplifies software
development by i) hiding the intricacies of distributed
applications, ii) hiding the heterogeneity of hardware,
operating systems and protocols, iii) providing uniform
and high-level interfaces used to make interoperable,
reusable and portable applications, and iv) providing a set
of common services that minimize duplication of effort
and enhance collaboration between applications.
From this description it is clear that, in order to minimize effort and maximize added value for
the CAMELOT system, the consortium should deploy a middleware solution, namely a
message-oriented middleware solution that supports the transmission of messages between
distributed systems, allows service modules (applications) to be shared over disparate
platforms, and reduces the complexity and effort required for the development of applications
for multiple operating systems and network protocols. Given the fact that there are multiple
solutions available in the industry, in order to choose the most suitable for CAMELOT, a
benchmark had to be done to understand the pros and cons of the usage of each solution.
Several discussions among the partners through e-mail and physically in Technical Meeting
3 (TM3) have narrowed down the list of possible candidates for the CAMELOT middleware to
the following 7 solutions:
 DDS

CAMELOT
 ECOA (proposed by the NATO Industry Advisory Groups with studies SG-157 and SG-
202, who faced the same issues that CAMELOT is currently looking at and is)
 JAUS
 Kafka
 RabbitMQ + JSON
 ZeroMQ + Protocol Buffers
To allow the consortium to make an educated decision on the middleware solution, a
benchmark analysis was made of each one of the above presented solutions. This
benchmark takes into account a set of requirements that are defined in sub-section 3.3.1.
3.5.1 Requirements
The present section contains the middleware requirements defined for the CAMELOT
system. To reach the list of requirements, some assumptions had to be made, namely the
fact that the system will be networked, using Ethernet, but with direct visibility of all hardware
items. This means that all external components will be connected using adapters, with the
suitable data link/connection/encryption is required, and thus the requirements for these
connections are not relevant for the present deliverable.
Additionally, not all requirements defined here must be satisfied by middleware capability.
Some can be implemented on top of middleware, such as common discovery topic in
pub/sub middleware, or to the side, e.g. using video streaming server for handling video
streams, and middleware to configure it.
Finally, it is important to highlight that requirements have different levels of importance

assigned, with “Mandatory” meaning that it is actually required from middleware, “Optional”
indicating that it can be otherwise implemented easily without support in middleware, and
“Nice to have” describing other beneficial features. There is also “soft” level of importance,
used for requirements that are not properly defined at this stage. In those we look at what
middleware can provide us with. The importance scale is defined below, for clarity:
 Mandatory – required for CAMELOT project
 Optional – would be used in CAMELOT project if provided by middleware, but can be
implemented separately or provided by other external component.
 Nice to have – useful features that are not required by CAMELOT, but could be
useful for implementation.
 Soft – requirements that are impossible to clearly quantify if are satisfied or not at this
stage. Those have to be elaborated and will be later on analysed by CAMELOT team.
Table 3 presented below compiles the final list of requirements for the middleware solution to
be implemented in CAMELOT.

CAMELOT
Table 4 – General requirements

No
Requirement Source Rationale Importance Comments
G1 Modularity Project Middleware should Mandatory
objectives support modularity and
make it easy to develop
modular
components/services.
This is a general property
that is beneficial to all
software that faces
updates, extensions and
code maintenance.
G2 Scalability Project Middleware should be Mandatory
objectives scalable in terms of
number of components,
transmitted messages,
message types.
Middleware should
facilitate dynamic addition
and removal of
components.
G3 Service oriented UCS/SG1 Middleware should Mandatory The CAMELOT
57/SG202 support means of remote architecture is service
procedure calling, i.e. oriented.
providing response back
for outgoing
communication
G4 Publish and SG202 Components connected Mandatory Publish-subscribe
subscribe through middleware architectures support
capability should be able to provide scalable, modular and
and receive data through dynamic systems.
declaring what they offer
and what they need
(publish and subscribe)
from the common
communication space.
G5 Standardisation Project The system would benefit Soft The consortium would
objectives if the middleware was like middleware to be
based on a standard that backed by some
is alive and well- approved standard
supported. Creating and supported by
solutions from scratch some standardisation
where standards are body.
available is prone to
multiple levels of error
(including design) and
moves the project away
from possible integration
and cooperation with
other systems.
G6 Service registry SG202 Capability of registering Optional Applicable to services,
and reading list of platforms and
available services, also payloads.

CAMELOT
No
reading topics/messages Service oriented
available for them architecture plus
“dynamic addition and
removal of
components” makes
this requirement
mandatory, but service
registry can be
implemented on top of
middleware.
G7 Lifecycle We should have common Optional
definition way to configure and start
each component/service.
This way it is easier to
satisfy order of launching,
application of common
parameters, and run
dependencies.
G8 Lifecycle Middleware should Optional
monitoring provide generic way of
monitoring
component/service state.
This empowers
robustness of solutions
built on top of the
middleware.
G9 Networked Capability of working over Mandatory
standard Ethernet
connection.
G10 Cross platform Platforms Middleware should work Mandatory
(Operating used on Linux and Windows
systems) within the operating systems.
project
G11 Cross platform Language Soft
(Programming s used in
language) projects
G12 Notification For changes in model Nice to have For changes in model
capability
G13 Control service Taking control of assets in Nice to have For control authority
safe way is required. over particular service
System should know who or component
is in control.
It would be beneficial if
the middleware supported
control authority over
components/services at
least on one of levels of
granulity (i.e. per service
or per topic).
G14 Mechanism for Interfaces have to be well Optional Some kind of interface
defining defined to facilitate easier description method.
messages and integration. In future this should be
services automatically derived

CAMELOT
No
from model.
G15 Configuration Nice to have
parameters
storage
G16 Quality of Soft
service
G17 Multicast Soft
capability
G18 Support of low Soft
level protocols
G19 Video and high Soft This might be subject
bandwidth of another analysis, as
stream handling. handling of high
bandwidth stream is
complex issue.
Video streaming can,
and frequently is
handled by separate
mechanism.
This also requires Best
Effort quality of service
if the video is to be
viewed live.
Table 5 – Performance requirements
No Requirement Source Rationale Importance Comments

P1 Real time Controlled latency on No requirement for
capability levels lower than 200ms direct control over
asset (Think driving
with joystick), but we
want fast decision
making.
This is a larger term
than just latencies, and
here we mean soft
real-time requirement.
P2 Bandwidth 50Mbit Capable of handling of
capability few h264 FullHD video
streams (approx.
8Mbps).
Table 6 – Security requirements

S1 Signing of Authentication
messages certificates
S2 Encryption of
messages
S3 Key exchange
mechanisms

CAMELOT
Table 7 – Non-technical / soft requirements

N1 Good licence on Middleware license
library should be permissive for
all required uses within
the project
N2 Commercial This is especially
support important if a tailored
extension or
optimization of
functionality is required
N3 Popularity in Whether debugging
wild problems or having need
for updates of
middleware, a middleware
with large and active
community is superior.
N4 Project partners Costs of implementation
familiarity and of components on top of
experience the middleware are lower
if partners have already
got some experience with
the technology.
3.5.2 Middleware solutions
3.5.2.1 DDS
DDS provides a publish/subscribe transport. DDS uses the Interface Description Language
(IDL) as defined by the Object Management Group (OMG) for message definition and
serialization. The default discovery system provided by DDS, which is required to use DDS’s
publish/subscribe transport, is a distributed discovery system. This allows any two DDS
programs to communicate without the need for a central entity. This makes the system more
fault-tolerant and flexible. It is not required to use the dynamic discovery mechanism,
however, as multiple DDS vendors provide options for static discovery. DDS provides a
request/response style transport through DDS-RPC (Remote Procedure Call over DDS)
(Woodall, ROS on DDS, 2018).
DDS has met the needs of manifold use cases, ranging from battleships to flight and space
systems, utility installations to train switchboard systems, with DDS users praising its
reliability and flexibility. While flexibility comes at the cost of complexity, this is particularly
addressed via a dedicated specification: The DDS wire specification (DDSI-RTPS) is
extremely flexible, allowing it to be used for reliable, high-level systems integration as well as
real-time on embedded devices. Resulting from this flexibility, several of the DDS vendors
have special implementations of DDS for embedded systems which boast specs related to
library size and memory footprint on the scale of tens or hundreds of Kilobytes (Kbs)
(Woodall, DDS and ROS middleware implementations - ROS 2 and different DDS/RTPS
vendors, 2018).
Since DDS is implemented, by default, on UDP, it does not depend on a reliable transport or
hardware for communication. This means that DDS implements reliability and transport

CAMELOT
control independently (basically TCP plus or minus some features), but in exchange DDS
gains portability and control over the behaviour. A mechanism to specify the characteristics
of message exchange, what DDS calls Quality of Service (QoS), gives maximum flexibility in
controlling the behaviour of communication.
3.5.2.2 ECOA
The European Component Oriented Architecture (ECOA) seeks to exploit architectural
concepts and systems engineering techniques that are already widespread in other industry
sectors in the development of complex information systems. It is intended to be used by
processes that produce component-based software and/or loosely-coupled, service-oriented
architectures, and should be applied using model driven development.
ECOA provides the ability to develop statically-defined Publish-Subscribe data-oriented

architectures. These approaches offer increased flexibility, but ECOA also recognizes the
need for rigorous qualification and certification in the target software environment.
ECOA allows for the:
 Deployment of ECOA technology on a variety of hardware and software platforms;
 Integration of ECOA applications with non-ECOA applications.
3.5.2.2.1 Architectural Design and the Assembly Schema

The architecture of an ECOA based system is defined from a Component and Service
Oriented Architecture (SOA) perspective.
A system’s architecture is assembled by linking Components together according to SOA
principles:
 In defining the interactions between Application Software Components (ASCs), a
requirer of a Service and the provider of that Service will refer to a common Service
Definition.
 Quality of Service attribute compatibility is taken into consideration when constructing
Service Links.
Component
A
Component
A
Component
A
Component
A
Service Link
Figure 16 – Simplified representation of an assembly schema
An Assembly Schema comprises the set of declarative artefacts that are created during this
design process. The Figure above shows a diagrammatic representation of an Assembly
Schema for a simple system comprising four Components and three Service Links.

CAMELOT
A designer may decide to create new Service and Component Definitions, but will typically
consider pre-existing Components and Services that could fulfil the system’s functional
requirements, and will model how these should be linked together. Though existing ASC
Implementations may be differentiated in terms of QoS (which will always be implementation-
specific) they may come with some particular Insertion Policies, this phase of design is
broadly technology agnostic.
The final stages of design must accommodate the physical computing environment. A
Deployment Schema is used to define how the executables within an ECOA Software
System are to be distributed across its computing nodes.
3.5.2.3 JAUS
The Joint Architecture for Unmanned Systems (JAUS) is an international standard belonging
to the Society of Automotive Engineers (SAE) that defines communication protocols for
unmanned systems, some of their internal components, and their interaction with control
stations. The standard defines a messaging format for the transfer of data between services
of unmanned systems, as well as sets of standard services, which describe specific
functional components for various unmanned systems capabilities (OpenJAUS, 2017).
JAUS encompasses specifications for communication using UDP, TCP and serial based
data, which standardize the basic format in which JAUS messages will be “physically”
transported. In addition, it defines data structures for services, messages and protocol,
through the employment of JAUS Service IDL (JSIDL), which provides a precise XML
schema. In JSIDL, a service is defined as a particular set of input and output messages,
alongside with a protocol state machine that administers how the messages are to be
received, processed and sent. This eliminates the ambiguity in service and message
interpretation, making validation of code possible. Finally, the JAUS middleware possesses
publish – subscribe mechanisms, which are very relevant for CAMELOT, as well as basic
access control-based security services (OpenJAUS, 2017).
3.5.2.4 Kafka
Kafka is a distributed messaging system originally built at LinkedIn and is currently part of
the Apache Software Foundation. It is used by a multitude of companies around the world,
in particular the Silicon Valley IT Giants (e.g. Twitter, Netflix, Spotify, Uber, Cisco, Goldman
Sachs, Paypal, Airbnb) (Rao & Kreps, 2016).
The general architecture of Kafka is extremely simple. In this messaging system, Producers
send records to the Cluster which holds on to these records and hands them out to
Consumers. The Kafka architecture is depicted in Figure 15, below, in a very simplified way
(Kreeps, 2014).

CAMELOT
Figure 17 – Kafka simplified architecture (Kreeps, 2014)
The key abstraction in Kafka is the Topic, which is solely a shared write-ahead log. In Kafka
Producers publish their records to a Topic, and Consumers subscribe to one or more Topics.
Additionally, Producers add records (key/value pair, where the key is used assigning the
record to a log partition) to these logs and Consumers subscribe to changes. Figure 16
depicts the partition log that each Kafka cluster maintains (Apache Software Foundation,
2017).
Figure 18 – Anatomy of a Topic in Kakfa (Apache Software Foundation, 2017)
Figure 16 shows the Producer process of appending to the logs for the three partitions. Each
partition is an ordered, immutable sequence of messages that is continually appended to a
commit log. Each record in the log has an associated entry number that it’s called Offset
(used by the consumer to describe its position in each of the logs). These partitions are
spread across a cluster of machines, allowing a Topic to hold more information than can fit
onto a single machine (Kreeps, 2014).
It is important to highlight that, unlike most messaging systems, the log is always persistent.
Messages are immediately written to the filesystem when they are received, and are not
deleted when they are read but instead retained with some configurable Service Level
Agreement (SLA), for a short period of time (a few days or even a week)). In a nutshell, the

CAMELOT
Kafka cluster retains all published messages (regardless of having been consumed or not)
for a configurable period of time (Kreeps, 2014)(Apache Software Foundation, 2017).
This makes Kafka able to support space-efficient publish/subscribe features as there is a

single shared log regardless of the number of Consumers – in traditional messaging systems
there is usually a queue per Consumer, so adding one doubles your data size. Therefore,
one can clearly understand that Kafka is a good fit for applications outside the bounds of
normal messaging systems, such as acting as a pipeline for offline data systems. These
offline systems may load only at intervals as part of a periodic Extract, Transform, Load
(ETL) cycle, or may go down for several hours for maintenance, during which time Kafka is
able to buffer up to Terabytes (Tbs) of unconsumed data if needed (Kreeps, 2014).
In addition, Kafka also replicates its logs over multiple servers to achieve fault-tolerance. One
important aspect of the replication implementation, in contrast to other messaging systems,
is that replication is not an exotic bolt-on that requires complex configuration, only to be used
in very particular cases. Instead replication is assumed to be the default – in fact, Kafka
treats un-replicated data as a special case where the replication factor happens to be one
(Kreeps, 2014).
At a high-level, Kafka gives the following guarantees (Apache Software Foundation, 2017):
 Messages sent by a Producer to a particular Topic partition will be appended in the
order they are sent;
 A Consumer instance sees messages in the order they are stored in the log;
 For a Topic with replication factor N, Kafka tolerates up to N-1 server failures without
losing any messages committed to the log.
3.5.2.5 RabbitMQ with JSON

RabbitMQ is a message-queuing software called a message broker or queue manager.
Queues can be defined and applications may connect to the queue and transfer their
messages onto it. Every queue is characterised by a topic; this is what the participating in the
exchange of information applications need to know in order to begin communicating.
Applications can connect to each other, as components of a larger application, or to user
devices and data. Messaging is asynchronous, decoupling applications by separating
sending and receiving data.
A message exchanged through RabbitMQ can include any kind of information. The structure
of the data depends on the two (or more) applications that are involved in the data exchange.
The queue-manager software stores the messages until a receiving application connects and
takes a message off the queue. The receiving application then processes the message in an
appropriate manner.
Figure 19 – RabbitMQ message architecture
The basic architecture of a message queue is simple; client applications called producers
create messages and deliver them to the broker (the message queue). Other applications,
called consumers, connect to the queue and subscribe to the messages to be processed. An

CAMELOT
application can be both a producer and a consumer, depending on the communication

requirements. Messages placed onto the queue are stored until the consumer retrieves
them. It is obvious that the use of RabbitMQ requires the existence of a central broker node
(or a cluster of nodes), which may be a drawback in some cases. However, the existence of
a central broker along with the routing/exchange components that RabbitMQ offers, allow for
the design of extremely complex flows of information, where a message bus is needed to
transfer data between many consumers/producers.
RabbitMQ focuses on reliability rather than on speed; connections between applications are
over TCP, therefore transport control is of outmost significance. RabbitMQ offers a variety of
features to let you trade off performance with reliability, including persistence, delivery
acknowledgements, publisher confirms, and high availability. However, notifications and
message streaming is handled very effectively by RabbitMQ, allowing for pushing of
thousands of messages per second, making it ideal for real time applications where
circumstantial loss of critical data is not an option. Scalability wise, message queuing is the
key to make an application scale. As the workload goes up you only have to add more
workers to work off the queues faster. As for high availability, queues can be mirrored across
several machines in a cluster, ensuring that even in the event of hardware failure your
messages are safe. Several messaging protocols are supported, with AMQP, STOMP,
MQTT and HTTP being among them.
What RabbitMQ does not offer in its core (QoS, cluster and service management, topic
discovery etc), is offered by several external plugins form third parties, allowing for flexibility
in the final configuration and placement in a system. One can even develop custom plugins
for RabbitMQ.
3.5.2.6 ZeroMQ with Protocol Buffers

ØMQ, also known as ZeroMQ, 0MQ, or zmq, was initially meant as "zero broker" and,
inherently as close to "zero latency" as possible. Since then, it has come to encompass
different goals, namely zero administration, zero cost, and zero waste. In fact, the "zero"
refers to the culture of minimalism that is present in the project from its start. Through the
development of ZeroMQ, iMatix wanted to add power by removing complexity rather than by
exposing new functionality (iMatix Corporation, 2014). In this sense, what is Zero MQ? The
answer comes below.
ZeroMQ looks like an embeddable networking library but acts like a concurrency framework
connecting N-to-N Sockets (terminals of information, can be producers or consumers) that
carry atomic messages across various transports like in-process, inter-process, TCP, and
multicast. ZeroMQ has 5 basic messaging patterns for connecting Sockets. These basic
patterns (Synchronous Request/Response, Asynchronous Request/Response,
Publish/Subscribe, Push/Pull, and Exclusive Pair) are depicted in Figure 16, present in the
next page. These five patterns comprise the majority of methods to connect disparate parts
of a distributed system (iMatix Corporation, 2014)(Powell, 2015).
In terms of the capability of cross platform messaging, ZeroMQ has a multitude of language
APIs and runs on the majority of operating systems. Being the base implementation C/C++,
ZeroMQ has bindings for some 20-odd other languages and native implementations,
including Java and .Net (Powell, 2015).

CAMELOT
Synchronous Request – Push - Pull Exclusive Pair

Response
Asynchronous Request – Response Publish - Subscribe
Figure 20 – ZeroMQ messaging patterns (Powell, 2015)
Like RabbitMQ, ZeroMQ does not define its own IDL and does not have the capacity to offer
serialization. Therefore, it is common to employ a messaging protocol to extend the
middleware solution to incorporate serialization. Amongst the fastest messaging protocols
one can find Google’s Protocol Buffers. Figure 17 depicts a comparison of the bit rates of
four messaging protocols. One can clearly see that Protocol Buffers is among the fastest.
Figure 21 – Comparison of four messaging protocols for complex structures (eProsima, 2015)

CAMELOT
3.5.3 Benchmark
The present section contains the benchmarks of the above mentioned middleware solutions
according to the requirements defined in section 3.3.1.
3.5.3.1 DDS
Table 8 – DDS benchmark
Ref Description Benchmark

G1 Modularity Yes
G2 Scalability Yes
Easy to add new topics and define
messages
G3 Service oriented Yes
G4 Publish and subscribe capability Yes
G5 Standardisation Yes
Can standardise the messages used,
and DDS itself is standardised by
OMG.
G6 Service registry Yes
Advertises topics, but not services
G7 Lifecycle definition Yes
G8 Lifecycle monitoring Yes
Informs participants
G9 Networked Yes
G10 Cross platform (Operating systems) Yes
Windows & Linux and several RTOS
supported
G11 Cross platform (Programming language) Yes
C, C++, Java, C#, and Python
G12 Notification capability
G13 Control service Yes
Ownership QoS
G14 Mechanism for defining messages and Yes
services
G15 Configuration parameters storage Yes
G16 Quality of service Yes
Very good support for QoS options.
G17 Multicast capability Yes
G18 Support of low level protocols
G19 Video and high bandwidth stream handling Designed around streaming, so
handles high-bandwidth content
P1 Real time capability Yes
P2 Bandwidth capability Yes
Depending on underlying platform
support.
S1 Signing of messages Provides ability (not used/tested)
S2 Encryption of messages Provides ability (not used/tested)
S3 Key exchange mechanisms Provides ability (not used/tested)
N1 Good licence on library Needs further investigation.
FreeRTPS – partial open source
implementation

CAMELOT

RTI – research licenses options.
Free ‘OpenSplice’ version used by
BAES in (2009/2010).
N2 Commercial support Yes
N3 Popularity in wild Yes
Well-known and well-used
N4 Project partners familiarity and experience [BAES] Some experience in immediate
team, from several years ago
[PIAP] Some experience
3.5.3.2 ECOA
Table 9 – ECOA benchmark

G1 Modularity Yes
Highly modular, service-oriented
architecture.
G2 Scalability All services and components must be
defined at design-time. However,
dynamic connection of existing
components is supported.
Scalable component and module
instantiation and deployment.
ECOA is designed around this.
Using ‘Versioned Data’.
Messages created using pre-defined
ECOA types.
G6 Service registry Dynamic connection to services
supported, but only those in the pre-
designed assembly schema. Future
ECOA versions may support different
schema configurations.
Three service/module types:
- Normal functions
- Supervisor modules
- Triggered modules
G8 Lifecycle monitoring Availability of services provided through
a Supervisor module type.
G9 Networked Yes
Transport mechanism agnostic (using
ECOA Logical Interface).
Not bound to an operating system.
However, the open source version of
the infrastructure is bound to POSIX.

CAMELOT

G11 Cross platform (Programming language) Currently supports C/C++ and Ada.
G12 Notification capability Model must be entirely defined at
design-time.
G13 Control service A control service can be designed
(Supervisor module).
G14 Mechanism for defining messages and Uses XML to define assembly schema.
services GUI plug-ins exist to generate XML –
OSETS (Open Source ECOA Toolset)
– but not at “product” standard.
G15 Configuration parameters storage Provides a PINFO (“Persistent
Information”) mechanism (similar to a
simple file system).
G16 Quality of service QoS must be defined at design-time,
via the quality of the Service Links (but
isn’t guaranteed). Dynamic selection of
best path provided.
G17 Multicast capability Supports multiple subscribers to
pub/sub model.
G18 Support of low level protocols Independent of transport layer.
G19 Video and high bandwidth stream handling Does not preclude high-bandwidth
streams. Components can be
designed to use the transport
mechanism as they see fit.
P1 Real time capability Supports real-time operating systems
and behaviour.
P2 Bandwidth capability N/A
S1 Signing of messages Not in core functionality.
S2 Encryption of messages Not in core functionality.
S3 Key exchange mechanisms Not in core functionality.
N1 Good licence on library Open source architecture.
Open source OSETS available, but not
at mature standard.
N2 Commercial support “In-house” (BAES & TDMS are
partners).
N3 Popularity in wild Not widely used. Still in development.
N4 Project partners familiarity and experience Not used in practice, however,
engineers within BAES & TDMS have
helped develop the standard.
3.5.3.3 JAUS
Table 10 – JAUS benchmark

G1 Modularity Yes
G2 Scalability Yes
Easy with tools dedicated for
generating and designing new
messages and services like JTS (JAUS
Toolset) or OJSS (for OpenJAUS).

CAMELOT

Otherwise it is time consuming.
Standards are owned and developed
by the Society of Automotive Engineers
(SAE) under the Aerospace Standards
Unmanned Systems Steering
Committee (AS-4)
G6 Service registry Partially
Some implementations like OpenJAUS
provide runtime configuration of
addresses and dynamic connection to
services
G8 Lifecycle monitoring Yes (allows to establish whether
another component is online and
responding to message
communication)
G9 Networked Yes
(Windows, Linux)
C++ (Open JAUS)
C++, C#, Java (JTS)
other programming languages allowed
but require own implementation
G12 Notification capability Yes
G13 Control service Yes
G14 Mechanism for defining messages and Yes (JSIDL - XML schema that can be
services used to design JAUS services,
implemented in both OpenJAUS and
JTS)
G15 Configuration parameters storage No
G16 Quality of service Partially
Then DDS is used as low level protocol
G18 Support of low level protocols Yes (UDP, TCP, Serial, DDS)
G19 Video and high bandwidth stream handling. No
Depending on underlying platform
support.
S1 Signing of messages No, should be handled prior to
message transmission
S2 Encryption of messages No, should be handled prior to
S3 Key exchange mechanisms No, should be handled prior to
N1 Good licence on library OpenJAUS (commercial license
required for commercial, government

CAMELOT

and academic projects)
JTS – Free Software
under the BSD License
Well-known and well-used
N4 Project partners familiarity and experience [PIAP] Experience with JAUS on
ground vehicles. (Using OpenJAUS)
3.5.3.4 Kafka
Table 11 – Kafka benchmark

G1 Modularity Yes
G2 Scalability Partially
Written to disk, whose structures were
made to scale, i.e. Kafka will perform
the same whether there is 50 Kb or
50Tb of persistent data on the server
In terms of processing, if one uses
queuing then processing can be
divided over multiple consumer
instances, which lets you scale your
processing, however if one uses
publish-subscribe it is not possible to
scale processing since every message
goes out to all subscribers
Based on a broker architecture, in
which the broker (Kakfa Cluster) holds
the information published by the
Producers and sends to the
Consumers upon request
G5 Standardisation No
G6 Service registry Yes, requires ZooKeeper
G7 Lifecycle definition Yes, requires ZooKeeper
G8 Lifecycle monitoring Yes, requires ZooKeeper
G9 Networked Yes
Mac, Linux and Windows
(C#, Java, C, Python, Ruby, amongst
others)
G12 Notification capability Yes
In Kafka, Consumers subscritve to
Topics and the broker constantly
publishes changes to these
G13 Control service

CAMELOT

services HTTP and JSON IDL
G15 Configuration parameters storage Yes, requires ZooKeeper
G18 Support of low level protocols Yes
Only TCP (Non-blocking IO)
G19 Video and high bandwidth stream handling Not the best option. Kafka was made
for message streaming not video
Kafka enables real-time processing of
Streams
S1 Signing of messages Yes, using SSL or SASL (CSSAPI,
PLAIN, SCRAM-SHA-256, and
OAUTHBEARER)
S2 Encryption of messages Yes, using SSL
S3 Key exchange mechanisms Yes, SSL keys and certificates
N1 Good licence on library Yes
Apache Software Foundation offers
extensive documentation on Kafka
N3 Popularity in wild Employed by large IT companies with
highly distributed systems (e.g. Spotify,
Uber, Twitter, Paypal, Netflix)
N4 Project partners familiarity and experience
3.5.3.5 RabbitMQ with JSON

Table 12 – RabbitMQ with JSON benchmark

G1 Modularity Yes
G2 Scalability Yes
Easy to add new topics and define
messages.
New broker and exchange nodes can
be added dynamically, accomplishing
communication with an internal
discovery mechanism. Broker
architecture, meaning that messages
are queued on a central node before
being sent to clients.
This approach makes RabbitMQ very
easy to use and deploy, because
advanced scenarios like routing, load
balancing or persistent message
queuing are supported in just a few
lines of code. However, it also makes
it less scalable and “slower” because

CAMELOT

the central node adds latency and
message envelopes are quite big.
RabbitMQ implements the
standardised 0.9 version of AMQP
standard
G6 Service registry Dynamic connection to services is
supported, but only for predefined
ones. At runtime, new topics may be
dynamically created, only configured
clients can be connected though
G8 Lifecycle monitoring Yes (via management plugins or other,
third party management tools)
G9 Networked Yes
(Windows, Linux flavors, MacOS)
(.NET, Java, Ruby, Python, Rails,
Objective-C, PHP, Scala, Groovy,
Javascript, C/C++, Go, Erlang, Haskell,
Perl)
G12 Notification capability Notification mechanisms exist for
various events in the system lifecycle
G13 Control service Yes (via management plugins)
G14 Mechanism for defining messages and Yes (schema definition is possible via
services XML or JSON configuration)
G15 Configuration parameters storage Yes
G17 Multicast capability Yes (Supports multiple subscribers to
pub/sub model)
G18 Support of low level protocols YES (TCP only)
G19 Video and high bandwidth stream handling No, should not be used for high
bandwidth, streaming applications
P1 Real time capability Yes (although reliability comes first)
P2 Bandwidth capability Yes, depending on underlying platform
support.
S1 Signing of messages No, should be handled prior to
S2 Encryption of messages No, should be handled prior to
S3 Key exchange mechanisms
N1 Good licence on library Mozilla Public License
Multiple vendor support
N4 Project partners familiarity and experience [EXODUS] Some current experience in
the immediate team

CAMELOT
3.5.3.6 ZeroMQ with Protocol Buffers

Table 13 – ZeroMQ with Protocol Buffers benchmark

G1 Modularity Yes
G2 Scalability Very lightweight messaging system
specially designed for high
throughput/low latency scenarios like
the one you can find in the financial
world. ZeroMQ supports many
advanced messaging scenarios but
contrary to RabbitMQ, you’ll have to
implement most of them yourself by
combining various pieces of the
framework
G4 Publish and subscribe capability Focuses more on enabling fast and
reliable business transactions
AMQP is a wire-protocol specification.
Its key goal is to enable interoperability
between different implementations of
the AMQP specification. System
designers, then, can integrate modules
built with different products
G6 Service registry Partially
Lacks discovery
G7 Lifecycle definition
G8 Lifecycle monitoring No
Message durability is inexistent
Does not support message persistence
after crashes or reboots
G9 Networked
Linux, Windows
Client APIs for the most common
languages (e.g. C++, Java, .Net,
Python, Php, Ruby). AMQP does not
consider the API. Some
implementations use Java Messaging
Service (JMS), but this applies only to
Java and is not tied directly to the
protocol features
G12 Notification capability
G13 Control service
services Schema definition is possible via XML
or Protocol Buffers configuration
Low level APIs are in C

CAMELOT

G15 Configuration parameters storage
Good
Through PGM
G18 Support of low level protocols Yes
TCP, UDP, Shared Memory
G19 Video and high bandwidth stream handling
P1 Real time capability Fast but surely not real time
P2 Bandwidth capability Lower than RabbitMQ (15ms/10k
messages for ZeroMQ vs 1ms/10k
messages of RabbitMQ)
S1 Signing of messages
S2 Encryption of messages Partially
Only TLS Security
ZMTP wire-level protocol may bring
extensible security mechanisms to
ZeroMQ
S3 Key exchange mechanisms
N1 Good licence on library Yes
Strong documentation
N3 Popularity in wild Less than RabbitMQ
N4 Project partners familiarity and experience [NAVAL] Less than RabbitMQ
[TEK-ASDS] Has used Protocol Buffers
in UAVs for information transfer
between the air segment and the
ground control station
3.6 Data Model

The CAMELOT system is based on the operation of multiple types of unmanned assets and
sensors, thus it is clear that the system will have to handle large amounts of information to be
transmitted in diverse ways. In this sense, an appropriate data model has to be defined in
order to choose a common description for entities within the system, their relationships, and
the messages to be sent between them. Additionally, according to the project’s objectives,
the, the system must be compliant with legacy systems (e.g. GNR’s SIVICC) and to the
Common Information Sharing Environment (CISE).
Based on the analysis performed on the architecture and data models that have been
developed for the unmanned domain in the past years and, as reported in deliverable D2.2,
the STANAG 4817 architecture has been selected as the baseline for CAMELOT. Having in
mind that the STANAG 4817 architecture is departing from the SAE UCS 3.4 data model
through the MDCS working group together with JAUS (UGVs), and JANUS (USVs/UUVs), it
is reasonable that this data model is considered as a suitable baseline for the development
of the CAMELOT data model. In this sense, the work performed in CAMELOT is in
accordance with the MDCS working group since the overarching goal is to expand the data
model of the SAE UCS 3.4 to all domains (air, sea and land) through the inclusion of JAUS
and JANUS.

CAMELOT
In addition, to ensure that the CAMELOT is compliant with the CISE, the consortium is
analysing the data model drafted within project EUCISE 2020 which is based on the CISE
data model version 1.0. The following section provides some clarity on both the SAE UCS
3.4 data model and the EUCISE 2020 data model.
3.6.1 Baseline data models
3.6.1.1 SAE UCS 3.4 (PR) data model

The Unmanned Aerial Systems (UAS) Control Segment (UCS) Architectural Model was
developed by the USA Department of Defense (acquired a posteriori by the Society of
Automotive Engineers), using UML 2.3, in accordance with the OMG Model Driven
Architecture (MDA), with SoaML and custom tailored extensions. These extensions
characterize the functionality, features, and constraints that might be implemented in a
unmanned control station (USA Department of Defence, 2015).
The UCS Architecture Model, AS6518, is expressed in Sparx Enterprise Architect and is the
authoritative source of the UCS Architectural Model. The authoritative UCS Architectural
Model package comprises four packages: the Service Contract and Non-Functional Property
Model, the System Use Case Model, the Domain Participant Model, and the Information
Model (Data Model). The UCS services are described by the service packages within the
Domain Participant Model.
The Information Model (Data Model) is composed by two major data models, the conceptual
and logical data models. These models are described below (USA Department of Defense,
2015):
 Conceptual Data Model (CDM) – model of the abstract data that is required to build,
operate, manage, and maintain the UCS, being structured into i) a common package
and ii) an air package. These packages are summarily described below:
o Common Package – contains elements that together define the fundamental
abstraction for relations and entities that form the basis of the data model. All
CDM basis set elements are defined in this package;
o Air Package – contains an expression of the foundational model elements
that are unique to the aerial domain, as well as the resources, products,
missions, and objectives that comprise the information required for the UCS
domains. The Air Package, together with the Common Package, forms the
core data model for the UCS;
 Logical Data Model (LDM) – contains refinements and projections of the elements
from the CDM. Each Conceptual Data Model Element (CDE) may be refined by
multiple realizations at the LDM level, each adding a different selection of logical
representation details. The details added in the LDM include units, reference frames,
value kinds (e.g., integer, double), constraints, and measurement precision. In
addition, conversion relationships between logical elements may be specified. It also
provides the projection of the CDM onto concrete message types. The LDM is
composed by i) the logical shared model package and ii) the UCS package:
o Logical Shared Model Package – contains logical data elements that are
common to two or more message sets defined in the UCS package, namely
Basis Elements (fundamental modelling entities) and Refinements of the
CDM;

CAMELOT
o UCS Package – defines the logical data model that is specific to the UCS
message set, used in the ICD, and comprises four sub-packages: Attribute
Types, Message Model, Projections, and Refined Element Views.
The UCS 3.4 (PR) data model structure is represented in Figure 20.
Figure 22 – UCS 3.4 (PR) Information Model structure (USA Department of Defense, 2015)
3.6.1.2 EUCISE 2020 data model

The EUCISE 2020 data model is based on the CISE data model version 1.0, defined in the
Cooperation Project. This data model defines seven core entities (Agent, Object, Location,
Document, Event, Risk and Period) and seven support entities (Vessel, Cargo,
OperationalAsset, Person, Organisation, Movement, Incident, Anomaly, Action,
UniqueIdentifier and Metadata). The added value achieved with the EUCISE 2020 project
was the addition of extra meteo-oceanographic data sources (EUCISE 2020 Consortium,
2015). Figure 21 depicts the EUCISE 2020 data model structure.

CAMELOT
Figure 23 – EUCISE 2020 data model structure (EUCISE 2020 Consortium, 2015)
It is important to state that the EUCISE 2020 data model has the following as premises:
 Makes use of the CISE data model, defined in Cooperation Project;
 Maintains the original data entries of such model, not enlarging the scope of it;
 Adds attributes to selected data entries, enabling implementation of the foreseen
services;
 Is defined in UML models to ensure interoperability with legacy systems and ensure
ease of implementation for new systems, such as CAMELOT.
Table 13 represents EUCISE 2020 data model’s structure for the Attributes of the Action
class.
Table 14 – Structure of the Attributes of the Action class (EUCISE 2020 Consortium, 2015)
UML Name Data Type Description Example Source

ActionStatus ActionStatusType Defines the current status of InProgress CWA 15931-
the Action. An Action can be 1:2009
Canceled, Completed,
InProgress, etc
ActionType ActionType Many different action types Rescue EUROSUR
can be described
Mission MissionType The mission associated with MIL CWA 15931-
the action 1:2009
Priority ActionPriorityType The Action priority High
Identifier UniqueIdentifier Identifier of the evern. Each
UniqueIdentifier can be
correlated with other
UniqueIdentifiers, either
manually, by operators, or
automatically, by systems, so
that duplicate objects in the

CAMELOT
UML Name Data Type Description Example Source

network can be identified and
brought together for a better
understanding of the
information being shared
Metadata Metadata See: Core Vocabularies See: Core
Specification for “Metadata” Vocabularies
Specification
for “Metadata”
NatureType NatureType Enumerated. Is used to For an
define nature of the event. observed
An Event can be observed, Event: 01
declared, estimated or
simulated
OcurrencePeriod Period An Event occurs during a CISE
period of time
3.6.2 CAMELOT ICD

As mentioned before, the CAMELOT system is based on the work from the UCS 3.4 and the
EUCISE 2020. The data model itself will be extracted from the Information Control Document
(ID). However, at this stage the most important step is to define the CAMELOT ICD. This
document is a specification of the CAMELOT system that cannot be completely closed at the
current stage. The majority of the interfaces have been defined but the need to add specific
fields may appear throughout the implementation of the system.
Additionally, in order to comply with the interoperability requirements, an abstraction level

between the data model and platform specific protocols (JAUS, JANUS, STANAG 4586,
ROS, MOOS, etc) is being developed. This abstraction layer (Protocol Adaptors) will be
described in section 3.7.1 of this deliverable.
At this point the CAMELOT consortium has defined an Information Control Document (ICD)
that maps all the messages required by the CAMELOT system. The header structure of the
CAMELOT data model is presented in Table 14. The complete list of the interfaces
comprised in the ICD is enclosed in Annex 1 – CAMELOT Data Model.
Table 15 – CAMELOT ICD header structure
Field Type Description

DataStructureType string Identifier of the structure being passed
VehicleType
KinematicPlatformType
VehiclePlanProgressReportType
VehicleWaypointActionType
PayloadSteeringCommand
EoIrSensorType
EOIRStatusRptType
LaserSensorType
SarStatusRptType
AlertType
IdentityType
AreaOfInterest
DataObject object A structure equal to the example presented in the

CAMELOT
Field Type Description

following section.
3.6.2.1 JSON example

The above mentioned header may be implemented through JavaScript Object Notation
(JSON) as depicted below. The objects mentioned within this structure can be found in the
CAMELOT ICD, in Annex 1, where a detailed description of each object can be found.
{
"DataStructureType": "VehiclePlanProgressReportType",
"DataObject": {
"vehicle_id": 123,
"from_waypoint_altitude": 10.0,
"from_waypoint_latitude": 1.0000,
"from_waypoint_longitude": 1.0000,
"from_waypoint_number": 1,
"from_waypoint_time": 13456767,
"next_waypoint_altitude": 11.0,
"next_waypoint_latitude": 2.0000,
"next_waypoint_longitude": 2.000,
"next_waypoint_number": 2,
"next_waypoint_speed": 54.7,
"next_waypoint_time": 13457767,
"to_waypoint_altitude": 20.5,
"to_waypoint_latitude": 3.0000,
"to_waypoint_longitude": 3.0000,
"to_waypoint_number": 3,
"to_waypoint_speed": 60.7,
"to_waypoint_time": 13467767
}
}
3.7 External Interfaces – Interoperability Adaptors

The present section describes the interfaces with external systems of the CAMELOT system.
From Figure 2, present in Chapter 2, it is possible to verify that the CAMELOT system will
interact with external entities in two ways:
 Through the CAMELOT Adaptor Layer with the unmanned assets, which are most
likely products of different suppliers with proprietary protocols;
 Through the CAMELOT Interoperability Services (API REST) with existing C2
systems (e.g. GNR’s SIVICC).
These external interfaces are described in more detail in the following sub-sections.
3.7.1 Protocol Adaptors

Taking into account that the unmanned assets that will be demonstrated under the scope of
CAMELOT possess already proprietary communication protocols to exchange data with their
own GCS, the consortium decided to implement a solution that would allow any assets,
regardless of the communication protocol, to connect to the CAMELOT system, avoiding the
necessary effort to change these proprietary protocols every time a new asset is employed.

CAMELOT
In this sense, a solution based on the implementation of specific protocol adaptors was
proposed by the consortium partners. This decision has, as baseline, the STANAG 4817
architecture that already envisions the usage of asset-specific protocol adaptors (e.g.
STANAG 4586, JANUS, JAUS, Mavlink, ROS).
To enlighten the reader, the definition of protocol translator, according to Y. Wu and J. Zhou
is presented below (Wu & Zhou, 2015):
A protocol translator is a piece of software

that is employed for the purpose of
converting a device’s proprietary protocol
into a suitable protocol for another device or
system, in order to achieve interoperability
between the two ends of the system.1
1
Within the scope of project CAMELOT, the main responsibility of these protocol adaptors is
to receive messages from the system – sent in accordance with the CAMELOT data model –
and convert these messages to each one of the proprietary protocols from each asset
provider. Additionally, these protocol adaptors are responsible for sending the translated
messages to the respective GCSs. At the same time, it is expected from these protocol
adaptors the capacity to receive messages from the GCSs in the proprietary protocols and
be able to translate these messages to the CAMELOT data model.
Figure 21, present in the next page, depicts the high level architecture of the protocol
adaptors.
Figure 24 – Protocol adaptors to the adopted data model
From Figure 21, one can verify how the interface between the CAMELOT system and local
GCSs will be performed through the translators. The amount of protocol adaptors is
1
Is is important to state that the protocol translator can also perform the inverse conversion, i.e.
convert data from a standard protocol to a proprietary one.

CAMELOT
dependent on the number of assets that use different communication protocols, hence
requiring specific protocol adaptors.
Since each asset provider has full knowledge on their asset and respective GCS, it was
agreed among all partners that each entity will be responsible for developing the protocol
translator for their own asset. This methodology allows each beneficiary to detect possible
gaps in the CAMELOT data model in an early stage.
To test the feasibility of the protocol translators, TEK-ASDS implemented a first iteration of
these software modules that was capable of registering a simulated asset in the CAMELOT
system (through a connect request) and encapsulating basic telemetry (e.g. latitude,
longitude, altitude, true air speed, ground speed, etc) from proprietary protocol to CAMELOT
ICD modules (KineticPlatformInfo message type). The success of this test proved that the
protocol adaptors are a feasible option of the CAMELOT system.
3.7.2 Interface to Legacy Systems

The interaction of CAMELOT with legacy systems is based on the existence of a common
set of services available on a API REST based on HyperText Transfer Protocol (HTTP) that
allow the legacy system to receive or produce information, or even to consume CAMELOT
services. The role of this API REST is to ensure communication between legacy/proprietary
systems at the application protocol level – based on the hypothesis that the lower level
communication protocols are TCP/IP or UDP/IP.
In this sense, the interoperability between a variety of resources requires appropriate data
representations and subsequent data exchange between services. In order to deploy
communication between mutually interacting software applications in an SOA, a shared
messaging layer named Enterprise Service Bus (ESB) is used. Once data is received by the
ESB all the other applications/systems can consume it within their permission. This solution
will enable interoperability with systems using proprietary data models without the need to
implement the interface ad-hoc.
The interface with external legacy systems is an on-going process and, therefore, the above
presented description may not represent the final CAMELOT Interoperability Services layer.
3.8 Hardware
The CAMELOT hardware architecture is based on a physically distributed architecture
involving four large sub-systems, as depicted in Figure 22:
 The CAMELOT system users (depicted on the left-upper corner inside the orange
box);
 The asset providers local GCS, using their own software performing a mission on the
lower side to the left (left-bottom corner, inside the green box);
 External module providers that interact with the system (right side, inside the blue
box);
 The CAMELOT system itself (in the centre, inside the grey box).

CAMELOT
Figure 25 – CAMELOT hardware architecture
The central node of CAMELOT (in the grey box) is comprised of three servers were the
information available in CAMELOT will be transferred (Integration Server), stored (Database
Server) and processed (Main App Server).
The Main App Server is where the mission critical information is processed, including i) the
communications and data from the various GCSs controlling the assets; ii) the CAMELOT
system operators C2 commands and relevant data; and iii) all the modules and services that
are required for the execution of the mission at hand.
The Integration Server is the entry point for all external communications, as well as all of
the necessary integrations with the various modules from the different partners. This server
will preferably be separated from the mission critical software so it does not consume the
resources from the same machine, providing the system with an extra layer of security
between critical and non-critical systems.
The Database Server is where all mission and module relevant information is stored. A
separate machine for this is advised since the hardware capabilities of a database server
differ from hardware necessities of an application server. Once again, this will help avoid any
runtime hardware limitation from the different components running on the same machine.
An intermediate layer with the chosen middleware will be the messaging solution for the
system. This will be the main method for the system to exchange information between its
diverse components.

CAMELOT
It is important to mention that the hardware architecture is not closed yet since there is still a
lot of time until integration and specification for hardware may differ from those currently
foreseen. The specifications will be fixed at the end of work package 3.

CAMELOT
4 Conclusions
As seen by the previous chapters a lot of the work needed to fully define CAMELOT
architecture has been already done. However, the CAMELOT technical specifications aren’t
complete.
In terms of CAMELOT’s UI, a concept has been generated and enables not only for the end-
user to access the information coming from system, but also to feed information into the
system and command and control the unmanned assets. Coherence with the new forms of
visualisation (under development in the scope of CAMELOT) haven’t been addressed. In
fact, in the forthcoming months discussions between WP3 and WP6 leaders will enable the
consortium to achieve coherence between all forms of display, whether we are talking about
regular PC monitors or modern augmented or virtual reality googles. Additionally, efforts to
adopt NATO representation of objects will be pursued.
In terms of middleware, a very important piece in the overall CAMELOT puzzle. An

appropriate middleware will enable the CAMELOT system to communicate with all the assets
and make use of all of the foreseen services, through the publish-subscribe processes that
are desired. Since there is no consent in the consortium in terms of which solution should be
employed, the consortium performed the benchmark that is described in chapter 3 of this
deliverable. Several options are still on the table, being DDS, ECOA, JAUS, Kafka,
RabbitMQ with JSON, and ZeroMQ with Protocol Buffers the most preeminent, at the
moment. These middleware solutions allow communication within the CAMELOT system to
be language independent, i.e. regardless of the programming language of each CAMELOT
asset/module, the CAMELOT system will be able to send and receive information using a
higher level communication protocol – e.g. ZeroMQ and RabbitMQ support AMQP that is
designed to be highly robust and an open alternative to commercial messaging queues, such
as IBM and Tibco. The majority of the middleware solutions benchmarked allow the publish-
subscribe process that the consortium desires but not all comprise security modules like
DDS, for example. The choice of middleware hasn’t been performed and will be done so in
the forthcoming weeks, having the current benchmark as support to the decision. The
consortium is aware that this is a critical point to enable the implementation of the framework
and achieve the desired outcomes.
The CAMELOT data model presented in section 3.3 departed from the SAE UCS 3.4, as per
recommendations of the MDCS working groups, and the EUCISE 2020 project, which
provided add-ons to the current CISE data model. The current CAMELOT data model is
enclosed in annex I, alongside with all necessary data structures. However, with the work on
each CAMELOT service on-going, several interfaces will have to be taken into account
further down the road. Thus, the CAMELOT data model enclosed in this deliverable does not
comprise the full extent of the data structures that will be required by CAMELOT.
In terms of external interfaces, a lot of work is still needed to achieve the interoperability level
desired by the consortium. The usage of protocol adaptors will prevent having to re-program
the CAMELOT system every time a new asset (using a different communication protocol)
intends to connect with the system. Connection with legacy systems will be done through an
API REST that enables the operator to receive and send information from and to CAMELOT,
as well as consume CAMELOT’s services.
Finally, the physical architecture of CAMELOT will be based on a distributed architecture with
a central cluster of three machines: one for processing, one for transfer and one for storage
of information.

CAMELOT
Acknowledgements
The CAMELOT consortium takes the current opportunity to acknowledge the effort spent by
Martin Paxton (TEKEVER Ltd) within the NATO MDCS Working Group (currently STANAG
4817) to make public releases of this working group a reality. Additionally, the consortium
would like to thank Mr. John E. Meyer, chair of the STANAG 4817, for having acceded to
CAMELOT’s request for the above mentioned public releases.

CAMELOT
References
Apache Software Foundation. (2017). Apache Kafka - Documentation. (Apache Software
Foundation) Retrieved August 10, 2018, from
https://kafka.apache.org/08/documentation.html#introduction
eProsima. (2015). Apache Thrift vs Protocol Buffers vs Fast Buffers. Retrieved May 8, 2018,
from http://www.eprosima.com/index.php/resources-all/performance/apache-thrift-vs-
protocol-buffers-vs-fast-buffers
EUCISE 2020 Consortium. (2015). EUCISE2020 : Technical Specifications (D4.3) - Annex
B.1.
Gómez Lasquetty, J., Pérez Carrasco, F., Macias, M., Piwinski, J., Kloda, R., Goodchild, C.,
et al. (2018). D2.2: CAMELOT Architecture and Data Model. Valencia: CAMELOT - Grant
Agreement No. 740736.
iMatix Corporation. (2014). ZeroMQ: Learn the Basics. Retrieved August 10, 2018, from
http://zeromq.org/intro:read-the-manual
Kreeps, J. (2014, April 27). Benchmarking Apache Kafka: 2 Million Writes Per Second (On
Three Cheap Machines). (LinkedIn Engineering) Retrieved August 9, 2018, from
https://engineering.linkedin.com/kafka/benchmarking-apache-kafka-2-million-writes-second-
three-cheap-machines
Mayer, J. (2018). STANAG 4817 Overview. NATO Naval Armaments Group. United States of
America: North Atlantic Threaty Organisation.
OpenJAUS. (2017). Understanding JAUS. (OrangeSquare) Retrieved August 9, 2018, from
http://openjaus.com/understanding-jaus/
Powell, H. (2015, Marc 20). A quick and dirty introduction to ZeroMQ. (Scott Logic) Retrieved
August 10, 2018, from https://blog.scottlogic.com/2015/03/20/ZeroMQ-Quick-Intro.html
Rao, J., & Kreps, J. (2016, July 25). Apache Kafka. (Confluence) Retrieved August 9, 2018,
from https://cwiki.apache.org/confluence/display/KAFKA/Powered+By
Techopedia Inc. (2018). Middleware. Retrieved August 1, 2018, from
https://www.techopedia.com/definition/450/middleware
USA Department of Defence. (2015). UAS Control Segment (UCS) Architecture - Interface
Control Document - Version 2.4 (PR). USA Department of Defence.
USA Department of Defense. (2015). UAS Control Segment (UCS) Architecture -
Architecture Description - Version 3.4 (PR). USA Department of Defense.
Woodall, W. (2018). DDS and ROS middleware implementations - ROS 2 and different
DDS/RTPS vendors. (GitHub, Inc) Retrieved May 8, 2018, from
https://github.com/ros2/ros2/wiki/DDS-and-ROS-middleware-implementations
Woodall, W. (2018). ROS on DDS. (Open Source Robotics Foundation, Inc.) Retrieved May
8, 2018, from http://design.ros2.org/articles/ros_on_dds.html
Wu, Y., & Zhou, J. (2015). The Design of Multi-protocol Converter Based on Functional
Analysis. International Conference on Civil, Materials and Environmental Sciences.

CAMELOT
Annex 1
CAMELOT Information Control Document (ICD)
The present annex contains the most recent version of the CAMELOT ICD.
Multi Domain System Connection
ConnectRequest
Message for a module or asset provider connec to to MDS System
# Field Type Leng Unit Description
th s
1 password String 50 - MDS system access password
2 endpoint string 100 - Local endpoint to where the
messages from MDS system
should be sent
3 asset AirSystemType 50 - Asset description. If the module
is not an asset provider this field
should be left empty
ConnectResponse
Response to connection request
th s
1 status byte 1 Enum Response status
erate ConnectionStatusType:
d FAIL = 0,
OK = 1
SubscribeRequest
Message to subscribe an asset from MDS system. After subscribing an asset the node will receive data from
that asset
th s
1 asset_id int 4 - Asset id that the module is
willing to subscribe
QueryRequest
Message to request the list of all available assets on the MDS system
th s
QueryResponse
List of all available assets on the MDS system
th s
1 available_assets List<SystemType> - - List of all available assets present
on the MDS system

CAMELOT
Vehicle Telemetry (UCS 3.4)
PlatformStatusType
The response to a request for air platform status (AirPlatformStatusRequestType), containing the latest
information to be provided to requesting external C4I systems.
th s
1 air_system SystemType 2257 - The attributes of the air system
for which air platform status is
being provided, containing a full
set of information about the air
vehicle and all its onboard
systems, including stores and
weapons.
VehicleType
AirVehicleType is an Element which specifies the properties of the type of mechanized carrier that is used to
carry payload(s) by air.
th s
1 vehicle_id int 4 None Vehicle identification
3 acceleration AccelerationType 12 - specifies the longitudinal, lateral,
4 and vertical acceleration
5 components for AirVehicleType.
6 altimeter_pressur float 4 pasca Realizes PressureType: an Entity
e ls used to describe a pressure,
defined as follows.
Pressure is the weight or force

per unit area that is produced
when something presses or
pushes against something else.
7 altitude float 4 m Altitude in meters
8 altitude_mode byte 1 Enum Defines altitude type
erated (reference frame) for all
altitude related fields in this
message.
AltitudeModeEnumType:
PRESSURE = 0.
BARO = 1,
AGL = 2,
WGS_84 = 3
9 altitude_rate float 4 m/s specifies the estimated

vertical velocity for
AirVehicleType.
10 atc_call_sign string 32 None ATC Call Sign
11 attack_angle float 4 rad specifies the angle-of-attack
for AirVehicleType. Angle of
attack specifies the angle

CAMELOT
between the chord line of

the wing of a fixed-wing
aircraft (or the plan of the
main rotor) and the vector
representing the relative
motion between the aircraft
and the atmosphere.
12 attitude AttitudeType 12 - specifies the angular positions for
13 AirVehicleType. Angular positions
14 are normally specified as roll,
pitch, and yaw.
15 attitude_accelera AccelerationType 12 - specifies the pitch, roll, and yaw
16 tion acceleration components for
17 AirVehicleType.
18 attitude_velocity OrientationVelocity 12 None specifies the pitch, roll, and
19 Type yaw rate components for
20 AirVehicleType.
21 bingo_fuel float 4 kg specifies the amount of fuel
that would allow a safe
return to base of intended
landing for AirVehicleType.
22 center_of_gravity float 4 m Specifies how far the center of
gravity is from the nose of the
vehicle.
point at which this
AirVehicleType is balanced
23 course float 4 rad specifies the direction of the

platform's motion relative to true
north. The measurement is
stated in radians between 0 and 2
pi.
24 course_heading_ byte 1 Enum is a mutually exclusive set
mode erated of values that defines the
method of control of an air
vehicle along a path
(whether in a pre-planned
or override mode).
AirVehicleModePreference
EnumTypeLDM:
CONFIGURATION = 0,
MANUAL_OVERRIDE = 1,
MANUAL_OVERRIDE_UN
TIL_POINT = 2
25 flap_angle float 4 rad specifies the angle between the
chord of the flap and the chord of
the aircraft's wing. The
measurement is stated in radians
between -pi and pi.
26 flight_mode byte 1 Enum mutually exclusive set of values
erated that defines the air vehicle flight
modes for use in modeling air
vehicle performance in
conjunction with Flight

CAMELOT
Performance Models.
FlightModeEnumTypeLDM:
AERM = 0,
AUTOLAND_ENGAGE = 1,
AUTOLAND_WAVE_OFF = 2,
AUTOPILOT_GENERAL = 3,
AUTOPILOT_NAVAID_SLAVED =
4,
AUTOPILOT_TERRAIN_AVOIDANC
E = 5,
BRANCH = 6,
CONTIGENCY = 7,
FLIGHT_DIRECTOR = 8,
GOTO_IAF = 9,
GROUND_CONTROLLED_STEARING
= 10,
JUMP_TO_WAYPOINT = 11,
LAUNCH = 12,
LOITER = 13,
LOITER_NOW = 14,
NO_MODE = 15,
ON_ROUTE_LOITER = 16,
RTB = 17,
SLAVE_TO_SENSOR = 18,
WAYPPOINT = 19
27 g_load_capacity float 4 m/s/s specifies the magnitude of the
rate of change of an object's
velocity.
28 heading float 4 rad represents a projection of the
longitudinal axis of the platform
onto the horizontal plane,
relative to true north. The
measurement is stated in radians
between -pi and pi.
29 launch_option byte 1 Enum mutually exclusive set of values
erated that defines the action to be
done as part of the vehicle launch
operation.
LaunchOptionEnumTypeLDM:
LAUNCH_ABORT = 0,
LAUNCH_START = 1,
TAXI_ABORT = 2,
TAXI_START = 3
30 location_error string 50 None specified the variance is the
location attribute of the
AirVehicle.
31 magnetic_variatio float 4 rad Magnetic variation in rad
n
32 mass float 4 kg Mass is defined as Inertial mass
which has been shown to be
equivalent to active gravitational
mass or passive gravitational
mass.
33 maximum_air_sp float 4 m/s specifies the maximum not to
eed exceed dash speed for
AirVehicleType.
34 optimum_cruise_ float 4 m/s specifies the optimum cruising
airspeed speed for AirVehicleType.

CAMELOT
35 optimum_endura float 4 m/s specifies the airspeed for

nce_airspeed minimum fuel flow (minimum
power) for AirVehicleType.
36 radar_signature string 50 None element that is defined as
the radar signature of an
object. It can be a UAV,
Tank or any other such
item.
37 recovery_option byte 1 Enum describes submodes for the
erated recovery phase of flight.
RecoveryOptionEnumType
LDM:
RECOVERY_ABORT = 0,
RECOVERY_RETURN_TO_BASE =
1,
RECOVERY_START = 2
38 sideslip_angle float 4 rad specifies the angle between the
actual direction of travel and the
heading for AirVehicleType. It is
the direct result of movement in
which a relative flow of air moves
along the lateral axis, resulting in
a sideways movement from a
projected flight path, especially a
downward slip toward the inside
of a banked turn.
39 speed float 4 m/s specifies the magnitude of
the velocity (i.e. speed)
40 speed_brake_an float 4 rad specifies the angle of the
gle movable speedbrake airfoil
for AirVehicleType.
41 speed_mode byte 1 Enum speedMode is an
erated AirVehicleModePreferenceT
ype which specifies the
enumeration value of speed
mode for AirVehicleType
SpeedModeEnum:
INDICATED_AIRSPEED = 0,
CALIBRATED_AIRSPEED = 1,
TRUE_AIRSPEED = 2,
GROUND_SPEED = 3,
MACH = 4
42 identification_nu string 16 None Null terminated string with
mber the tail number designated
by the owning country’s
certifying agency
43 turn_rate float 4 rad/s specifies the angular rate of
change of heading for
AirVehicleType. Angular rate
change of the projection of the
longitudinal axis onto the
horizontal plane, and that
projection's bearing relative to
true North.
44 velocity VelocityType 12 - specifies the rate of change in

CAMELOT
position in terms of ground speed

components for AirVehicleType.
KinematicPlatformType
KinematicPlatformType is an ExternalResourceType that describes location and motion information about the
platform in or on which a system is physically located. For example, in the case of a UCS Control System this
may be a building, a ship, an automobile, or a person, depending on the UCS target implementation.
# Field Type Len Unit Description
gth s
1 vehicle_id int 4 None Vehicle ID
2 acceleration AccelerationType 12 - acceleration is a
3 AccelerationType which
4 describes the acceleration for
the KinematicPlatformType.
The multiplicity of [0..1]
indicates this attribute may or
may not be available,
depending on the host
platform.ard
5 orientation AttitudeType 12 - orientation is an
6 OrientationType which
7 describes the pointing direction
for the KinematicPlatformType.
indicates this attribute may or
may not be available,
platform.
8 orientation_accel OrientationAccelerati 12 - orientationAcceleration is
9 eration onType an
10 OrientationAccelerationTy
pe which describes the
angular rate of
acceleration of pointing
direction for the
KinematicPlatformType.
indicates this attribute may
or may not be available,
platform.
11 orientation_veloc OrientationVelocityTy 12 - orientationVelocity is an
12 ity pe OrientationVelocityType
13 which describes the
angular rate of change of
pointing direction for the
indicates this attribute may
or may not be available,
platform.
14 position PositionType 20 - position is a PositionType
15 which describes the

CAMELOT
16 position for the

17 velocity VelocityType 12 - velocity is a VelocityType which
18 describes the velocity for the
19 KinematicPlatformType. The
multiplicity of [0..1] indicates
this attribute may or may not
be available, depending on the
host platform.
VehiclePlanProgressReportType
This message shall be used to report the state of the air vehicle’s plan related to execution for monitoring
purposes. The report contains the current plans from, to, and next waypoint state information.
# Field Type Length Units Description
2 from_waypoint_altitude float 4 m From Waypoint Altitude
3 from_waypoint_latitude double 8 rad From Waypoint - Latitude
4 from_waypoint_longitude double 8 rad From Waypoint – Longitude
5 from_waypoint_number UInt16 2 None From waypoint number. 0
indicates that the remaining
From Waypoint data is not
valid.
6 from_waypoint_time double 8 s The time at which the UA
reached the waypoint.
7 next_waypoint_altitude float 4 m Next Waypoint Altitude
8 next_waypoint_latitude double 8 rad Next Waypoint - Latitude
9 next_waypoint_longitude double 8 rad Next Waypoint - Longitude
10 next_waypoint_number UInt16 2 None Next Waypoint Number. 0
Next Waypoint data is not
valid.
11 next_waypoint_speed float 4 m/s Next Waypoint Speed
12 next_waypoint_time double 8 s Next Waypoint Time. The time
at which the UA will reach the
waypoint. Not a countdown.
13 to_waypoint_altitude float 4 m To Waypoint Altitude
14 to_waypoint_latitude double 8 rad To Waypoint - Latitude
15 to_waypoint_longitude double 8 rad To Waypoint - Longitude
16 to_waypoint_number UInt16 2 None To Waypoint Number. 0
To waypoint data is not valid.
65535 indicates that the
remaining To Waypoint data
is valid, but there is no valid
waypoint number.
17 to_waypoint_speed float 4 m/s To Waypoint Speed
18 to_waypoint_time double 8 s The Time at which the UA will
reach the waypoint. Not a
countdown.
PositionType
PositionType is an observable that describes a point occupied by a physical object in 2 or more dimensional
space.

CAMELOT
Field Type Length Units Description

latitude double 8 rad Latitude in rad
longitude double 8 rad Longitude in rad
altitude float 4 m Altitude in meters
AttitudeType
Specifies the orientation of the platform in the order yaw, pitch, roll. The angles are given in a locally level,
North-East-Down coordinate system centered on the platform.
roll float 4 rad Rotation of the
vehicle about the
longitudinal axis
relative to the local
horizontal plane, + is
clockwise looking
from the rear of the
UA towards the front.
pitch float 4 rad Angle of the vehicle
longitudinal axis (tail
to nose) relative to
the local horizontal, +
is up.
yaw float 4 rad Heading Projection of
the longitudinal axis
onto the horizontal
plane, and that
projection's bearing
relative to true North.
AccelerationType
AccelerationType is an observable that describes the rate of change of velocity with respect to time.
down_accel float 4 m/s2 downAccel specifies the
platform's rate of change
of velocity with respect to
time in the vertical (down)
axis.
eat_accel float 4 m/s2 eastAccel specifies the

time in the lateral (east)
axis.
north_accel float 4 m/s2 northAccel specifies the

time in the longitudinal
(north) axis.
VelocityType
VelocityType is an observable that describes a measure of speed and direction in 2 or more dimensional space.

CAMELOT

u_speed float 4 m/s Speed component
along true north
vector in m/s
v_speed float 4 m/s Speed component
along true east vector
in m/s.
w_speed float 4 m/s Inertial vertical speed
component pointing
down in m/s.
OrientationVelocityType
OrientationVelocityType is an observable that describes the rate of change for each axis of an Orientation.
pitch_rate_y float 4 rad/s pitchRateY specifies the
rate of change of the
platform's rotation about
the lateral axis (e.g. the
axis parallel to the wings)
in a locally level, XYZ
coordinate system
centered on the platform.
roll_rate_x float 4 rad/s rollRateX specifies the
the longitudinal axis (e.g.
the axis through the body
of an aircraft from tail to
nose) in a locally level, XYZ
coordinate system
yaw_rate_z float 4 rad/s yawRateZ specifies the
the vertical axis (e.g. the
axis from top to bottom
through an aircraft) in a
locally level, XYZ
coordinate system
OrientationAccelerationType
OrientationAccelerationType is an observable that describes acceleration for each axis of an Orientation.
pitch_accel_y float 4 rad/s/s pitchAccelY
specifies the
acceleration of the
platform's rotation
about the lateral axis
(e.g. the axis parallel
to the wings) in a
locally level, XYZ
coordinate system

CAMELOT
centered on the
platform.
roll_accel_x float 4 rad/s/s rollAccelX specifies the
acceleration of the
platform's rotation
about the longitudinal
axis (e.g. the axis
through the body of an
aircraft from tail to
nose) in a locally level,
XYZ coordinate system
centered on the
platform.
yaw_accel_z float 4 rad/s/s yawAccelZ specifies

the acceleration of
the platform's
rotation about the
vertical axis (e.g. the
axis from top to
bottom through an
aircraft) in a locally
level, XYZ
coordinate system
centered on the
platform.
Vehicle Tasking (UCS 3.4)
VehicleWaypointActionType
VehicleWaypointActionType is an element that specifies the mission data used to command the air vehicle to
a place in physical space.
# Field Type Len Units Description
gth
2 altimeter_setting PressureRequireme 16 - altimeterSetting is a
3 ntType PressureRequirementType that
4 specifies the barometric
5 pressure (adjusted to sea level)
measured locally in the region
of the waypoint for the
VehicleWaypointActionType.
6 altitude_comman byte 1 Enume Defines altitude type
d_mode rated (reference frame) for all
altitude related fields in this
message.
Unsigned
AirVehicleClimbModeEnu
mTypeLDM:
BEST_RATE_OF_CLIMB
= 0,
CRITICAL_ALTITUDE = 1,

CAMELOT
EXTENDED_RANGE_CLI
MB = 2,
GRADUATE = 3,
MANUAL = 4,
MAXIMUM_RATE_OF_CL
IMB = 5,
OPTIMUM_ERFORMANC
E=6
7 arrival_time DateTimeRequirem 32 - arrivalTime is a

8 entType TimeRequirementType that
9 specifies the required time of
10 arrival at the waypoint location
for the
11 commanded_acc AccelerationRequire 16 - commandedAcceleration is a
12 eleration mentType ScalarAccelerationRequirement
13 Type that specifies the
14 acceleration level required for
the aircraft along the flight path
for the
15 commanded_altit AltitudeRequiremen 16 - commandedAltitude is a
16 ude tType DistanceRequirementType
17 that specifies the altitude
18 the air vehicle is required
to maintain along the flight
path to the waypoint for the
VehicleWaypointActionTyp
e.
19 commanded_altit AltitudeRateRequire 16 - commandedAltitudeRate is an
20 ude_rate mentType SpeedRequirementType that
21 specifies the altitude rate the air
22 vehicle is required to maintain
during a vertical transition along
the flight path to the waypoint
for the
23 commanded_cou CourseRequirement 16 - commandedCourse is a
24 rse Type AngleRequirementType
25 that specifies the required
26 course of the air vehicle
along the flight path for the
e.
27 commanded_hea HeadingRequireme 16 - commandedHeading is an
28 ding ntType AngleRequirementType
29 that specifies the required
30 heading of the air vehicle
e.
31 commanded_orie OrientationRequire 24 - commandedOrientation is an
32 ntation mentType OrientationRequirementType

CAMELOT
33 that specifies the commanded

34 rotation of the air vehicle to
35 control its orientation along the
36 flight path for the
37 commanded_orie OrientationRateReq 24 - commandedOrientationRat
38 ntation_rate uirementType e is an
39 OrientationVelocityRequire
40 mentType that specifies
41 the commanded rate of
42 change of rotation of the
air vehicle to control its
orientation along the flight
path for the
e.
43 commanded_spe float 4 m/s commandedSpeed is a
ed SpeedRequirementType
that specifies the required
speed of the air vehicle
e.
44 commanded_spe byte 1 Enume commandedSpeedReferen
ed_reference rated ce is a
AirVehicleSpeedModeTyp
e that indicates the frame
of reference for speed.
AirVehicleSpeedModeEnu
mTypeLDM:
CALIBRATED_AIRSPEED = 1,
TRUE_AIRSPEED = 2,
GROUND_SPEED = 3,
MACH = 4
45 commanded_turn DistanceRequireme 16 - commandedTurnRadius is
46 _radius ntType a
47 DistanceRequirementType
48 that specifies the radial
distance required to
maintain a constant
circular arc path flown by
air vehicle during a course
change for the
e.
49 commanded_turn TurnRateRequirem 16 - commandedTurnRate is an
50 _rate entType AngleRateRequirementTyp
51 e that specifies the
52 required rate of change of
course of the air vehicle
during a lateral transition
for the

CAMELOT
e.
53 commanded_wa UInt16 2 None Waypoint Number. 0
ypoint_number indicates that the
remaining To waypoint
data is not valid. 65535
indicates that the
remaining To Waypoint
data is valid, but there is
no valid waypoint number.
54 departure_time DateTimeRequirem 32 - departureTime is a
55 entType TimeRequirementType that
56 specifies the absolute time the
57 air vehicle is required to depart
the waypoint for the
58 heading_comma byte 1 Enume headingCommandType is
nd_type rated a
HeadingCommandModeTy
pe that specifies the
steering mode used by the
air vehicle to control lateral
motion along the flight path
for the
e. Steering modes can
include types such as
heading hold, course
offset, etc.
HeadingCommandModeEn
umTypeLDM:
COURSE = 0,
HEADING = 1,
HEADING_AND_COURSE = 2,
HEADING_RATE = 3,
NO_VALID_HEADING_COMMAND
= 4,
ROLL = 5
59 turn_direction byte 1 Enume turnDirection is a
rated TurnDirectionType that specifies
the turn direction when the air
vehicle executes a turn for the
TurnDirectionEnumTypeLDM:
INTO_THE_WIND = 0,
LEFT_TURN = 1,
NO_VALID_TURN_DIRECTION =
2,
RIGHT_TURN = 3,
VEHICLE_SPECIFIC = 4
60 turn_type byte 1 Enume turnType is a
rated TurnKindType that
specifies the type of
coordinated turn performed
by the air vehicle during a
course change for the

CAMELOT
e. Coordinated turns can

include types such as fly-
by, fly-over, etc.
TurnKindEnumTypeLDM:
CAPTURE_OUTBOUND_COURSE =
0,
END_TURN = 1,
FLY_BY = 2,
START_TURN = 3
61 waypoint_flight_ byte 1 Enume waypointFlightMode is an
mode rated AirVehicleFlightModeType that
specifies the autopilot cruise
mode used by the air vehicle
Performance cruise modes can
include types such as maximum
range cruise, long range cruise,
maximum endurance cruise, etc.
AirVehicleFlightModeEnumType
LDM:
BEA = 0,
LRC = 1,
MEC = 2,
MRC = 3,
62 waypoint_kind byte 1 Enume waypointKind is a
rated WaypointKindType that
defines the context for the
WaypointMissionType.
Waypoint types include
Nav Only, taxi, runway
start, approach, takeoff,
touchdown, etc.
WaypointKindEnumTypeL
DM:
APPROACH = 0,
APPROACH_FINAL_POINT = 1,
APPROACH_INITIAL_POINT =
2,
HARD_DITCH = 3,
NAV_ONLY = 4,
PASSIVE = 5,
RUNWAY_LIMIT = 6,
RUNWAY_START = 7,
RUNWAY_THRESHOLD = 8,
TAKEOFF = 9,
TAKEOFF_FINAL_POINT = 10,
TAKEOFF_INITIAL_POINT =
11,
TAXI = 12,
TOUCHDOWN = 13
63 latitude double 8 rad Latitude in rad
64 longitude double 8 rad Longitude in rad
PressureRequirementType
PressureRequirementType is a Requirement which specifies the type of pressure.

CAMELOT

pressure float 4 kilopascals Realizes
PressureType: an
Entity used to
describe a pressure,
defined as follows.
Pressure is the
weight or force per
unit area that is
produced when
something presses or
pushes against
something else.
pressure_tolerance PressureToleranceType 12 -
PressureToleranceType
PressureToleranceType is an ObservableTolerance that specifies the range of allowable values for a pressure
attribute.
lower_limit float 4 kilopascals
step_size float 4 kilopascals
upper_limit float 4 kilopascals
DateTimeRequirementType
Realizes TimeRequirementType: a Requirement that specifies the type of time.
time double 8 s Realizes TimeType:
an Entity that
describes time relative
to an accepted
standard reference
point (e.g. a time
stamp, which
represents time
elapsed since January
1st, 1970). Another
measurement type,
DurationType, is used
to express time
relative to an arbitrary
reference point.
Conversion between
the two is a matter of
adjusting for the
difference between the
reference points.
time_tolerance TimeToleranceType
DateTimeToleranceType
Realizes TimeToleranceType: an ObservableTolerance that specifies the range of allowable values for a time

CAMELOT
attribute.
lower_limit double 8 s
step_size double 8 s
upper_limit double 8 s
AccelerationRequirementType
AccelerationRequirementType is a Requirement that specifies the type of acceleration.
Field Type Length Units Descrip
tion
scalar_acceleration float 4 m/s/s specifies
the
magnitude
of the rate
of change
of an
object's
velocity.
scalar_acceleration_tolerance AccelerationToleranceType
AccelerationToleranceType
AccelerationToleranceType is an ObservableTolerance that specifies the range of allowable values for an
acceleration attribute.
lower_limit float 4 m/s/s
step_size float 4 m/s/s

upper_limit float 4 m/s/s
AltitudeRequirementType
no_notes
altitude float 4 m/s/s
altitude_tolerance AltitudeToleranceType
AltitudeToleranceType
no_notes
lower_limit float 4 m/s/s
step_size float 4 m/s/s
upper_limit float 4 m/s/s
AltitudeRateRequirementType
Realizes SpeedRequirementType: a Requirement that specifies the type of rate change in altitude.
speed float 4 m/s/s
speed_tolerance AltitudeRateToleranceType
AltitudeRateToleranceType
Realizes SpeedToleranceType: an ObservableTolerance that specifies the range of allowable values for a

CAMELOT
speed attribute.
lower_limit float 4 m/s
step_size float 4 m/s

upper_limit float 4 m/s
CourseRequirementType
Realizes AngleRequirementType: that specifies the type of angle indicating the direction of motion.
angle float 4 rad
angle_tolerance CourseToleranceType
CourseToleranceType
Realizes AngleToleranceType: an ObservableTolerance that specifies the range of allowable values for an
angle attribute.
lower_limit float 4 rad
step_size float 4 rad
upper_limit float 4 rad
HeadingRequirementType
Realizes AngleRequirementType: that specifies the type of compass direction in which the longitudinal axis is
pointing.
angle float 4 rad
angle_tolerance HeadingToleranceType
HeadingToleranceType
Realizes AngleToleranceType: an ObservableTolerance that specifies the range of allowable values for an
angle attribute.
OrientationRequirementType
Realizes OrientationRequirementType: a Requirement that specifies the type of orientation.
orientation OrientationType
orientation_tolerance OrientationToleranceType
OrientationType
OrientationType is an observable that describes the angular position, or attitude of an object.
pitch_y float 4 rad
roll_x float 4 rad
yaw_z float 4 rad
OrientationToleranceType
Realizes OrientationToleranceType: an ObservableTolerance that specifies the range of allowable values for

CAMELOT
an orientation attribute.
OrientationRateRequirementType
Realizes OrientationVelocityRequirementType: a Requirement that specifies the type of rate of change of
orientation.
Field Type Lengt Unit Descriptio
h s n
orientation_rate OrientationRateType
orientation_rate_toleranc OrientationRateToleranceTyp
e e
OrientationRateType
OrientationVelocity3D_Measurement specifies the rate of change for each axis of an Orientation.
pitch_rate_y float 4 rad
roll_ rate_x float 4 rad
yaw_rate_z float 4 rad
OrientationRateToleranceType
Realizes OrientationVelocityToleranceType: an ObservableTolerance that specifies the range of allowable values
for an orientationVelocity attribute.
DistanceRequirementType
DistanceRequirementType is a Requirement that specifies the type of distance.
distance float 4 m
distance_tolerance DistanceToleranceType 12 -
DistanceToleranceType
Realizes DistanceToleranceType: an ObservableTolerance that specifies the range of allowable values for a
distance attribute.
lower_limit float 4 m
step_size float 4 m
upper_limit float 4 m
TurnRateRequirementType
Realizes AngleRateRequirementType: a Requirement that specifies the type of rate of change in angle.
angle_rate float 4 rad
angle_rate_tolerance TurnRateToleranceType

CAMELOT
TurnRateToleranceType
Realizes AngleRateToleranceType: an ObservableTolerance that specifies the range of allowable values for an
angleRate attribute.
Payload Tasking (UCS 3.4)
PayloadSteeringCommandType
This message shall be used to steer any steerable payload.
# Field Type Leng Units Description
th
1 vehicle_id int 4 None Vehicle
identification
2 payload_id int 4 None Payload identification
3 field_of_view_azimuth float 4 rad The desired
azimuth/yaw
component of the
payload's field of view.
4 field_of_view_elevation float 4 rad The desired
elevation/pitch
component of the
payload's field of view.
5 image_center_location Position3DTyp 20 - The desired
6 e coordinates for the
7 center of the entity at
which the payload is
pointing.
8 pedestal_pointing_attitude Orientation3DT 12 - The desired
9 ype pointing direction
10 (roll, pitch and
yaw) for the
pedestal, relative
to the airframe.
the platform.
11 pedestal_pointing_attitude_veloc OrientationVelo 12 - The desired rate of
12 ity cityType change for each axis of
13 the pedestal
orientation (roll, pitch
and yaw), relative to
the air vehicle.
14 pointing_mode byte 1 Enumerat The current pointing
ed mode for the payload.
NIL = 0,
ANGLE_RELATIVE_TO
_UA = 1,
SLEWING_RATE_RELA
TIVE_TO_UA = 2,
SLEWING_RATE_RELA
TIVE_TO_INERTIAL
= 3,

CAMELOT
LAT_LONG_SLAVED =
4,
TARGET_SLAVED =
5,
STOW = 6,
LINE_SEARCH_START
_LOCATION = 7,
LINE_SEARCH_END_L
OCATION = 8
15 zoom_direction byte 1 Enumerat The current zoom
ed direction (in, out,
none) for the
imaging sensor.
NO_ZOOM = 0,
USE_SET_HORIZONTA
L_VERTICAL_FIELD_
OF_VIEW = 1,
ZOOM_IN = 2,
ZOOM_OUT = 3
Position3DType
Position3D_WGS84_Tuple specifies a location relative to the WGS-84 ellipsoid.
height float 4 m
position Position2DType 16 -
Position2DType
Position2D_Tuple specifies a location on the surface of the Earth.
latitude double 8 rad
longitude double 8 rad
Orientation3DType
Orientation3D_Measurement specifies the orientation of the platform in the order yaw, pitch, roll. The angles are
given in a locally level, North-East-Down coordinate system centered on the platform.
roll_x float 4 rad
pitch_y float 4 rad
yaw_z float 4 rad
EO IR Payloads (UCS 3.4)
EoIrSensorType
EOIRSensorType is an Element which specifies the type of Sensor that is an electronic device for emitting, or
recording the moving images and voices from an object using rays of light that cannot be seen.
# Field Type Len Units Description
gth
3 eo_brightness_adjustm byte 1 Enumera EOBrightnessAdjustmentMode is
ent_mode ted an AutomationType which
specifies the mode of operation
for brightness adjustment for

CAMELOT
EOIRSensorType. The mode is

specified through an
enumeration: {automatic,
semi_automatic, manual}.
AutomationEnumTypeLDM:
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
4 eo_brightness_setting float 4 EOBrightnessSetting is a SizeType
which specifies the luminance
setting for EOIRSensorType.
5 eo_contrast_adjustment byte 1 Enumera EOContrastAdjustmentMode is an
_mode ted AutomationType which specifies
the mode of operation for
contrast adjustment for
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
6 eo_contrast_setting float 4 EOContrastSetting is a SizeType
which specifies the contrast ratio
setting for EOIRSensorType.
7 eo_ir_color_mode byte 1 Enumera EOIRColorMode is an
ted EOIRColorType which specifies the
color mode for EOIRSensorType.
The color mode is specified as an
enumeration: {black_white,
color}.
EOIRColorEnumTypeLDM:
BLACK_WHITE = 0,
COLOR = 1
8 eo_iris_automation byte 1 Enumera EOIrisAutomation is an
ted AutomationType which
specifies the Iris mode of
operation for
EOIRSensorType. The
mode is specified through an
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
9 eo_iris_radius float 4 m EOIrisRadius is a
DistanceCapabilityType
which specifies the opening
of the aperture for
EOIRSensorType. The
opening is usually specified
in increments or stops; each
stop allows half the light in
as the previous one.

CAMELOT
10 focal_length float 4 m focalLength is a

DistanceCapabilityType
which specifies the distance
from the optical center of the
lens over which an image is
brought into focus for
EOIRSensorType. More
precisely, focal length is the
distance in millimeters from
the optical center of a lens to
the imaging sensor when the
lens is focused at infinity.
11 focal_length_rate float 4 m/s focalLengthRate is a SpeedType
which describes the rate of
change for focal length.
12 focus_automation byte 1 Enumera focusAutomation is an
ted AutomationType which specifies
the mode of operation of the auto
focus for the EOIRSensorType. The
mode is specified through an
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
13 horizontal_image_dime Int16 2 Pixels hoizontalImageDimension is a
nsion CountType which describes the
number of pixels used to capture
an image in the horizontal
dimension.
14 horizontal_zoom_chang float 4 rad/s horizontalZoomChangeRate
e_rate is a
AngleRateCapabilityType
which specifies the rate of
change of the horizontal
zoom angle.
15 image_center_location Position3D 20 - imageCenterLocation is a
16 Type PositionType which specifies
17 the two or more dimensional
location center of the image
for EOIRSensorType.
18 image_output_state byte 1 Enumera imageOutputState is an
ted ImageOutputStateType which
specifies the output state of an
image from EOIRSensorType. The
output state is specified as an
enumeration: {none, sensor_1,
sensor_2, both_simultaneously,
no_change}.
ImageOutputStateEnumTypeLDM:
NONE = 0,
EO = 1,
IR = 2,
BOTH = 3,

CAMELOT
PAYLOAD_SPECIFIC = 4
19 image_stabilization_ena bool 1 None imageStabilizationEnable is a
ble BooleanType which specifies
whether the image stabilization
function of the sensor is on or off.
20 ir_gain int 4 IRGain is a SizeCapabilityType
which specifies the gain for
EOIRSensorType. The gain sets the
temperature range over which the
IR image is mapped into a gray
scale for display. Low gain
represents a wide temperature
span but with low resolution (only
large variations in temperature
detected). High gain represents a
smaller temperature range with
high resolution (small variations in
temp detected).
21 ir_gain_automation byte 1 Enumera IRGainAutomation is a
the IR gain control for
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
22 ir_integration_time double 8 s IRIntegrationTime is a
DurationCapabilityType which
specifies the exposure time for
EOIRSensorType. The exposure
time signifies how long the image
will be exposed to the image-
detector for data generation;
affects sensitivity.
23 ir_level int 4 None IRLevel is a SizeCapabilityType
which specifies the level for
EOIRSensorType. The level sets
the temperature at the midpoint
of the image from which the
remaining image is contrasted.
Low level settings results in a cold
temperatures displayed in gray
scales while hot targets displayed
at full scale (white hot). High level
settings results in hot
temperatures displayed in gray
scales with cold targets displayed
in black.
24 ir_level_automation byte 1 Enumera IRLevelAutomation is a
the IR level control for

CAMELOT
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
25 ir_polarity byte 1 Enumera IRPolarity is a IRPolarityType
ted which specifies the IR image
polarity for EOIRSensorType. The
polarity is specified as an
enumeration: {black_hot,
white_hot}.
IRPolarityEnumTypeLDM:
BLACK_HOT = 0,
WHITE_HOT = 1
26 ir_temperature Float 4 K IRTemperature is a
TemperatureCapabilityType which
specifies the IR cooling
temperature for EOIRSensorType.
27 nuc_table_active NUCTableActive is a
NUCTable NUCTableType which specifies the
Type is an state of usage of non-uniformity
element correction table for
that EOIRSensorType.
represents
a Non-
Uniformity
Correction
table used
by IR
sensors. A
characterist
ic of IR
sensors is
to have a
selection of
these
tables. It is
by
definition
Implementa
tion-
defined,
and thus
has no
attributes of
its own.
28 nuc_tables NUCTables is a
NUCTable NUCTableType which
Type is an specifies all non-uniformity
element correction tables for
that EOIRSensorType.
represents
a Non-
Uniformity

CAMELOT
Correction
table used
by IR
sensors. A
characterist
ic of IR
sensors is
to have a
selection of
these
tables. It is
by
definition
Implementa
tion-
defined,
and thus
has no
attributes of
its own.
29 optical_spectrum byte 1 Enumera opticalSpectrum is a
ted FrequencySpecType which
specifies the optical spectrum to
which EOIRSensorType is
sensitive. The optical mode
signifies the optical spectrum of
the sensor and is often mapped as
an enumeration to the
following: {visible, infrared,
multispectral, hyperspectral,
other}.
IROpticalSpectrumMode:
VISIBLE = 0,
INFRARED = 1,
MULTISPECTRAL = 2,
HYPERSPECTRAL = 3,
OTHER = 4
30 pointing_mode byte 1 Enumera pointingMode is a
ted PointingModeType which
specifies the pointing mode for
EOIRSensorType. The pointing
mode is specified as an
enumeration: {no_value,
angle_relative_to_AV,
slewing_rate_relative_to_AV,
slewing_rate_relative_to_inertial,
lat_long_slaved, stowed, caged,
target_slaved_off,
target_slaved_acquire,
target_slaved_track}.
PointingModeEnumTypeLDM:
NIL = 0,
ANGLE_RELATIVE_TO_UA = 1,
SLEWING_RATE_RELATIVE_TO_U
A = 2,
SLEWING_RATE_RELATIVE_TO_I

CAMELOT
NERTIAL = 3,
LAT_LONG_SLAVED = 4,
TARGET_SLAVED = 5,
STOW = 6,
LINE_SEARCH_START_LOCATION
= 7,
LINE_SEARCH_END_LOCATION =
8
31 reticle_status_type Byte 1 Enumera reticleStatusType is an
ted OnOffStatusType which specifies
the visual status of the sensor
reticle.
OnOffStatusEnumTypeLDM:
OFF = 0,
ON = 1
32 sensor_payload_mode byte 1 Enumera sensorPayloadMode is a
ted SensorModeType which specifies
the mode of operation for
EOIRSensorType. The operation
mode is specified as an
enumeration: {eo, ir, fuse,
continuous_zoom}.
SensorModeEnumTypeLDM:
EO = 0,
IR = 1,
FUSE = 2,
CONTINUOUS_ZOOM = 3
33 vertical_image_dimensi int16 2 Pixels verticalImageDimension is a
on CountType which describes the
number of pixels used to capture
an image in the vertical
dimension.
34 zoom_direction byte 1 Enumera zoomDirection is a
ted ZoomDirectionType which
specifies the zoom direction
for EOIRSensorType.
ZoomDirectionEnumTypeLD
M:
NO_ZOOM = 0,
USE_SET_HORIZONTAL_VERTICA
L_FIELD_OF_VIEW = 1,
ZOOM_IN = 2,
ZOOM_OUT = 3
35 zoom_rate float 4 m/s zoomRate is a SpeedType which
specifies the rate of change of the
magnification of an image.
EOIRStatusRptType
This interface shall be used to report the operating state of the EO/IR payload by station to UCS.
# Field Type Lengt Units Description
h
3 built_in_test_status byte 1 Enumerat The status of the Built-In Test for the
ed EO/IR sensor.
BuiltInTestStatusEnumTypeLDM:

CAMELOT
BIT_FAILED = 0,
BIT_PASSED = 1,
BIT_SUSPENDED = 2,
OFF_ABORT = 3,
RUNNING_BIT = 4
4 field_of_view_azim float 4 rad The current azimuth/yaw
uth component of the sensor's field
of view.
5 field_of_view_elev float 4 rad The current elevation/pitch
ation component of the sensor's field
of view
6 focus_automation byte 1 Enumerat The current focus adjustment mode
ed of operation for the EO/IR payload
sensor.
AUTOMATIC = 0,
MANUAL = 1,
SEMI_AUTOMATIC = 2
7 image_center_loca Position3 20 None The current coordinates for the
8 tion DType center of the entity at which the
9 sensor is pointing.
10 image_output_stat byte 1 Enumerat The current output channels of
e ed an imaging sensor system.
ImageOutputStateEnumTypeL
DM:
NONE = 0,
EO = 1,
IR = 2,
BOTH = 3,
PAYLOAD_SPECIFIC = 4
11 pointing_mode byte 1 Enumerat The current pointing mode for the
ed EO/IR sensor.
PointingModeEnumTypeLDM:
NIL = 0,
ANGLE_RELATIVE_TO_UA = 1,
SLEWING_RATE_RELATIVE_TO_UA =
2,
SLEWING_RATE_RELATIVE_TO_INER
TIAL = 3,
LAT_LONG_SLAVED = 4,
TARGET_SLAVED = 5,
STOW = 6,
LINE_SEARCH_START_LOCATION =
7,
LINE_SEARCH_END_LOCATION = 8
12 pointing_orientatio Orientatio 12 - The current pointing direction (roll,
13 n n3DType pitch and yaw) for the sensor,
14 relative to the airframe.
15 power_status byte 1 Enumerat The current power status (on, off,
ed standby, etc.) of the EO/IR sensor.
PowerStatusEnumTypeLDM:
POWER_OFF = 0,
POWER_ON = 1,
EMERGENCY_POWER = 2,
POWER_STANDBY = 3

CAMELOT
Laser Payloads (UCS 3.4)
LaserSensorType
LaserSensorType is an Element which specifies a type of Payload device that emits a thin, intense beam of nearly
monochromatic visible or infrared light that can travel long distances without diffusing.
h
3 auto_boresight_en bool 1 None autoBoresightEnabled is a
abled BooleanType which specifies the
state of the automatic boresight for
LaserSensorType
4 first_last_pulse byte 1 Enumerat firstLastPulse is a
ed LaserRangefinderFirstLastPulseType
which specifies the laser rangefinder
pulse for LaserSensorType. The pulse
is specified as an enumeration: {first,
last} It corresponds to laser
designator on and off.
LaserRangefinderFirstLastPulseEnum
TypeLDM:
FIRST = 0,
LAST = 1
5 laser_designator byte 1 Enumerat laserDesignator is a
ed LaserDesignatorType which specifies
the operational state of the laser
designator for LaserSensorType. The
state is specified as an
enumeration: {safe, arm, disable,
fire}
LaserArmingEnumTypeLDM:
DISABLE = 0,
ARM = 51,
SAFE = 68,
FIRE = 85
6 laser_designator_c UInt16 2 None laserDesignatorCode is a
ode AddressType which specifies the
location for the laser designator code
for LaserSensorType.
7 laser_designator_s byte 1 Enumerat laserDesignatorStatus is a
tatus ed LaserFiringStatusType which
specifies the status of the laser
designator for LaserSensorType. The
status is specified as an
enumeration: {off, on_not_firing,
on_recharging, lasing, laser_masked}
LaserFiringStatusEnumTypeLDM:
OFF = 0,
ON_NOT_FIRING = 1,
ON_RECHARGING = 2,
LASING = 3,
LASER_MASKED = 4
8 laser_mode byte 1 Enumerat laserMode is a LaserModeType
ed which specifies the state for

CAMELOT
LaserSensorType. The state is

specified as an enumeration:
{operational_check, mission,
boresight}
LaserModeEnumTypeLDM:
BORESIGHT = 0,
MISSION = 1,
OPERATIONAL_CHECK = 2
9 laser_pointer byte 1 Enumerat laserPointer is a
ed LaserPointerType which
specifies the operational state
of the laser pointer for
LaserSensorType. The state is
specified as an
enumeration: {safe, arm,
disable, fire}
LaserArmingEnumTypeLDM:
DISABLE = 0,
ARM = 51,
SAFE = 68,
FIRE = 85
10 laser_pointer_statu byte 1 Enumerat laserPointerStatus is a
s ed LaserFiringStatusType which
pointer for LaserSensorType. The
OFF = 0,
ON_NOT_FIRING = 1,
ON_RECHARGING = 2,
LASING = 3,
LASER_MASKED = 4
11 laser_rangefinder byte 1 Enumerat laserRangefinder is a
ed LaserRangefinderType which
specifies the operational state of the
laser rangefinder for
LaserSensorType. The operational
enumeration: {off, arm,
fire_one_pulse, fire}
LaserRangefinderEnumTypeLDM:
OFF = 0,
ARMED = 51,
SAFE = 68,
FIRE_ONE_PULSE = 85,
FIRE_MULIPLE_PULSES = 238
12 laser_rangefinder_ byte 1 Enumerat laserRangefinderStatus is a
status ed LaserFiringStatusType which
rangefinder for LaserSensorType.
The status is specified as an
OFF = 0,

CAMELOT
ON_NOT_FIRING = 1,
ON_RECHARGING = 2,
LASING = 3,
LASER_MASKED = 4
13 laser_rangefinding bool 1 None laserRangefindingEnabled is a
_enabled BooleanType which specifies
the enabled state of the laser
range finder for
LaserSensorType.
14 laser_type byte 1 Enumerat laserType is a LaserKindType which
ed specifies the operation for
LaserSensorType. The operation is
specified as an
enumeration: {range_finder,
designator, pointer}
LaserKindEnumTypeLDM:
DESIGNATOR = 0,
POINTER = 1,
RANGE_FINDER = 2
15 pulse_code_repetiti byte 1 Enumerat pulseCodeRepetition is a
on ed LaserPulseCodeRepetitionType
which specifies the pulse code
repetition for LaserSensorType. The
pulse code repetition is specified as
an enumeration: {slow, medium,
fast, continuous}
LaserPulseCodeRepetitionModeEnu
m:
SLOW = 0,
MEDIUM = 1,
FAST = 2,
CONTINUOUS = 3
16 reported_range float 4 m reportedRange is a
DistanceCapabilityType which
specifies the range measurement
from LaserSensorType.
SAR Payloads (UCS 3.4)
SarStatusRptType
An expression of the status of a SAR sensor.
h
3 mapping_angle float 4 rad The current look angle as
measured from the altitude
plane
4 pedestal PedestalT 51 - A collection of attributes identifying
5 ype and describing the state of a specific
6 payload pedestal.
7
8

CAMELOT
9
10
11
12
13
14
15
16
17
18
19 resolution double 8 m The current resolution of the SAR
imagery.
20 sar_operating_mod byte 1 Enumerat The current operating mode for the
e ed SAR sensor.
SAROperatingModeEnumTypeLDM:
AIP13_MONOPULSE_CALIBRATION =
0,
AIP14_WIDE_AREA_MTI = 1,
AIP15_COARSE_RESOLUTION_SEARC
H = 2,
AIP16_MEDIUM_RESOLUTION_SEARC
H = 3,
AIP17_HIGH_RESOLUTION_SEARCH
= 4,
AIP18_POINT_IMAGING = 5,
AIP19_SWATH_MTI = 6,
AIP20_REPETITIVE_POINT_IMAGIN
G = 7,
AS201_SEARCH = 8,
AS202_SPOT_3 = 9,
AS204_SPOT_1 = 10,
AS207_CONTINUOUS_SPOT_3 = 11,
AS209_EMTI_WIDE_FRAME_SEARCH
= 13,
AS210_EMTI_NARROW_FRAME_SEARC
H = 14,
AS211_EMTI_AUGMENTED_SPOT =
15,
AS212_EMTI_WIDE_AREA_MTI =
16,
AS213_MONOPULSE_CALIBRATION =
17,
GSH_TIER_2_SEARCH_MODE = 18,
GSP_TIER_2_SPOT_MODE = 19,
SAR_07A_MODE_3_AREA_SLANT_PLA
N = 20,
SAR_07L_MODE_3_LOC_SLANT_PLAN
= 21,
SAR_0FG_MODE_0_GROUND_PLANE =
22,
SAR_0FR_MODE_0_SLANT_PLANE =
23,
SAR_10S_ETP_SCAN_SLANT = 24,
SAR_14A_MODE_4_AREA_SLANT_PLA
NE = 25,
SAR_14L_MODE_4_LOC_SLANT_PLAN
E = 26,

CAMELOT
27,
28,
SAR_1SP_ETP_SPOTLIGHT_1_SLANT
= 29,
SAR_22FG_MODE_5_GROUND_PLANE
= 30,
31,
32,
33,
= 34,
SPOT_SAR = 35,
SPOT_SAR_WITH_FTI = 36,
SWATH_SAR = 37,
SWATH_SAR_WITH_FTI = 38
21 sar_revision_level string - The text string designation for the
SAR Revision Level.
22 spot_mode byte 1 Enumerat The current spot collection mode
ed (dwell, zoom, etc.) for the SAR
sensor.
SARSpotModeEnumTypeLDM:
DWELL = 0,
STAND_BY = 1,
ZOOM = 2
23 squint_angle float 4 rad The current look angle of the radar
beam measured from the altitude
plane.
24 terrain_height float 4 m The height above terrain at which
the scan was taken.
PedestalType
PedestalType is an Element which specifies the attachment point of a domain resource to a platform, if steerable,
may be steerable in multiple degrees of freedom.
Field Type Lengt Units Description
h
attachment_orientation Orientation3 12 - attachmentOrientation is a
DType OrientationCapabilityType which
specifies the angular position or
attitude for PedestalType.
attachment_status byte 1 Enumerat attachmentStatus is an
ed AttachmentStatusType which
specifies the attachment status for
PedestalType. The status is specified
through an enumeration: {loaded,
discarded, released, jettisoned}
AttachmentStatusEnumTypeLDM:
DISCARDED = 0,
JETTISONED = 1,
LOADED = 2,
RELEASED = 3
is_stabilized bool 1 None If the Pedestal provides the
ability to actively cancel out
host platform vibrations or rigid

CAMELOT
body motion (i.e. fix the

Pedestal orientation in the
inertial frame) then this
element is TRUE.
number_of_axes byte 1 None Indicates the number of rotational
degrees of freedom the Pedestal.
pointing_orientation Orientation3 12 - pointingOrientation is a
DType OrientationCapabilityType
which specifies the pointing
angular position or attitude for
PedestalType.
pointing_orientation_vel Orientatio 12 - pointingOrientationVelocity is a
ocity nVelocityT OrientationVelocityCapabilityType
ype which specifies the rate at which the
pointing angular positions or attitude
is changing for PedestalType.
relative_position Position3d 12 - relativePosition is a PositionType
PlatformX specifying the payload's location
YZType relative to the navigational center of
the vehicle. This is the offset of the
payload relative to the vehicle
position.
Position3dPlatformXYZType
Position3D_PlatformXYZ_Tuple specifies a location on a Cartesian coordinate system relative to the origin of the
platform.
h
x_a float 4 m xA specifies the X-axis position which
is in the forward (toward the nose)
direction.
y_a float 4 m yA specifies the Y-axis position which
is in the right (starboard) direction.
z_a float 4 m zA specifies the Z-axis position which
is in the down (toward the center of
the Earth) direction.
Alerts (UCS 3.4)
AlertType
AlertType is an Element which specifies a type of prompt to meet danger or emergency.
1 alert_id int 4 None Alert identification
3 subsystem_id byte 1 Enumera Identifier associated with the
ted subsystem for which status
information is being reported.
SubsystemEnum:
ENGINE = 0,
MECHANICAL = 1,
ELECTRICAL = 2,
COMMS = 3,

CAMELOT
PROPULSION_ENERGY = 4,
NAVIGATION = 5,
PAYLOAD = 6,
RECOVERY_SYSTEM = 7,
ENVIRONMENTAL_CONTROL_SYSTEM
= 8,
VSM_STATUS = 9,
VDT = 10,
CDT = 11,
RESERVED_1 = 12,
RESERVED_2 = 13,
RESERVED_3 = 14,
RESERVED_4 = 15,
RESERVED_5 = 16,
RESERVED_6 = 17,
RESERVED_7 = 18,
RESERVED_8 = 19,
VSM_SPECIFIC_1 = 20,
VSM_SPECIFIC_12 = 31
4 alert byte 1 Enumera Alert is an AlertKindType
ted which specifies the
enumeration value for the type
of non-normal subsystem
condition for AlertType.
AlertKindEnumTypeLDM:
ACKNOWLEDGEABLE = 0,
ACKNOWLEDGEABLE_CLEARABLE =
1,
CLEAR = 3,
CLEARABLE = 4,
FIXED_TIME = 5,
NOT_CLEARABLE = 6
5 alert_end_time double 8 s alertEndTime is a TimeType which
specifies the date and time value
relative to the end of the alert for
the subsystem alert for AlertType.
6 alert_group byte 1 Enumera alertGroup is an AlertGroupType
ted which specifies the enumeration
value of the group category for the
subsystem alert for AlertType.
AlertGroupEnumTypeLDM:
AIR_COLLISION = 0,
AV_PLATFORM = 1,
ENGINEERING = 2,
HAZARDOUS_AREA = 3,
MAINTENANCE = 4,
PAYLOAD = 5,
RESTRICTED_AREAD = 6,
SYSTEM = 7

CAMELOT
7 alert_level byte 1 Enumera alertLevel is an AlertLevelType

ted which specifies the
enumeration value indicating
the alert level for the
subsystem for AlertType.
AlertLevelEnumTypeLDM:
ADVISORY = 0,
CAUTION = 1,
CLEARED = 2,
WARNING = 3
8 alert_notification byte 1 Enumera alertNotification is a NotificationType
value indicating the reason for
receiving the alert for AlertType. The
notification will be in response to a
specific request or as a result of
subscription.
NotificationEnumTypeLDM:
SPECIAL_REQUEST = 0,
SUBSCRIBED_TO_REQUEST = 1
9 alert_priority UInt32 4 None alertPriority is an OrderType which
specifies the priority level of the
AlertType.
10 alert_start_time double 8 s alertStartTime is a TimeType which
specifies the date and time value
relative to the start of the alert for
the subsystem alert for AlertType.
11 alert_status byte 1 Enumera alertStatus is an AlertStatusType
value indicating the status of posted
alert information for the subsystem
for AlertType.
AlertStatusEnumTypeLDM:
ALERT_ACTIVE = 0,
ALERT_ACTIVE_ACKNOWLEDGED = 1
12 alert_text string 80 None alertText is a DescriptionType which
specifies the text for describing the
alert for AlertType.
13 latitude double 4 None Latitude of the alert
14 longitude double 4 None Longitude of the alert
15 altitude float 4 m Altitude of the alert
Mission Overlays (UCS 3.4)
IdentityType
IdentityType is an element contains all of the identification data required for an element.
2 entity_identity EntityIdent 480 - entityIdentity is an
3 ityDataTyp EntityIdentityDataType that contains
4 e all possible identification types for
5 entities.
6

CAMELOT
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24 identity_confidence float 4 % identityConfidence is a SizeType
indicating the confidence of the
declaration of the Entity's specific
type.
25 identity_timestamp double 8 s identityTimeStamp is a TimeType
that indicates the time at which the
Identity was most recently updated.
26 iff IFFType 43 - IFF is a IFFType that is Identification,
27 Friend or Foe (IFF) modes and codes.
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47 latitude double 4 None Latitude
48 longitude double 4 None longitude
49 altitude float 4 m altitude
EntityIdentityDataType
EntityIdentityDataType is an element that contains all of the possible identification types for entities.

CAMELOT
h
emitter_identity EmitterIde 184 - emitterIdentity is a
ntityType EmitterIdentityType that indicates
the emitter type of the target.
environment_identity Environme 5 - environmentIdentity is a
ntIdentityT EnvironmentIdentityType that
ype indicates the environment or
"domain" in which the Entity is
operating. Derived from MIL-STD-
6016D; see MIL-STD-6016D DFI/DUI
275/004 for additional details. Each
environment has a corresponding set
of specific types.
platform_identity PlatformId 16 - platformIdentity is a
entityType PlatformIdentityType that indicates
the "platform identity" of the target.
specific_emitter_identity SpecificE 64 - specificEmitterIdentity is a
mitterIdent SpecificEmitterIdentityType that
ityType indicates the specific emitter type
instance of the target. Specific
Emitter Identification (SEI)
technology passively measures
emitters, and characterizes unique
emitter signatures that can be used
for friendly or enemy emitter
identification and fingerprinting. A
SEI and this SpecificEmitter element
refer to a specific physical instance of
a type of emitter as given in the
sibling emitterIdentity element.
specific_identity SpecificId 105 - specificIdentity is a
entityType SpecificIdentityType that indicates
the "specific identity" of the target.
standard_identity StandardI 106 - standardIdentity is a
dentityTyp StandardIdentityType that indicates
e the "standard identity" of the target.
EmitterIdentityType
Contains Emitter Identity keys.
h
cnot ForeignKeyT 60 - CNOT is an element that represents
ype Communication Intelligence
(COMINT) Notation established by
NSA for communications electronic
emissions. Used to preserve original
signal identification in case of
modification by subsequent
processing.
dieqp ForeignKeyT 60 - DIEQP is an element (Defense
ype Intelligence Equipment Index) that
further refines the ELNOT type.
elnot ForeignKeyT 60 - ELNOT is an element that
ype represents Electronic

CAMELOT
Intelligence (ELINT) Notation

established by NSA for non-
communications electronic
emissions. Used to preserve
original signal identification in
case of modification by
subsequent processing.
emitter_confidence float 4 % emitterConfidence is a SizeType that
indicates the confidence of the
declaration of the Entity's specific
emitter ID.
ForeignKeyType
ForeignKeyType is an element representing an identifier that references an ID from another system.
h
key string 10 None This element contains the value of
the ForeignKey.
system_name string 50 None This element refers to the "system"
where the ForeignKey is
managed. That system could be
another message standard/ protocol,
network, database, shared table,
etc. Implementers must choose and
coordinate use of the foreign
"system".
EnvironmentIdentityType
EnvironmentIdentityType is an element that indicates the environment or "domain" in which the Entity operates.
Derived from MIL-STD-6016D; see MIL-STD-6016D DFI/DUI 275/004 for additional details. Each environment has
a corresponding set of specific types.
h
environment byte 1 Enumerat environment is an
ed EntityEnvironmentType that
indicates the environment or
"domain" of operation. Derived from
MIL-STD-6016D; see MIL-STD-6016D
DFI/DUI 275/004 for additional
details.
EntityEnvironmentEnumTypeLDM:
AIR = 0,
GROUND_EQUIPMENT = 1,
GROUND_INSTALLATION = 2,
GROUND_UNIT = 3,
SEA_SUBSURFACE = 4,
SEA_SURFACE = 5,
SPACE = 6,
SPECIAL_OPERATIONS_FORCES =
7,
OTHER = 8
environment_confidence float 4 % environmentConfidence is a SizeType
that indicates the confidence of the
declaration of the Entity's

CAMELOT
environment.
PlatformIdentityType
PlatformIdentityType is an element that contains the data that uniquely identifies the platform type of the Entity.
h
platform_confidence float 4 % platformConfidence is a SizeType
PlatformType.
platform_environment byte 1 Enumerat platformEnvironment is an
indicates a possible "environment"
of the Entity. The value of the child
Confidence element of all instances
of this element should sum to 100%.
AIR = 0,
GROUND_UNIT = 3,
SEA_SUBSURFACE = 4,
SEA_SURFACE = 5,
SPACE = 6,
7,
OTHER = 8
platform_identity string 10 None platformIdentity is an UniqueIDType
that specifies the identifier assigned
to the platform the of the target for
the PlatformIdentityType.
threat_type byte 1 Enumerat threatType is a ThreatCategoryType
ed that represents the threat type of
the entity. Threat type is simply a
high-level categorization of threats
to be used when ELNOT is unknown
or not applicable. Derived from MIL-
STD-6016D.
ThreatCategoryEnumTypeLDM:
AIR_TO_AIR_MISSILE = 0,
AIR_TO_SURFACE_MISSILE = 1,
ANTIAIRCRAFT_ARTILLERY = 2,
ANTISHIP_CRUISE_MISSILE = 3,
CHEMICAL_BIOLOGICAL_RADIOLOGI
CAL_OR_NUCLEAR = 4,
IMPROVISED_EXPLOSIVE_DEVICE =
5,
JAMMER = 6,
MANNED_AIRCRAFT = 7,
MANNED_GROUP_VEHICLE = 8,
MANNED_SHIP = 9,
SATELLITE = 10,
SUBMARINE = 11,
SURFACE_TO_AIR_MISSILE = 12,
SURFACE_TO_SURFACE_MISSILE =
13,
TORPEDO = 14,

CAMELOT
TROOPS_INSURGENTS_OR_PEOPLE =
15,
UNMANNED_AIRCRAFT = 16,
UNMANNED_GROUND_VEHICLE = 17,
UNMANNED_SHIP = 18
SpecificEmitterIdentityType
SpecificEmitterIdentityType is an element that indicates the specific emitter type instance that has been
identified in association with the Entity. Specific Emitter Identification (SEI) technology passively measures
emitters, and characterizes unique emitter signatures that can be used for friendly or enemy emitter
identification and fingerprinting. An SEI and this SpecificEmitter element refer to a specific physical instance of a
type of emitter as given in the sibling EmitterType element.
h
specific_emitter_confide float 4 % specificEmitterConfidence is a
nce SizeType indicating the confidence of
the declaration of the Entity's
specific type.
specific_emitter_id ForeignKeyT 60 - specificEmitterID is a
ype DescriptionType that indicates the
specific emitter instance ID of the
Entity.
SpecificIdentityType
SpecificIdentityType is an element that indicates a "specific identity" of the Entity.
h
specific_category_type byte 1 Enumerat specificTypeCategory is an
indicates the MIL-STD-6016D
list/category of the sibling
SpecificType. Derived from MIL-STD-
of specific types.
AIR = 0,
GROUND_UNIT = 3,
SEA_SUBSURFACE = 4,
SEA_SURFACE = 5,
SPACE = 6,
7,
OTHER = 8
specific_confidence float 4 % specificConfidence is a SizeType that
indicates the confidence of the
SpecificType.
specific_type string 100 None specificType is a DescriptionType
that indicates the "specific type" of
the Entity. Derived from MIL-STD-
6016D; see MIL-STD-6016D DFI/DUIs

CAMELOT
804/001, 808/001, 809/001, 810/001

and 749/002 for additional details. In
MIL-STD-6016, specific type
indexes/values vary by environment
and therefore this element is only
meaningful when paired with the
sibling SpecificTypeCategory
element.
StandardIdentityType
StandardIdentityType is an element that is an externally generated identification for a standard entity.
h
allegiance string 100 None allegiance is a DescriptionType that
indicates the DOD standard country
code designator to which an entity
owes its allegiance.
identity byte 1 Enumerat identity is a StandardIdentityType
ed that indicates the "standard identity"
of the Entity. Derived from MIL-STD-
376/007 for additional details.
StandardIdentityKindEnumTypeLDM:
ASSUMED_FRIEND = 0,
FRIEND = 1,
HOSTILE = 2,
NEUTRAL = 3,
PENDING = 4,
SUSPECT = 5,
UNDEFINED = 6,
UNKNOWN = 7
standard_confidence float 4 % standardConfidence is a SizeType
StandardIdentity declaration.
standard_exercise_ident byte 1 Enumerat standardExerciseIdentity is an
ity ed ExerciseIdentityType that is a
descriptor adding to the
StandardIdentity of an entity
involved in an exercise. The sibling
StandardIdentity is expected to be
FRIEND and the sibling Confidence
element is expected to be 100%
when this optional element is used.
Derived from MIL-STD-6016D; see
MIL-STD-6016D DFI/DUI 376/001 for
additional details.
ExerciseIdentityEnumTypeLDM:
ASSUMED_FRIEND = 0,
FAKER = 1,
JOKER = 2,
NEUTRAL = 3,
PENDING = 4,
UNKNOWN = 5
IFFType

CAMELOT
IFFType is an element that specifies an air vehicle's IFF transponder.

h
mode_1_code string 2 None mode1Code is a UniqueIDType that
specifies the 2-digit 5-bit mission
code.
mode_1_state byte 1 bool mode1State is a BooleanType that
specifies whether Mode 1 is enabled
or disabled for the
IFFConfigurationActionType.
specifies the 4-digit octal unit code
assigned by ATC (tail number that
identifies aircraft).
or disabled for the
mode_3a_code string 4 None mode3ACode is a UniqueIDType that
specifies the 4-digit octal
identification code for the aircraft,
assigned by the air traffic controller.
mode_3a_ident byte 1 bool mode3AIdent is a BooleanType that
specifies whether the IDENT reply bit
is activated or inhibited for the
mode_3a_state byte 1 bool mode3AState is a BooleanType that
specifies whether Mode 3A is
enabled or disabled for the
mode_4ab_state byte 1 Enumerat mode4ABState is an
ed IFFModeFourABStatusType that
specifies that when Mode 4 is
enabled whether Mode 4A or Mode
4B is active for the
IFFConfigurationActionType. Mode 4
is a cryptographic mode which
requires both the Interrogator and
the Transponder to work in
conjunction with an external
Cryptographic Unit in charge of the
"secure" encoding/decoding of
interrogations and replies.
IFFModeFourABStatusEnumT
ypeLDM:
A = 0,
B = 1
mode_4_enable byte 1 bool mode4Enable is a BooleanType that
or disabled for the
mode_4_hold byte 1 bool mode4Hold is a BooleanType that
specifies whether or not Mode 4
crypto codes are stored when power
is removed from the aircraft for the

CAMELOT
mode_4_indicator byte 1 Enumerat mode4Indicator is a
ed IFFModeFourIndicatorType
specifying the enumerated values for
IFF Mode 4 indicator.
IFFModeFourIndicatorEnumTypeLD
M:
INTERROGATED_INVALID_RESPONSE
= 0,
INTERROGATED_NO_RESPONSE = 1,
INTERROGATED_VALID_RESPONSE =
2,
NOT_INTERROGATED = 3
or disabled for the
specifies the 2 digit code assigned by
ATC (mission code).
mode_5_enable byte 1 bool mode5Enable is a BooleanType that
or disabled for the
mode_c_code string 4 None modeCCode is a UniqueIDType that
specifies a 4-digit octal code for the
aircraft's pressure altitude for the
mode_c_state byte 1 bool modeCState is a BooleanType that
specifies whether Mode C is enabled
or disabled for the
mode_s_address byte[] 3 None modeSAddress is a UniqueIDType
that specifies a unique 24-bit address
assigned to an air vehicle selected
for interrogation for the
mode_s_aircraft_id string 10 None modeSAircraftID is a UniqueIDType
that specifies the aircraft being
selected for interrogation for the
mode_s_enable byte 1 bool modeSEnable is a BooleanType that
specifies whether Mode S is enabled
or disabled for the
mode_s_max_true_spee byte 1 Enumerat modeSMaxTrueAirspeed is an
d ed IFFModeSMaxTrueAirSpeedType that
specifies the true airspeed of the
aircraft being interrogated for the
IFFConfigurationActionType. Aircraft
airspeed is captured as a range, e.g.
0-75, 75-150, 150-300, etc.
IFFModeSMaxTrueAirspeedEn
umTypeLDM:
GT_0_TO_75 = 0,
GT_1200 = 1,

CAMELOT
GT_150_TO_300 = 2,
GT_300_TO_600 = 3,
GT_600_TO_1200 = 4,
GT_75_TO_150 = 5,
NO_AIRSPEED_AVAILABLE = 6,
NOT_ASSIGNED = 7
mode_s_state byte 1 bool modeSState is a BooleanType that
or disabled for the
AreaOfInterestType (AreaOfInterestRectangle)
AreaOfInterestRectangle_Measurement specifies the length, width and location of a rectangular area of interest.
1 overlay_id int 4 None Unique identifier used to
create a new overlay or update
an existing one
2 major_axis float 4 m majorAxis specifies the length of the
rectangle's semi-major axis, which is
drawn away from the referencePoint
along the bearing defined by
orientationOfMajorAxis. (rectangle)
3 minor_axis float 4 m minorAxis specifies the length of the
rectangle's semi-minor axis, which is
drawn away from the referencePoint
along the bearing defined by
(orientationOfMajorAxis minus 0.5
pi). (rectangle)
4 orientation_of_maj float 4 rad orientationOfMajorAxis specifies the
or_axis orientation of the rectangle as the
angle between the semi-major axis
and true north. (rectangle)
5 reference_point Position2 16N - referencePoint specifies the location
6 DType[] of the intersection of the two axes of
the rectangle at a specific time.
7 altitude float 4 m Altitude
8 ui_type byte 1 Enumera 0 : map – map overlay
ted 1 : video – video overlay
UITypeEnumtypes:
MAP = 0,
VIDEO = 1
9 type byte 1 Enumera 0 : poi – Point of interest
ted 1 : polygon – polygon
detection
2 : rectangle – rectangle
detection
3 : path – mission planning
waypoints
PointTypeEnumType:
POI = 0,
POLYGON = 1,
RECTANGLE = 2,
PATH = 3
10 source string 100 None Origin of the overlay –
software provider or algorithm

CAMELOT
11 source_type string 50 None

12 label string 50 None Mouse over tooltip header
13 label_image byte[] N None Mouse over tooltip image
14 data_type byte 1 Enumera 0 : default – creates the
ted overlay object using the
Mission system default UI
elements (color and/or image)
1 : custom – uses the values
from color or uiresource fields
to represent the overlay object
2 : symbollib – uses a symbol
library for the object
representation
DataTypeEnumType:
DEFAULT = 0,
CUSTOM = 1,
SYMBOLLIB = 2
15 color byte[] 3 None RGB values
16 ui_resource byte[] N None Image byte[] value
Mission Structures (UCS 3.4)
RouteType
This element specifies the entire route corresponding to the mission plan of a single vehicle. It includes options
to specify a primary path and additional contingent paths. Prior to detailed route planning, a mission plan 1)
might not contain a route and therefore this element is optional or 2) might contain only a stick route as
indicated by the Detailed element. After detailed mission planning, a detailed route must be present. A route is
required to have one complete primary path, but could include other non-primary paths.
1 mission_id int 4 None Mission identifier
2 detailed bool 1 None Indicates whether the route is the
result of detailed mission planning
(TRUE), or is a simple stick route
(FALSE).
3 first_path_in_route RoutePath 142183+ - Indicates the unique ID of the first
Type Path of the Route. The first Path of
the Route would generally be of
PRIMARY Path Type.
4 route_kind byte 1 Enumera Type of route path.
ted LineSegmentEnumTypeLDM:
GREAT_CIRCLE = 0,
RHUMB = 1
5 route_path RoutePath 142183+ - A series of path segments. A route
Ty can contain many paths. Some paths
pe provide alternate routes and
contingency routes which branch
from the primary path. Other paths
can be standalone, disconnected
paths. Elements given here are not
necessarily in mission/flight order; it
is necessary to follow the linkages
provided in NextPathSegment and/or
ConditionalPathSegment to traverse

CAMELOT
the segments in mission/flight order.
RoutePathType
RoutePathType is an element that is used to compose a route. A route path at the highest level of mission
(Sortie/Route) is a fully formed route. Route paths at the lower levels of missions are route paths consisting of
segments and points based on the mission type and actions.
h
first_segment_in_path SegmentT 225 - Indicates the unique ID of the first
ype Path Segment of the Path.
metrics MetricsTy 34769 - Indicates metrics related to the
pe "cost" to complete the Path. When
the Path is of EGRESS Path Type, this
element should at a minimum
specify fuel amount needed to
egress, including any reserve desired
for landing. When the Path is of
INGRESS Path Type, this element
should at a minimum specify the fuel
amount that will be available at the
end of the ingress Path. The
allocators and route planners for
mission operations will use these
fuel amount to ensure that sufficient
fuel remains upon the transition to
the egress Path.
path_id RoutePath 142183 - Indicates the unique ID for this
Type + Path. Other Paths or Path Segments
may branch to this path by referring
to this ID.
path_kind byte 1 Enumerat Type for this path.
ed PathKindEnumTypeLDM:
ALTERNATE = 0,
EGRESS = 1,
EMERGENCY_LANDING = 2,
HARD_DITCH = 3,
INGRESS = 4,
LANDING = 5,
LOSS_OF_COMM = 6,
PRIMARY = 7,
RETURN_TO_BASE = 8,
SOFT_DITCH = 9,
TAKEOFF = 10
route_path_segment RoutePath 107180 - A PathSegment is defined from the
SegmentT + previous path segment EndPoint (or
ype current vehicle state if no previous
path segment) to the current path
segment EndPoint. Elements given
here are not necessarily in
mission/flight order; it is necessary
to follow the linkages provided in
NextPathSegment and/or

CAMELOT
start_time double 8 s Indicates the start time of the first

Path Segment of this Path. The start
time of subsequent Path Segments is
the end time of the previous Path
Segment.
SegmentType
SegmentType is an element that contains one or more segments.
h
foreign_segment_id ForeignKe 60 - foreignSegmentID is a
yType ForeignKeyType that is a used to
specify a foreign key for a segment.
line LineSegm 112 - line is a LineRequirementType from
entRequir which route paths and routes are
ementTyp composed.
e
path_segment_locked bool 1 None pathSegmentLocked is a
BooleanType that specifies that the
vehicle path is locked and cannot be
modified for the SegmentType.
path_segment_modified bool 1 None pathSegmentModified is a
BooleanType that specifies that the
vehicle path has been modified since
creation for the SegmentType.
path_segment_source byte 1 Enumerat pathSegmentSource is a
ed PathSegmentSourceType that
specifies the source of the path as
either operator defined or
autorouted for the SegmentType.
(PathSegmentSourceEnumTypeLDM)
AUTO_ROUTED = 0,
OPERATOR_DEFINED = 1
version string 50 None version is a UniqueIDType that
indicates a segment's version ID.
LineSegmentRequirementType
Realizes LineRequirementType: a Requirement that specifies a line or line segment consisting of two or more
points that are collinear.
line Position4DType 28 -
line_tolerance Position4DToleranceType 84 -
Position4DType
Position4D_Tuple specifies a location relative to the WGS-84 ellipsoid at a given point in time.
geodetic_position Position2DType 16 - geodeticPosition
specifies a location on
the surface of the Earth.
height_above_ellipsoid float 4 m heightAboveEllipsoid specifies
the height above the WGS-84
ellipsoid.
time_at_position double 8 s timeAtPosition specifies the

CAMELOT
date and time when this

position is considered valid or
an associated measurement
was made.
Position4DToleranceType
Realizes PositionToleranceType: an ObservableTolerance that specifies the range of allowable values for a
position attribute.
lower_limit Position4DType 28 -
step_size Position4DType 28 -
upper_limit Position4DType 28 -
MetricsType
Specifies parameters that characterize the performance or measure of mission objectives.
h
endurance_usage Enduranc 89 - Estimated endurance usage.
eType
expendables Expendabl 64 - Estimated expendables usage.
esMetrics
Type
probability_of_survival float 4 % Estimated probability of survival.
vulnerability_without_su Vulnerabili 17272 - This element provides the
ppression tyMetricsT assessment of the path or path
ype segment without suppression.
vulnerability_with_suppr Vulnerabili 17272 - This element provides the
ession tyMetricsT assessment of the path or path
ype segment with suppression.
weapons Weapons 68 - Estimated weapons usage.
MetricsTy
pe
EnduranceType
Estimated endurance usage.
h
duration double 8 s Estimated remaining time of
operation with current
fuel/charge/power.
footprint Enduranc 73 - Indicates endurance in terms of
eFootprint maximum ground/surface distance
Type that can be reached given the
current System state.
fuel float 4 kg Measure of fuel in kg.
percent float 4 % Percent of fuel/charge/power
remaining as compared to total
capacity.
EnduranceFootprintType
Indicates endurance in terms of maximum ground/surface distance that can be reached given the current System
state.

CAMELOT

h
altitude float 4 m Indicates the Height Above Ellipsoid
(HAE) reference for the footprint.
boundary Enduranc 61 - Indicates the boundary of the
eFootprint endurance footprint.
Boundary
Type
duration double 8 s Indicates estimated remaining time
of operation with current
fuel/charge/power plus the
estimated time remaining until the
endurance footprint shrinks to its
smallest size.
EnduranceFootprintBoundaryType
Indicates the boundary of the endurance footprint.
h
ellipse Positioned 36 - Indicates the footprint boundary as a
EllipseTyp ground/surface ellipse, any part of
e which can be reached given the
remaining endurance.
polygon PolygonTy 25 - Indicates the footprint boundary as a
pe ground/surface polygon, any part of
which can be reached given the
PolygonType
Polygon_Measurement specifies an area defined by a polygon.
h
line_kind byte 1 Enumerat lineKind indicates the type of lines
ed that form the polygon.
LineSegmentEnumTypeLDM:
GREAT_CIRCLE = 0,
RHUMB = 1
reference_point Position2 24 - referencePoint specifies the
DTimeTyp geospatial points defining the
e vertices of a polygon. Three or more
points are needed to define a
polygon.
Position2DTimeType
Position2DTime_Tuple specifies a location on the surface of the Earth at a given point in time.
h
geodetic_position Position2 16 - geodeticPosition specifies a location
DType on the surface of the Earth.
time_at_position double 8 s timeAtPosition specifies the date and
time when this position is considered
valid or an associated measurement

CAMELOT
was made.
PositionedEllipseType
PositionedEllipse_Measurement specifies an ellipse composed of a major and minor axis and rotated by an angle
relative to true north, along with the location of the ellipse.
h
center_point Position2 24 - centerPoint specifies the center of
DTimeTyp the ellipse at a location on the
e surface of the Earth at a given point
in time.
major_axis float 4 m majorAxis specifies the length of the
longest diameter of the ellipse.
minor_axis float 4 m minorAxis specifies the length of the
shortest diameter of the ellipse.
orientation_of_major_axi float 4 rad orientationOfMajorAxis specifies the
s true north bearing of the major axis
of the ellipse. The measurement is
stated in radians between 0 and 2 pi.
ExpendablesMetricsType
Estimated expendables usage.
h
expendables_kind ForeignKe 60 - Type of expendable used.
yType
quantity int 4 None Quantity of expendables used.
VulnerabilityMetricsType
Specifies parameters that characterize route threat vulnerabilities.
h
acquisition_metrics RouteVuln 4317+ - Defines the detection by an Early
erabilityTy Warning radar or by the acquisition
pe radar associated with a Surface-to-
Air Missile (SAM) site.
exposure_event_probabi float 4 % Defines the probability of exposure
lity_threshold that estimated exposure calculations
must exceed to be counted as an
actual exposure event. The length of
time of exposure events are used to
calculate Composite and Cumulative
exposure times.
intercept_metrics RouteVuln 4317+ - Defines missile intercept
erabilityTy opportunities, defined as a launch
pe opportunity followed by a sufficient
time period of tracking/guidance
radar detection to guide the missile
all the way to intercept, with no
detection dropouts longer than the
missile's coast time.
launch_metrics RouteVuln 4317+ - Defines missile launch opportunities,
defined as a tracking radar exposure

CAMELOT
erabilityTy that occurs at a time when a valid

pe kinematic missile firing solution
exists.
track_metrics RouteVuln 4317+ - Defines the exposure to a SAM site's
erabilityTy tracking (missile guidance) radar
pe system.
RouteVulnerabilityType
Specifies vulnerability data about the route.
h
composite_exposure_ti double 8 s Provides the time duration along the
me route or path segment that have any
amount of exposure time for any
threats. For example, if five threats
are all causing one second of
exposure time and all five are on the
exact same second along the route,
the CompositeExposureTime is one
second.
cumulative_exposure_ti double 8 s Provides the sum of all exposure
me time incurred due to all threats for
the route path or segment that this
data is associated with.
threat_vulnerability ThreatVul 4301+ - Provides the exposure costs incurred
nerabilityT do to a particular threat for the route
ype path or segment that this data is
associated with.
ThreatVulnerabilityType
Provides the exposure costs incurred do to a particular threat for the route path or segment that this data is
associated with.
h
composite_exposure_ti double 8 s Provides the time duration along the
me route or path segment that have any
amount of exposure time for any
threats. For example, if five threats
are all causing one second of
exposure time and all five are on the
exact same second along the route,
the CompositeExposureTime is one
second.
cumulative_exposure_ti double 8 s Provides the sum of all exposure
me time incurred due to the specified
threat for the route path or segment
that this data is associated with.
entity_id EntityData 4257+ - Specifies the unique Entity that is
Type causing the exposure being
described.
exposure_events DateTime 16 - Provides a method for defining
RangeTyp exposure events along a route path
e or segment into time segments

CAMELOT
against a particular threat. An

exposure event is defined as a time
ranges during which exposure to a
particular threat occurs.
probability_metrics Probability 12 - Provides a method for breaking the
MetricsTy exposure probabilities along a route
pe path or segment into time segments
against a particular threat.
EntityDataType
EntityDataType is an element that contains all of the data required for an entity.
h
activity_against ActivityAg 105 - activityAgainst is an element that
ainstType indicates an activity being performed
on/against the Entity.
activity_by ActivityBy 5 - activityBy is an element that
Type indicates an activity being performed
by the Entity.
applicable_staleness_zo Positioned 144 - applicableStalenessZone is an
ne EllipseReq EntityZonePositionType that, if
uirementT included, specifies the zone in which
ype the staleness thresholds apply for an
EntityDataType.
associated_id ForeignKe 60 - associatedID is a ForeignKeyType
yType (ID_Type) element that indicates an
association (not a fusion or
derivation relationship) between this
Entity and another message or
object. For example, an Entity could
be associated with an OpPoint. Data
content of the Entity and the
associated message/object is
maintained independently.
creation_time double 8 s creationTime is a UniqueIDType that
indicates the time at which the Entity
was initially detected and/or created.
designated_target bool 1 None designatedTarget is a BooleanType
that specifies whether or not the
entity must be designated as a target
for the EntityDataType.
designation_id string 50 None designationID is a UniqueIDType that
specifies an identifier for the
designation as target or non-target
for an EntityDataType.
designation_kind byte 1 Enumerat designationKind is a
ed TargetDesignationStateType that
specifies the designation as a target
or non-target for an EntityDataType.
TargetDesignationStateEnumTypeLD
M:
DESIGNATED_NO_TARGET = 0,
DESIGNATED_TARGET = 1
designation_objective byte 1 Enumerat designationObjective is a

CAMELOT
ed DesignationObjectiveType that
specifies the objective of a
designated target for the
UCSOBjectiveType. Designation
objectives include Find, Fix, Track,
etc.
DesignationObjectiveEnumTypeLDM:
ASSESS = 0,
ELECTRONIC_ATTACK = 1,
FIND = 2,
FIX = 3,
OPPORTUNISTIC_ISR = 4,
STRIKE = 5,
TARGET = 6,
TRACK = 7
emissions_summary Emissions 106 - emissionSummary is an
Summary EmissionsSummaryType that
Type indicates a summary of observed
radio frequency emissions of the
Entity.
entity_dieqp string 50 None entityDIEQP is an element (Defense
Intelligence Equipment Index) that
further refines the ELNOT type.
entity_elnot string 50 None entityELNOT is an element that
represents Electronic Intelligence
(ELINT) Notation established by NSA
for non-communications electronic
emissions. Used to preserve original
signal identification in case of
modification by subsequent
processing.
estimated_kinematics Kinematic 466 - estimatedKinematics is an element
sType that indicates extrapolated or
otherwise estimated kinematics for
the Entity.
identity IdentityTy 551 - identity is an IdentityType that
pe defines the type of vehicle that the
separation parameters apply to.
identity_staleness double 8 s identityStaleness is a
DurationRequirementType that
specifies the time since the last
observation of the entity for the
EntityDataType.
kinematics Kinematic 466 - kinematics is a KinematicsType that
sType indicates the current kinematic
information for the Entity. "Current"
is subjective and varies widely by
application. For example, some
Service might only consider directly
sensed kinematic information as
current and always report
extrapolated data in the sibling
EstimatedKinematics element.
Another Service might have
"staleness" criteria which allows

CAMELOT
current kinematics to be
extrapolated for some period of time
before being considered stale. When
the staleness criteria are met, that
Service might then continue to
extrapolate but report the continued
extrapolation in the sibling
EstimatedKinematics element while
freezing this element in a "last-
known-good" kinematic state.
percent_effective float 4 % percentEffective is a
SizeRequirementType that specifies
the percentage to decrease the
effectiveness of a threat during
mission planning for the
EntityDataType.
position_staleness double 8 s positionStaleness is a
specifies the time since the last
observation of the entity position for
the EntityDataType.
position_uncertainty float 4 % positionUncertainty is a
SizeRequirementType that specifies
the positional accuracy of the entity
for the EntityDataType. The
uncertainty is represented as an area
within which it is assessed that there
is a 95% probability that the entity
lies.
remove_info RemoveIn 1 - removeInfo is a RemoveInfoType
foType that indicates supplementary
information regarding an Entity
whose MessageState indicates
REMOVE
site EntityData 4257+ - site is an EntityDataType that
Type indicates that this Entity is a Site that
establishes a grouping of or
relationship between Entities.
source SourceTy 2163+ - source is a SourceType that
pe summarizes the creation and
correlation ancestry of the Entity. A
given Entity has a single source but
could be the result of fusion of
multiple Entities.
strength int 4 None strength is an element that
represents the number of
objects/entities represented by this
Entity. When the exact value is not
known the maximum estimated
value should be used. When omitted,
a strength of one should be
assumed.
use_in_planning bool 1 None useInPlanning is a BooleanType that
specifies whether or not to consider
this entity during mission planning

CAMELOT
for the EntityDataType.
ActivityAgainstType
ActivityAgainstType is an element that indicates an activity being performed on/against the Entity.
h
activity int 4 None activity is a SizeType which indicates
the "activity" of the Actor. Derived
from MIL-STD-6016D; see MIL-STD-
6016D DFI/DUIs 1798/001,
1798/002, 1798/003, 1798/004 and
1798/005 for additional details. In
MIL-STD-6016, activity
sibling ActivityCategory element.
activity_category byte 1 Enumerat activityCategory is an
list/category of the sibling Activity
element. Derived from MIL-STD-
of specific types.
AIR = 0,
GROUND_UNIT = 3,
SEA_SUBSURFACE = 4,
SEA_SURFACE = 5,
SPACE = 6,
SPECIAL_OPERATIONS_FORCES = 7,
UNKNOWN = 8
actor_component_id ExternalR 50 - actorComponentID is an
esourceTy ExternalResourceType that indicates
pe the unique ID of the component
being used to perform the action.
actor_system_id ExternalR 50 - actorSystemID is an
esourceTy ExternalResourceType that indicates
pe the unique ID of the System
performing the action.
ExternalResourceType
ExternalResourceType is an element that defines sources of information or expertise, outside the control of the
UCS domain, that are available to it for use to accomplish its various missions.
h
version string 50 None version is a DescriptionType
containing the version number of an
ExternalResourceType.

CAMELOT
ActivityByType
ActivityByType is an element indicates an activity being performed by the Entity.
h
activity int 4 None activity is a SizeType that indicates
the "activity" of the Entity. Derived
from MIL-STD-6016D; see MIL-STD-
6016D DFI/DUIs 1798/001,
1798/002, 1798/003, 1798/004 and
1798/005 for additional details. In
MIL-STD-6016, activity
sibling ActivityCategory element.
activity_category byte 1 Enumerat activityCategory is an
list/category of the sibling Activity
element. Derived from MIL-STD-
of specific types.
AIR = 0,
GROUND_UNIT = 3,
SEA_SUBSURFACE = 4,
SEA_SURFACE = 5,
SPACE = 6,
SPECIAL_OPERATIONS_FORCES = 7,
UNKNOWN = 8
EmissionsSummaryType
EmissionsSummaryType is an element that represents a summary of observed radio frequency emissions of the
Entity.
h
amplitude int 4 watts amplitude is a PowerType measuring
the RF power level of the
corresponding emitter beam.
associated_number_of_ int 4 None associatedNumberOfBeams is a
beams CountType representing the number
of emitter beams associated with
this emitter.
frequency_avg float 4 Hz frequencyAvg is a FrequencyType
representing the average measured
frequency detected from emitter.
frequency_last_tracked float 4 Hz frequencyLastTracked is a
FrequencyType representing the last
known frequency of this emitter,
when available.

CAMELOT
frequency_max float 4 Hz frequencyMax is a FrequencyType

representing the highest measured
frequency_min float 4 Hz frequencyMin is a FrequencyType
representing the lowest measured
last_emission_timestam double 8 s lastEmissionTimeStamp is a
p TimeType that indicates the time at
which emissions from the Entity
were last detected.
pri_avg double 8 s PRIAvg is a DurationType indicating
the average pulse repetition interval.
pri_gri double 8 s PRIGRI is a DurationType indicating
the Pulse (or Group) Repetition
Interval.
pri_last_tracked double 8 s PRILastTracked is a DurationType
indicating the last measured pulse
repetition interval for this emitter.
pri_max double 8 s PRIMax is a DurationType indicating
the highest value of the measured
pulse repetition interval for the
associated emitter beam.
pri_min double 8 s PRIMin is a DurationType indicating
the lowest value of the measured
pulse repetition interval for the
associated emitter beam.
pri_type byte 1 Enumerat PRIType is a PulseModeBehaviorType
ed indicating the enumerated list
describing the behavior of the pulse
(mode) of this entity.
PulseModeBehaviorEnumTypeLDM:
AGILE = 0,
CW = 1,
JITTER = 2,
OTHER = 3,
STABLE = 4,
STAGGER = 5
pw_avg double 8 s PWAvg is a DurationType indicating
the average value of the measured
pulse width.
pw_last_tracked double 8 s PWLastTracked is a DurationType
indicating the last measured pulse
width for this emitter.
pw_max double 8 s PWMax is a DurationType indicating
the highest value of the measured
pulse width.
pw_min double 8 s PWMin is a DurationType indicating
the lowest value of the measured
pulse width.
track_mode byte 1 Enumerat trackMode is a RadarTrackModeType
ed indicating the enumerated list of
tracking radar modes.~
RadarTrackModeEnumTypeLDM:
ACQUISITION = 0,
GUIDANCE = 1,

CAMELOT
ILLUM = 2,
SEARCH = 3,
TRACK = 4,
UNKNOWN = 5
PositionedEllipseRequirementType
Realizes AreaRequirementType: a Requirement that specifies the type of area.
h
area Positioned 36 -
EllipseTyp
e
area_tolerance Positioned 108 -
EllipseTol
eranceTyp
e
PositionedEllipseToleranceType
Realizes AreaToleranceType: an ObservableTolerance that specifies the range of allowable
values for an area attribute.
h
lower_limit PositionedE 36 -
llipseType
step_size PositionedE 36 -
llipseType
upper_limit PositionedE 36 -
llipseType
KinematicsType
KinematicsType is an element that indicates a kinematic state associated with an entity.
h
cov_orientation Covariance 48 - covOrientation is an
Orientation OrientationErrorType that indicates
Type the 1-sigma covariance of
orientation angle. Radian covariance
is symmetric and therefore the
covariance values expressed here are
the minimum set.
cov_position_position Covariance 48 - covPositionPosition is a
PositionPos PositionPositionErrorType that
itionType indicates position-position
covariance in the NED coordinate
system.
cov_position_velocity Covariance 72 - covPositionVelocity is a
PositionVel PositionVelocityErrorType that
ocityType indicates position-velocity covariance
in the NED coordinate system.
Required when the sibling Velocity-
Velocity covariance is given
cov_velocity_velocity Covariance 48 - CovVelocityVelocity is a

CAMELOT
VelocityVel VelocityVelocityErrorType that

ocityType indicates velocity-velocity covariance
in the NED coordinate system.
Required when the sibling Position-
Velocity covariance is given.
cov_velocity_velocity_c Covariance 48 - covVelocityVelocityCartesian is a
artesian VelocityVel VelocityVelocityErrorType that
ocityCartesi indicates velocity-velocity covariance
anType in the Cartesian (XYZ) coordinate
system.
date_timestamp double 8 s dateTimeStamp is a TimeType that
specifies the date/time stamp of the
navigation data reading for the
KinematicsType.
orientation Orientation3 12 - orientation is a OrientationType is
DType described by a Euler Angle Sequence
describing the orientation of the
vehicle in the order yaw, pitch, roll.
The angles are given in a locally level,
North-East-Down coordinate system
centered on the vehicle.
orientation_sigma Orientation3 12 - orientationSigma is an
DType OrientationType represented by an
Euler Angle Sequence describing the
error of the orientation of the
antenna in the order yaw, pitch, roll.
The angles are given in a locally level,
North-East-Down coordinate system,
relative to the angle of antenna
orientation.
position EntityPositi 158 - position is a PositionType indicates
onType the current or last known location of
the Entity.
velocity Velocity3DP 12 - velocity is a VelocityType described
latformNED by a vector indicating the current or
Type last known velocity of the Entity.
CovarianceOrientationType
Realizes ObservableError: an Entity that specifies a range of uncertainty for values of an Observable, usually an
Observable associated with kinematics. They are used with a corresponding Observable as attributes of
ResourceTypes which provide such state information.
An ObservableError may be expressed as a lower and upper limit, delta values, or squares of the Observable,
depending on the Frame of Reference and Coordinate Set used for the Observable. The number of values which
constitutes the ObservableError is also dependent on the dimensionality of the Observable. Since Frame of
Reference, Coordinates, and Dimensionality are determined in refinements specified in the Logical Data Model,
the selection of attributes for specializations of this Entity are undefined in the CDM.
h
rp_rp double 8 None Row 2 Column 2 term of the result
matrix. Pitch-Pitch angle-angle
covariance. As radian is unitless
result is unitless.
rp_ry double 8 None Row 2 Column 3 term of the result

CAMELOT
matrix. Pitch-Yaw angle-angle

result is unitless.
rr_rp double 8 None Row 1 Column 2 term of the result
matrix. Roll-Pitch angle-angle
result is unitless.
rr_rr double 8 None Row 1 Column 1 term of the result
matrix. Roll-Roll angle-angle
result is unitless.
rr_ry double 8 None Row 1 Column 3 term of the result
matrix. Roll Yaw angle-angle
result is unitless.
ry_ry double 8 None Row 3 Column 3 term of the result
matrix. Yaw Yaw angle-angle
result is unitless.
CovariancePositionPositionType
h
pd_pd double 8 m2 Down-Down position covariance
with units of meters squared.
Required when the Position includes
a down component.
pe_pd double 8 m2 East-Down position covariance with
units of meters squared. Required
when the Position includes a down
component.
pe_pe double 8 m2 East-East position covariance with
units of meters squared.
pn_pd double 8 m2 North-Down position covariance
Required when the Position includes
a down component.
pn_pe double 8 m2 North-East position covariance with
units of meters squared.
pn_pn double 8 m2 North-North position covariance
CovariancePositionVelocityType

CAMELOT
h
pd_vd double 8 m2/s Down-Down position-velocity
covariance with units of meters
squared per second. Required when
the velocity includes a down
component.
pd_ve double 8 m2/s Down-East position-velocity
squared per second.
pd_vn double 8 m2/s Down-North position-velocity
squared per second.
pe_vd double 8 m2/s East-Down position-velocity
the Velocity includes a down
component.
pe_ve double 8 m2/s East-East position-velocity
squared per second.
pe_vn double 8 m2/s East-North position-velocity
squared per second.
pn_vd double 8 m2/s North-Down position-velocity
the Velocity includes a down
component.
pn_ve double 8 m2/s North-East position-velocity
squared per second.
pn_vn double 8 m2/s North-North position-velocity
squared per second.
CovarianceVelocityVelocityType

CAMELOT
h
vd_vd double 8 m2/s2 Down-Down velocity-velocity
squared per second squared.
ve_vd double 8 m2/s2 East-Down velocity-velocity
ve_ve double 8 m2/s2 East-East velocity-velocity covariance
with units of meters squared per
second squared.
vn_vd double 8 m2/s2 North-Down velocity-velocity
vn_ve double 8 m2/s2 North-East velocity-velocity
squared.
vn_vn double 8 m2/s2 North-North velocity-velocity
CovarianceVelocityVelocityCartesianType
h
vx_vx double 8 m2/s2 Row 1 Column 1 term of the result
matrix. X-X velocity-velocity
vx_vy double 8 m2/s2 Row 1 Column 2 term of the result
matrix. X-Y velocity-velocity
vx_vz double 8 m2/s2 Row 1 Column 3 term of the result
matrix. X-Z velocity-velocity
vy_vy double 8 m2/s2 Row 2 Column 2 term of the result
matrix. Y-Y velocity-velocity
vy_vz double 8 m2/s2 Row 2 Column 3 term of the result
matrix. Y-Z velocity-velocity
vz_vz double 8 m2/s2 Row 3 Column 3 term of the result
matrix. Z-Z velocity-velocity

CAMELOT

EntityPositionType
EntityPositionType is an element indicating the current or last known location of the Entity.
h
fixed_position EntityFixed 40 - fixedPosition is an
PositionTyp EntityFixedPositionType indicating
e the actual position measurement of
this entity.
relative_position EntityRelati 48 - relativePosition is an
vePositionT EntityRelativePositionType is the
ype relative position reported with
respect to a point of reference. The
relative point is fully defined when a
Bearing, AltitudeDifference and
SlantRange are given. It can be
partially defined as an angle-only
position when Bearing and/or
AltitudeDifference are given. It can
be partially defined as a range-only
position when only SlantRange is
given.
zone_position EntityZoneP 70 - zonePosition is an
ositionType EntityZonePositionType intended to
represent an entity with large
boundaries.
EntityFixedPositionType
EntityFixedPositionType is an element that contains the position data specifying an entity.
h
position Position2DT 24 - position is a PositionType indicating
imeType the current or last known location of
the Entity.
uncertainty EntityPositi 16 - uncertainty is an
onUncertain EntityPositionUncertaintyType
tyType providing an estimate of Entity
position uncertainty.
EntityPositionUncertaintyType
EntityPositionUncertaintyType is an element that contains the position uncertainty data about an entity.
h
quality float 4 m2 quality is an SizeType representing
the positional accuracy of the entity
in square data miles, within which it
is assessed that there is a 95%
probability that the track/point lies.
uncertainty_ellipse OrientedElli 12 - uncertaintyEllipse is an AreaType
pseType representing an ellipse describing
the 1-sigma position uncertainty of

CAMELOT
the Entity. The ellipse is defined by

the length of its semi-major and
semi-minor axes. The orientation of
the ellipse defines the angle between
the semi-major axis and true north.
OrientedEllipseType
OrientedEllipse_Measurement specifies an ellipse composed of a major and minor axis and rotated by an angle
relative to true north.
h
major_axis float 4 m majorAxis specifies the length of the
longest diameter of the ellipse.
minor_axis float 4 m minorAxis specifies the length of the
shortest diameter of the ellipse.
orientation_of_major_a float 4 rad orientationOfMajorAxis specifies the
xis true north bearing of the major axis
of the ellipse. The measurement is
stated in radians between 0 and 2 pi.
EntityRelativePositionType
EntityRelativePositionType is an element that represents the entity relative position reported with respect to a
point of reference.
h
los EntityLOST 12 - LOS is an EntityLOSType that
ype represents the Line of sight vector
that the reference point is reporting.
los_uncertainty EntityLOSU 12 - LOSUncertainty is an
ncertaintyTy EntityLOSUncertaintyType that
pe represents the uncertainty of the line
of sight vector reference point.
reference_point Position2DT 24 - referencePoint is a PositionType that
imeType represents a point of reference from
which the relative bearing, range and
altitude are specified.
EntityLOSType
EntityLOSType is an element reporting the line of sight vector of the reference point.
h
bearing float 4 rad bearing is an AngleType indicating
the angle from true north to target
point from reference point to entity.
Positive Clockwise.
elevation float 4 rad elevation is an AngleType indicating
the angle from local level in the
global frame. Positive up.
slant_range float 4 m slantRange is a DistanceType
indicating the discrete measurement
or tracking error relative to the
length of the slant range line of sight.

CAMELOT
EntityLOSUncertaintyType
EntityLOSUncertaintyType is an element representing the uncertainty of the line of sight vector reference point.
h
bearing_error float 4 rad bearingError is an AngleType
containing the discrete value
indicating the value of the measured
angle.
elevation_error float 4 rad elevationError is an AngleType
containing the discrete value
indicating the value of the measured
angle.
slant_range_error float 4 m slantRangeError is an AngleType
containing the discrete
measurement or tracking error
relative to the length of the slant
range line of sight.
EntityZonePositionType
EntityZonePositionType is an element representing an entity with large boundaries.
h
zone ZoneType 70 - zone is a ZoneType specifying an
entity with large boundaries.
ZoneType
ZoneType is an element that indicates a zone comprised of a two dimensional region and an altitude band.
h
inclusionary_zone bool 1 None inclusionaryZone is a BooleanType
where TRUE represents an inclusion
zone and FALSE represents an
exclusion zone.
maximum_altitude float 4 m maximumAltitude is an DistanceType
representing the maximum altitude
of a ZoneType.
minimum_altitude float 4 m minimumAltitude is an DistanceType
representing the minimum altitude
of a ZoneType.
zone_area ZoneAreaT 61 - zoneArea is an ZoneAreaType
ype specifying either a polygon or
located ellipse based area.
ZoneAreaType
ZoneAreaType is an element that includes area choices for representing a zone.
h
located_ellipse PositionedE 36 - locatedEllipse is an AreaType that
llipseType represents one form of a zone's area.
polygon_area PolygonTyp 25 - polygonArea is an AreaType that

e represents one form of a zone's area.

CAMELOT
Velocity3DPlatformNEDType
Velocity3D_PlatformNED_Tuple specifies the velocity given by northing, easting and down vectors in a North-
East-Down coordinate system centered on the platform.
h
down_speed float 4 m/s downSpeed specifies the down
velocity vector in a North-East-Down
coordinate system centered on the
platform.
east_speed float 4 m/s eastSpeed specifies the easting
platform.
north_speed float 4 m/s northSpeed specifies the northing
platform.
RemoveInfoType
RemoveInfoType is an element that contains supplementary information regarding an Entity whose
MessageState indicates REMOVE.
h
merged_to EntityDataT 4257+ - mergedTo is an EntityDataType that
ype indicates the unique ID of the Entity
which this Entity was fused to.
Required when the sibling
RemoveReason element indicates
FUSED. For example, say Entity 1 is a
fusion input from UAS A, Entity 2 is a
fusion input from UAS B and initially
fusion outputs Entity 3
(corresponding to Entity 1) and
Entity 4 (corresponding to Entity 2).
Later, fusion determines that Entity 1
and Entity 2 refer to the same
physical system and fuses them into
an updated Entity 3. Entity 4 is then
REMOVED with RemoveReason of
FUSED and FusedTo (this element)
indicating Entity 3.
remove_reason byte 1 Enumerat removeReason is an
ed EntityRemoveReasonType that
indicates a reason for removal. See
enumeration annotations.
EntityRemoveReasonEnumTypeLDM:
MERGED = 0,
OPERATOR = 1,
STALE = 2
SourceType
SourceType is an element that contains all of the data associated with the source of an element.

CAMELOT

h
entity_source byte 1 Enumerat entitySource is an EntitySourceType
ed that indicates an Entity that is a
contributor to this Entity.
EntitySourceEnumTypeLDM:
EOB = 0,
EXTERNAL_LINK16 = 1,
EXTERNAL_OTHER = 2,
FUSION_C2 = 3,
FUSION_OTHER = 4,
FUSION_UAS_OR_VEHICLE = 5,
INTERNALLY_DERIVED = 6,
OPERATOR = 7,
PAYLOAD_AIR_SAMPLE = 8,
PAYLOAD_EA = 9,
PAYLOAD_IFF = 10,
PAYLOAD_MTI = 11,
PAYLOAD_OPTICAL = 12,
PAYLOAD_OTHER = 13,
PAYLOAD_SAR = 14,
PAYLOAD_SIGINT = 15,
PRODUCT_DERIVED = 16,
UNKNOWN = 17
eob_record_id EOBRecord 120 - EOBRecordID is an EOBRecordIDType
IDType that indicates an EOB Entry from
which this Entity originated.
exclude_entity EntityDataT 4257+ - excludeEntity is an EntityDataType
ype that indicates the unique ID of an
Entity which is excluded from future
automated fusion operations with
the Entity represented by this Entity
message. This element is required
when the sibling fusionEligibility
element indicates
SELECTIVE_EXCLUSION and should
be omitted otherwise.
external_id ExternalIDT 120 - externalID is an ExternalIDType that
ype provides a mapping to IDs in another
system.
fusion_eligibility byte 1 Enumerat fusionEligibility is an
or EntityFusionEligibilityType that
indicates the eligibility of this Entity
for automated fusion operations by
the Entity's source System/Service
and/or fusion tier. FULL indicates
that this Entity, and therefore its
contributor Entity(ies), is fully eligible
for future automated fusion
operations. SELECTIVE_EXCLUSION
indicates that the Entity is eligible for
future automated fusion operations
excluding merging with the
Entity(ies) given in the sibling
excludeEntity element. NONE

CAMELOT
indicates that this Entity is not

eligible for future automated fusion
operations regardless of the
associated Entity.
EntityFusionEligibilityEnumTypeLDM:
FULL = 0,
NONE = 1,
SELECTIVE_EXCLUSION = 2
fusion_id FusionIDTy 1+ - fusionID is a FusionIDType that
pe indicates an Entity that is a
internally_derived_id ForeignKey 120 - internallyDerivedID is an
Type ExternalResourceType
(ForeignKeyType) that represents a
non-Entity object/message ID from
which this Entity was derived. Most
elements of type ID Type infer a
specific ID type. This element is
different in that any ID Type is
allowed. This will support moving
target data from Tasks (possibly
specified by ground forces) to
Entities in order to designate DMPIs.
It will also support linkage to a
generic event or ID. Examples
include; association of an entity with
an operator location of interest (OLI).
Locations are maintained
independently between OLI and
entity, indication that this entity was
created as a result of completing a
task, or a command which generated
the entity.
payload_id PayloadTyp 378+ - payloadID is a PayloadType that
e describes the ID of the Payload from
which the Entity originated.
product_metadata_id SensorProd 1442 - productMetadataID is a
uctMetaDat SensorFileMetaDataType that
aType indicates the unique ID of the
Product from which the Entity was
derived.
service_id ExternalRes 50 - serviceID is an ExternalResourceType
ourceType that describes the ID of the Service
that created the Entity. Re-published
Entities should retain the ID of the
creating Service. Required when
there are multiple Services within a
System that are sources of Entity.
system_id ExternalRes 50 - systemID is an ExternalResourceType
ourceType that describes the ID of the System
that created the Entity. Re-published
Entities should retain the ID of the
creating System.
EOBRecordIDType

CAMELOT
EOBRecordIDType is an element that contains the ID type that corresponds to EOBs.

h
equip_id_number ForeignKey 60 - equipIDNumber is a ForeignKeyType
Type that uniquely identifies each item or
group of equipment associated with
a unit, facility or site. Needed for
facilities and units with multiple
pieces of equipment.
pin ForeignKey 60 - pin is a ForeignKeyType that
Type describes a site number of a specific
electronic site or its associated
equipment.
ExternalIDType
Environment is an element that provides a mapping to IDs in another system.
h
foreign_specific_track ForeignKey 60 - foreignSpecificTrack is a
Type DescriptionType that references a
type convention from another
system, representing a track type.
foreign_track_number ForeignKey 60 - foreignTrackNumber is a
Type DescriptionType that references an
ID from another system,
representing a track number.
FusionIDType
FusionIDType is an element that represents the ID of the Entity was that was fused to create this entity.
h
contributor_id EntityDataT 4257+ - contributorID is an EntityDataType
ype indicates an Entity that is a
fusion_contributor bool 1 None fusionContributor is an BooleanType
that indicates whether the Entity
referred to by the sibling
ContributorID element is
contributing to this Entity as a result
of a fusion algorithm calculation
(TRUE) or as a result of an explicit
command to the fusion algorithm to
merge them (FALSE).
PayloadType
PayloadType is an Element which specifies the type of load carried by an air vehicle to carry out the flight mission.
h
next_availability_time double 8 s nextAvailabilityTime is a TimeType
which specifies the next time the
payload carried by this air vehicle will
be available.

CAMELOT
payload PayloadTyp 324+ - payload is a PayloadType which

e specifies the payload carried by this
air vehicle for each PayloadType.
payload_recorder PayloadDat 106 - payloadRecorder is a
aRecorderT PayloadDataRecorderType which
ype specifies the payload data recorded
carried by this air vehicle for each
PayloadType.
payload_report Subsystem 153 - payloadReport is a
ReportType SubsystemReportType which
specifies the information about the
definition and location of the report
for PayloadType.
pedestal PedestalTy 51 - pedestal is a PedestalType which
pe specifies the attachment point for
PayloadType.
power_status byte 1 Enumerat powerStatus is a PowerStatusType
ed which specifies the power state for
PayloadType. The power state is
specified as an
enumeration: {power_on,
power_standby, power_off,
emergency_power}
POWER_OFF= 1,
POWER_ON = 2,
POWER_STANDBY = 3
system_operating_mod byte 1 Enumerat systemOperatingMode is a
e ed PayloadSystemOperatingModeType
which specifies the operational state
for PayloadType. The operational
enumeration: {off, initializing,
standby, active, calibrate,
running_bit, on, inactive, deployed,
stowed, caged}
PayloadSystemOperatingModeEnum
TypeLDM:
ACTIVE = 0,
CAGED = 1,
CALIBRATE = 2,
DEPLOYED = 3,
FAULT = 4,
INACTIVE = 5,
INITIALIZING = 6,
OFF = 7,
ON = 8,
OPERATE = 9,
RUNNING_BIT = 10,
SHUTDOWN = 11,
STANDBY = 12,
STARTUP = 13,
STOWED = 14
temperature float 4 m/s temperature is a TemperatureType

CAMELOT
which specifies the temperature for

PayloadType
PayloadDataRecorderType
PayloadDataRecorderType is an Element which specifies the type of Payload subsystem that is used to record
sensor data and/or events.
h
recording_location TimeAddres 24 - recordingLocation is an
sCapability AddressCapabilityType which
Type specifies the location of data
recording for
PayloadDataRecorderType.
recording_speed CommsRat 28 - recordingSpeed is a
eMegabitsP CommunicationRateCapabilityType
erSecondC which specifies the data recording
apabilityTyp speed for PayloadDataRecorderType.
e
recording_status byte 1 Enumerat recordingStatus is a
ed RecordingStatusType which specifies
the status of the data recording for
PayloadDataRecorderType. The state
is specified as an
enumeration: {stop, ready,
recording, play, seek}
RecordingStatusEnumTypeLDM:
PLAY = 0,
READY = 1,
RECORDING = 2,
SEEK = 3,
STOP = 4
replay_location TimeAddres 24 - recordingLocation is an
sCapability AddressCapabilityType which
Type specifies the location in the data
recording for the replay of data for
PayloadDataRecorderType.
replay_speed CommsRat 28 - replaySpeed is a
erSecondC which specifies the data recording
apabilityTyp replay speed for
e PayloadDataRecorderType.
replay_status byte 1 Enumerat replayStatus is a ReplayStatusType
ed which specifies the status of the data
recording replay for
PayloadDataRecorderType. The
enumeration: {Stop,
ActiveNotReady, ReadyPause,
Reading}
ReplayStatusEnumTypeLDM:
ACTIVE_NOT_READY = 0,
READING = 1,
READY_PAUSE = 2,
STOP = 3

CAMELOT
TimeAddressCapabilityType
Realizes AddressCapabilityType: a ResourceCapability which specifies an address capability.
h
address Uint32 4 None
address_domain TimeAddres 12 -
sSpecificati
onType
address_set_point TimeAddres 8 -
sRequireme
ntType
TimeAddressSpecificationType
Realizes AddressSpecType: an ObservableSpecification that specifies the range(s) of allowable values for an
address attribute.
h
lower_limit Uint32 4 None
step_size Uint32 4 None
upper_limit Uint32 4 None
TimeAddressRequirementType
Realizes AddressRequirementType: a Requirement that specifies the type of logical address of an element.
h
address Uint32 4 None
address_tolerance Uint32 4 None
CommsRateMegabitsPerSecondCapabilityType
Realizes CommsRateCapabilityType: a ResourceCapability which specifies a communication rate capability.
h
comms_rate float 4 Mbit/s
comms_rate_domain CommsRat 12 -
eMegabitsP
erSecondS
pecification
Type
size_set_point CommsRat 12 -
eMegabitsP
erSecondR
equirement
Type
CommsRateMegabitsPerSecondSpecificationType
Realizes CommsRateSpecType: an ObservableSpecification that specifies the range(s) of allowable values for an
commsRate attribute.
h

CAMELOT
lower_limit float 4 Mbit/s

step_size float 4 Mbit/s
upper_limit float 4 Mbit/s
CommsRateMegabitsPerSecondRequirementType
Realizes CommsRateRequirementType: CommunicationRateRequirementType is a Requirement that specifies the
type of rate at which the information is transmitted.
h
lower_limit float 4 Mbit/s
step_size float 4 Mbit/s
upper_limit float 4 Mbit/s
SubsystemReportType
SubsystemReportType is an Element which specifies the URI describing the location of the report on the UAV
subsystem.
h
is_detailed bool 1 None isDetailed is a BooleanType which
specifies the state of the details of
the subsystem status report for
SubsystemStatusReport.
mission_communicatio byte 1 Enumerat missionCommunicationsState is a
ns_state ed MissionCommunicationStateType
that specifies the state of
communications between a system
and its controlling system for the
SubsystemReportType.
MissionCommsStateEnumTypeLDM:
ACTIVE = 0,
EMCON = 1,
LOST = 2,
PLANNED_LOST = 3
report_text string 50 None reportText is a DescriptionType
which specifies the text describing
report_text_uri string 50 - reportTextURI is a DescriptionType
which specifies the URI context for
the location of subsystem status
report for SubsystemStatusReport.
source byte 1 Enumerat source is a SystemSourceType that
ed specifies whether the source for the
SubsystemReportType is an actual
system data or an estimation service.
SystemSourceEnumTypeLDM:
ACTUAL = 0,
ESTIMATED = 1
vehicle_specific_report string 50 - vehicleSpecificReportURI is a
_uri DescriptionType which specifies the
URI context for the location of the
vehicle specific report for
SubsystemStatusReport

CAMELOT
SensorProductMetaDataType
SensorProductMetaDataType is an element that describes metadata referring to a sensor product data.
h
end_time double 8 s endTime is a TimeType that specifies
end time associated with the sensor
data product for the
SensorProductMetaDataType.
metadata string 50 - metadata is a DescriptionType
that describes unstructured
details of the metadata for the
SensorProductMetaDataType
metadata_version string 50 - metadataVersion is a UniqueIDType
that specifies the type of metadata in
the buffer for the
SensorProductMetaDataType. This is
a generic field that allows any type of
metadata to be referenced.
position ZoneType 70 - position is a ZoneType that specifies
the position of the sensor collection
area for the
scene string 50 - scene is an ExploitationSceneIDType
that specifies identifying information
to tie multiple sensor product
collected by different missions and
payloads in order to extract
correlated intelligence for the
scene_id ForeignKey 60 - sceneID is a ForeignKeyType that
Type specifies the ID which uniquely
identifies an externally defined,
possibly sensor defined, ID that
associates multiple Products
together, independent of the Tasks
that created them
security_information SecurityInfo 360 - securityInformation is a
rmationTyp SecurityInformationType that
e specifies the security settings for the
sensor_product_data SensorProd 636+ - sensorProductData is a
uctDataTyp SensorProductDataType that
e specifies the sensor data product
that this metadata applies to for the
start_time double 8 s startTime is a TimeType that
specifies the start time associated
with the sensor data product for the
thumbnail_filename string 50 - thumbnailFilename is a
DescriptionType that specifies the
name of the stored thumbnail.
thumbnail_format string 50 - thumbnailFormat is a

CAMELOT
DescriptionType that specifies the

format of a thumbnail representing
the sensor data product for the
thumbnail_uri string 50 - thumbnailURI is a DescriptionType
that describes the location of a low
resolution copy of an image for the
SecurityInformationType
SecurityInformationType is an element that defines security classification information used to mark and control
dissemination of sensor output products.
h
classification_level byte 1 Enumerat classificationLevel is a
ed SecurityClassificationLevelType that
specifies the highest security level
that applies to the product for the
SecurityInformationType.
SecurityClassificationLevelEnumType
LDM:
CONFIDENTIAL = 0,
NOT_DEFINED = 1,
RESTRICTED = 2,
SECRET = 3,
TOP_SECRET = 4,
UNCLASSIFIED = 5
classification_reason string 50 - classificationReason is a
DescriptionType that describes the
reason for the classification level
applied to the product for the
classified_by string 50 - classifiedBy is a DescriptionType that
specifies the agency responsible for
classifying the product for the
classified_on double 8 s classifiedOn is a TimeType that
defines when the classification level
of the product went into effect for
the SecurityInformationType.
code_words string 50 - codeWords is a DescriptionType that
specifies the trigraphs that define
the caveats for the classification for
declassify_on string 50 - declassifyOn is a DescriptionType
that specifies when the product is
reviewed for reclassification for the
derived_from string 50 - derivedFrom is a DescriptionType
that defines the product from which
this classification was derived for the
dissemination_control byte 1 Enumerat disseminationControl is a
ed SecurityDisseminationControlType

CAMELOT
that describes the restrictions on

dissemination of the product for the
SecurityDisseminationControlEnumT
ypeLDM:
COMSEC = 0,
CUI = 1,
DES = 2,
FGI = 3,
FOR_OFFICIAL_USE_ONLY =4,
LES = 5,
NO_FOREIGN = 6,
NOCONTRACT = 7,
ORCON = 8,
PROPIN = 9,
SBU = 10
page_markings string 50 - pageMarkings is a DescriptionType
that specifies the security markings
required in or on the product for the
releasable_to string 50 - releasableTo is a DescriptionType
that specifies the list of who the
product can be released to for the
SensorProductDataType
SensorProductDataType is an element that describes the format, location, etc. of a data product.
h
archiving ArchiveData 18 - archiving is an ArchiveDataType that
Type specifies the details of archive for the
SensorProductDataType.
command_id string 50 - commandID is a UniqueIDType that
specifies the identifier of the
command that caused the data be
generated for the
file_custodian string 50 - fileCustodian is a DescriptionType
that specifies the resource
responsible for maintaining the
sensor data product (e.g. archive
system) for the
file_name string 50 - fileName is a DescriptionType that
specifies the data product file name
for the SensorProductDataType.
format string 50 - format is a DescriptionType that
describes the format of the data
product file or stream for the
objective_id string 50 - objectiveID is a UniqueIDType that
specifies the lower level objective
associated with the capture of the
sensor data for the

CAMELOT
parent_product SensorProd 268+ - parentProduct is a
e specifies the product that this
product is derived from for the
processing_id string 50 - processingID is a UniqueIDType that
specifies the ID provided by service
processing the PED task for the
uri string 50 - URI is a DescriptionType that
specifies the location of the sensor
product data file or stream for the
ArchiveDataType
ArchiveDataType is an element that specifies the duration and priority of a data item archive.
h
manually_deleted bool 1 None manuallyDeleted is a BooleanType
that specifies that a data item can
only be manually deleted for the
ArchiveDataType.
number_of_days int 4 None numberOfDays is a CountType that
specifies length of time a data item is
to remain archived for the
ArchiveDataType.
number_of_missions int 4 None numberOfMissions is a CountType
that specifies that the data item
should be deleted when the number
of missions is exceeded for the
ArchiveDataType.
space_needed bool 1 None spaceNeeded is a BooleanType that
specifies (if TRUE) that the data item
should be deleted when storage
capacity is reached and items must
be deleted because space is needed
for the ArchiveDataType.
time_stamp double 8 s timeStamp is a TimeType that
specifies the time a data item should
be kept until for the
ArchiveDataType.
DateTimeRangeType
Indicates an absolute time range with beginning and ending dates and times. A range with a Begin and no End is
understood to continue indefinitely or until context implies an end. A range with an End and no Begin is
understood to start "now". A range with no Begin or End is understood to start "now" and continue indefinitely
or until context implies an end.
h
begin_time double 8 s This element represents the absolute
begin/start time and date for the
time range.

CAMELOT
end_time double 8 s This element represents the absolute

End time and date for the time
range.
ProbabilityMetricsType
Provides a method for breaking the exposure probabilities along a route path or segment into time segments
against a particular threat.
h
probability_of_detectio float 4 % Defines the probably of exposure for
n the given time segment (second)
incurred due to the associated
threat.
time_index double 8 s This element defines the second that
was used to calculate the probability
of exposure.
WeaponsMetricsType
Estimated Weapons usage.
h
quantity int 4 None Number of estimated weapons of
this type.
weapon WeaponTyp 64 - This element represents the MIL-
e STD-6016D specific type of the
store. See MIL-STD-6016D for
details; this schema will not redefine
the enumerations. It is left to
applications using this schema to
enforce compatibility with MIL-STD-
6016D.
WeaponType
WeaponType is an Element which specifies a device used to destroy or defend a military target. Attributes were
extracted from T3D data schema.
h
attack_mode byte 1 Enumerat attackMode is an AttackModeType
ed which specifies the mode, if any, for
approach to the weapon target.
AttackModeEnumTypeLDM:
ALTITUDE = 0,
HEADING = 1,
NO_MODE = 2,
TIME = 3,
WINDOW = 4
fuzes FuzeType 42 - fuzes is a FuzeType which specifies
all the fuzes from nose to tail on the
air system for WeaponType.
proximity_sensor bool 1 None proximitySensor is a BooleanType
which specifies the state of the
weapon having a proximity sensor
for WeaponType.

CAMELOT
target_acquisition_mod byte 1 Enumerat targetAcquisitionMode is a

e ed TargetAcquisitionModeType which
describes the mode, if any, being
used by the weapon for acquisition
of its target.
TargetAcquisitionModeEnumTypeLD
M:
COORDINATES = 0,
NA = 1,
PAYLOAD_SPECIFIC = 2,
SENSOR_BASED_TRACKING = 3
terminal_impact_azimu float 4 rad terminalImpactAzimuth is an
th AngleType which specifies the
azimuth of the weapon at terminal
impact time.
weapon_azimuth_at_di float 4 rad weaponAzimuthAtDispense is an
spense AngleType which specifies the
azimuth of the weapon at
dispense/launch time.
weapon_drag float 4 N weaponDrag is a ForceType which
specifies the drag produced by the
weapon.
weapon_initialization_ byte 1 Enumerat weaponInitializationMode is a
mode ed WeaponInitializationModeType
which describes the modes of
initialization for the weapon.
WeaponInitializationModeEnumType
LDM:
BIT_IN_PROGRESS = 0,
NAVIGATION_DATA_LOADING = 1,
NO_MODE = 2,
SEEKER_STEERING_MODE = 3,
SENSORS_INITIAL_ALIGNMENT = 4,
TARGET_DATA_LOADING = 5
weapon_kind byte 1 Enumerat weaponKind is a weaponKindType
ed which defines the type of weapon.
WeaponKindEnumTypeLDM:
AGM_114 = 0,
GBU_12 = 1,
GBU_38 = 3
weapon_status byte 1 Enumerat weaponStatus is a
ed WeaponStatusType which defines
the operational status of the
weapon.
WeaponStatusEnumTypeLDM:
ARMED = 0,
FAILED = 1,
NOT_AVAILABLE = 2,
READY = 3
weapon_weight float 4 kg weaponWeight is a MassType which
specifies the weight of the weapon.
FuzeType
FuzeType is an Element which specifies the weapon's fuse type.

CAMELOT
h
active bool 1 None active is a BooleanType which
specifies the active state for
FuzeType.
altitude_setting double 4 m altitudeSetting is a DistanceType
which specifies the altitude at which
the weapon transitions to initiate for
FuzeType. Initiate is the precursor to
detonation.
arm_time double 8 s armTime is a DurationType which
specifies the time from weapon
release to fully armed for FuzeType.
backup_delay_time double 8 s backupDelayTime is a DurationType
which specifies the backup arming
delay for FuzeType.
count int 4 - count is a CountType which specifies
the count for FuzeType.
delay_time double 8 s delayTime is a DurationType which
specifies arming delay for FuzeType..
depth double 8 m depth is a DistanceType which
specifies the distance to which the
weapon penetrates before transition
to initiate for FuzeType. Initiate is the
precursor to detonation.
fuze_mode byte 1 Enumerat fuzeMode is a FuzeModeType which
ed specifies the fuze mode for
FuzeType. Weapon fuze modes can
be changed before arming occurs;
the mode is specifies as an
enumeration: {mode_1, mode_2}
FuzeModeEnumTypeLDM:
HYDROSTATIC = 0,
IMPACT = 1,
PROXIMITY = 2,
TIME = 3
RoutePathSegmentType
A Route Path Segment is defined from the previous path segment EndPoint (or current vehicle state if no
previous path segment) to the current path segment EndPoint. Elements given here are not necessarily in
mission/flight order; it is necessary to follow the linkages provided in Next Path Segment and/or
ConditionalPathSegment to traverse the segments in mission/flight order.
h
acceleration float 4 m/s/s Indicates the acceleration of the
System along the Path Segment at
the EndPoint.
climb ClimbType 5 - Indicates if a climb is to take place on
this Path Segment.
comm_requirements CommsRes 507 - If this element is present then
ourceDataT comms are needed along the route
ype that drive the usage of comms
bandwidth across vehicles for comms
resource allocation. This could be
used to indicate that an EO/IR

CAMELOT
capability is being used during this

segment and therefore a higher
bandwidth is needed by the vehicle
in order support streaming video.
conditional_path_segm Conditional 353530 - This element is used to specify one
ent PathSegme + or more conditional Path Segment.
ntType
end_point EndPointTy 62 - Indicates the end point of the Path
pe Segment. The start point is the end
point of the previous Path Segment.
inertial_state InertialType 64 - This element is intended to provide
detailed inertial state information at
user defined increments within a
path segment. This element
provides data which may be required
for pre-mission analysis of a Route.
locked bool 1 None This flag is used to determine
whether the segment can be
modified/removed or was driven by
an operator and therefore cannot be
modified.
metrics MetricsType 34769 - Indicates metrics related to the
"cost" to complete the Path
Segment. Metrics remaining/to-go
can be determined by adding metrics
for each segment, path or route of
interest.
modified bool 1 None If this element is present and set to
TRUE, this Path Segment has been
modified as part of a
MODIFIED_ROUTE Mission Plan. This
data is valuable to some planning
algorithms to support validation of a
user modified route.
next_path_segment NextPathSe 35228+ - This element is used to specify the
gmentType next non-conditional Path
Segment. If none is given then this is
the end of the Path.
path_segment_id SegmentTy 225 - Indicates the unique ID for this Path
pe Segment. Other Paths or Path
Segments may branch to this path
segment by referring to this ID.
route_path_segment_a RoutePathS 35957 - Indicates an action that is planned to
ction egmentActi occur on the PathSegment at the
onType time/location specified by the
Trigger element, Multiple Actions
occurring at different times along a
straight segment can be specified
with 1) an EndPoint for each action
to accurately describe where they
will occur or 2) using the Trigger
element to arrange the Actions along
a single PathSegment with a single
EndPoint. The latter approach is
required for simultaneous Actions.

CAMELOT
source byte 1 Enumerat Defines whether the path segment

ed was manually defined or if it was
defined by an operator. This element
can be used for many reasons
including, but not limited to,
operator display.
PathSegmentSourceEnumTyp
eLDM:
AUTO_ROUTED = 0,
OPERATOR_DEFINED = 1
speed SpeedType 6 - Indicates the speed or speed
optimization of the System along the
Path Segment at the End Point.
ClimbType
Indicates the Path Segment Climb parameters.
h
climb_kind byte 1 Enumerat Indicates that the system will climb
ed or descend at an autonomously
chosen rate according to the
specified optimization algorithm.
AirVehicleClimbModeEnumTypeLDM
:
BEST_RATE_OF_CLIMB = 0,
EXTENDED_RANGE_CLIMB = 2,
GRADUATE = 3,
MANUAL = 4,
MAXIMUM_RATE_OF_CLIMB = 5,
OPTIMUM_PERFORMANCE = 6
climb_rate float 4 m/s Indicates the climb rate during this
Path Segment.
CommsResourceDataType
If this element is present then comms are needed along the route that drive the usage of comms bandwidth
across vehicles for comms resource allocation. This could be used to indicate that an EO/IR capability is being
used during this segment and therefore a higher bandwidth is needed by the vehicle in order support streaming
video.
h
comm_kind string 50 None Indicates the type of communication
resource/asset. This serves as an
extension point to add system
specific enumerations.
downlink_data_rate CommsRat 12 - Represents the data rate of the
eMegabitsP allocated communication resource.
erSecondR
equirement
Type
external_comm_asset_ CommsSyst 376 - The ID of the comm resource/asset
id emType
timed_zone TimedZone 57 - A list of areas and times that are

CAMELOT
Type being requested for the given type of

external communication resource.
uplink_data_rate CommsRat 12 - Represents the data rate of the
eMegabitsP communication resource.
erSecondR
equirement
Type
CommsSystemType
CommsSystemType is an Element which specifies the type of mechanism that transmits and receives information.
h
antenna CommsAnt 4 - antenna is a CommsAntennaType
ennaType which specifies the communication
system antenna for the aircraft for
CommsSystemType.
built_in_test_status byte 1 Enumerat builtInTestStatus is a
ed BuiltInTestStatusType which specifies
the status of the built in test for
CommsSystemType. The status is
specified through an enumeration:
{off_abort, running_bit, bit_passed,
bit_failed, bit_suspended}
BIT_FAILED = 0,
BIT_PASSED = 1,
BIT_SUSPENDED = 2,
OFF_ABORT = 3,
RUNNING_BIT = 4
comms_report Subsystem 153 - commsReport is a
specifies a subsystem report for
CommsSystemType.
comms_system_kind byte 1 Enumerat commsSystemKind is a
ed CommsSystemKindType which
specifies the communication system
for CommsSystemType. The comms
system is specified through an
enumeration: {TCDL, MADL, …}
CommsSystemKindEnumTypeLDM:
MADL = 0,
TCDL = 1
communications_devic byte 1 Enumerat communicationsDeviceRole is a
e_role ed CommDeviceKindType which
describes the role of this Comms
System in the UCS Control System.
CommsDeviceEnumTypeLDM:
CLIENT = 0,
PROVIDER = 1
data_rate CommsRat 28 - dataRate is a
erSecondC which specifies the aggregate
apabilityTyp communication rate for
e CommsSystemType.

CAMELOT
emissions_control_acti bool 1 None emissionsControlActive is a

ve BooleanType which specifies the
state of communication system
transmissions for
CommsSystemType.
ed which specifies the power status for
CommsSystemType. The power
status is specified through an
emergency_power}
POWER_OFF = 1,
POWER_ON = 2,
POWER_STANDBY= 3
radio RadioType 174 - radio is a RadioType which specifies
the characteristics of the wireless
device used for the transmission of
electric impulses into which sound is
converted for CommsSystemType.
satellite CommsSat 4 - satellite is a CommsSatelliteType
elliteType which specifies the communications
satellite for CommsSystemType.
time_to_emission_cont double 8 s timeToEmissionControlStop is a
rol_stop DurationCapabilityType which
specifies the allowable duration of
communication transmission before
stop for CommsSystemType.
CommsAntennaType
CommsAntennaType is an Element which specifies the communication system antenna for the aircraft Data Link.
h
kind byte 1 Enumerat kind is an AntennaKindType which
ed specifies the kind of antenna for
CommsAntennaType. The antenna
kind is specified through an
enumeration: {omni, directional,
auto}
AntennaKindEnumTypeLDM:
AUTO = 0,
DIRECTIONAL = 1,
LOCATION = 2,
OMNI = 3
pedestal AntennaPe 2 - pedestal is an AntennaPedestalType
destalType which specifies the pedestal
characteristics for
CommsAntennaType.
pointing_mode byte 1 Enumerat pointingMode is an
ed AntennaPointingModeType which
specifies the pointing mode of the
antenna for CommsAntennaType.

CAMELOT
The mode is specified through an

enumeration: {manual_position,
manual_rate, auto_rf_tracking,
auto_location, search_pattern_1,
search_pattern_2, search_pattern_3,
search_pattern_4}
AntennaPointingModeEnumTypeLD
M:
AUTO_LOCATION = 0,
AUTO_RF_TRACKING = 1,
MANUAL_POSITION = 2,
MANUAL_RATE = 3,
SEARCH_PATTERN_1 = 4,
SEARCH_PATTERN_4 = 7
AntennaPedestalType
AntennaPedestalType is an Element which specifies the attachment point for a communications antenna.
h
location_source byte 1 Enumerat locationSource is an
ed AntennaPedestalLocationSourceType
which specifies the pedestal location
for AntennaPedestalType. The
location is specified by an
enumeration: {external, internal}.
AntennaPedestalLocationSourceEnu
mTypeLDM:
EXTERNAL = 0,
INTERNAL = 1
state byte 1 Enumerat state is an
ed AntennaPedestalStateType which
specifies the state of the pedestal for
AntennaPedestalType. The state for
the pedestal is specified through an
enumeration: {deployed_off,
deployed_on, deployed_standby,
stowed_off}
AntennaPedestalStateEnumTypeLD
M:
DEPLOYED_OFF = 0,
DEPLOYED_ON = 1,
DEPLOYED_STANDBY = 2,
STOWED_OFF = 3
RadioType
RadioType is an Element which specifies the type of a wireless device used for the transmission of electric
impulses into which sound is converted.
h
the test status for RadioType. Test

CAMELOT

enumeration: {off_abort,
running_bit, bit_passed, bit_failed,
bit_suspended}
BIT_FAILED = 0,
BIT_PASSED = 1,
BIT_SUSPENDED = 2,
OFF_ABORT = 3,
RUNNING_BIT = 4
encryption_enabled bool 1 None encryptionEnabled is a BooleanType
which specifies the encryption state
for RadioType
encryption_key string 50 None encryptionKey is a
EncryptionKeyType which specifies
the encryption key used for
RadioType.
frequency FrequencyR 52 - frequency is a FrequencyRangeType
angeType which specifies a frequency range or
a center frequency and a bandwidth
at which transmission and reception
may occur for a RadioType.
output_power float 4 % outputPower is a
PowerCapabilityType which specifies
the output power level for
RadioType
ed which specifies the status of the
exerted power for RadioType.
POWER_OFF = 1,
POWER_ON = 2,
POWER_STANDBY = 3
preset_channels RadioChan 59 - presetChannels is a
nelPresetTy RadioChannelPresetType which
pe specifies the type of values for a
radio channel set in advance for
RadioType.
preset_enabled UInt32 4 - presetEnabled is a
AddressCapabilityType which
specifies which preset channel is
enabled for the RadioType.
transmitter_status byte 1 Enumerat transmitterStatus is a
ed TransmitterStatusType which
specifies the state of transmission
(on or off) for RadioType.
TransmitterStatusEnumTypeLDM:
OFF = 0,
ON = 1,
STANDBY = 2,
STANDBY_AND_BUFFER = 3
wave_form byte 1 Enumerat waveform is a RadioWaveformType
ed which specifies the waveform for
RadioType. The waveform is

CAMELOT
enumeration: {am, fm, lssb, ussb}
RadioWaveformEnumTypeLDM:
AM = 0,
BPSK = 1,
CONTINUOS_WAVE = 2,
FM = 3,
FSK = 4,
LSSB = 5,
OQPSK = 6,
OTHER = 7,
QPSK = 8,
USSB = 9
FrequencyRangeType
FrequencyRangeType is an element that defines a signal frequency range.
h
discrete_frequency FrequencyD 32 - discreteFrequency is a
iscreteCapa FrequencyCapabilityType that
bilityType defines the center frequency and a
bandwidth for the
FrequencyRangeType.
range_of_frequency FrequencyH 20 - rangeOfFrequency is a
ertzCapabili FrequencyCapabilityType that
tyType defines the frequency range
(minimum and maximum
frequencies) of an emitter track
collection for the
FrequencyRangeType.
FrequencyDiscreteCapabilityType
Realizes FrequencyCapabilityType: a ResourceCapability which specifies a frequency capability.
h
frequency float 4 Hz
frequency_domain FrequencyD 12 -
iscreteSpeci
ficationType
frequency_set_point FrequencyH 16 -
ertzRequire
mentType
FrequencyHertzCapabilityType
Realizes FrequencyCapabilityType: a ResourceCapability which specifies a frequency capability.
h
frequency_domain FrequencyH 16 -
ertzSpecific
ationType
frequency_set_point FrequencyH 16 -

CAMELOT
ertzRequire
mentType
FrequencyDiscreteSpecificationType
Realizes FrequencySpecType: an ObservableSpecification that specifies the range(s) of allowable values for a
frequency attribute.
h
bandwidth float 4 Hz
center_frequency float 4 Hz
step_size float 4 Hz
FrequencyHertzRequirementType
Realizes FrequencyRequirementType: a Requirement that specifies the type of frequency of an entity.
h
frequency_tolerance FrequencyH 12 -
ertzToleran
ceType
FrequencyHertzToleranceType
Realizes FrequencyToleranceType: an ObservableTolerance that specifies the range of allowable values for a
h
lower_limit float 4 Hz
upper_limit float 4 Hz
FrequencyHertzSpecificationType
Realizes FrequencySpecType: an ObservableSpecification that specifies the range(s) of allowable values for a
h
RadioChannelPresetType
RadioChannelPresetType is an Element which specifies the type of values for a radio channel set in advance of its
use.
h
frequency float 4 Hz frequency is a FrequencyType which
specifies the wave rate (frequency)
preset for RadioChannelPresetType
output_power float 4 % outputPower is a PowerType which
specifies the output power preset for

CAMELOT
RadioChannelPresetType.
preset_id string 50 None presetID is a UniqueIDType which
specifies the preset identification
description, value and type for
waveform byte 1 Enumerat waveform is a RadioWaveformType
RadioChannelPresetType. The
waveform is specified through an
AM = 0,
BPSK = 1,
CONTINUOS_WAVE = 2,
FM = 3,
FSK = 4,
LSSB = 5,
OQPSK = 6,
OTHER = 7,
QPSK = 8,
USSB = 9
CommsSatelliteType
CommsSatelliteType is an element defined by a communications satellite used by UCS communication systems.
h
address UInt32 4 None address is an AddressCapabilityType
that represents the address of a
Comms Satellite.
TimedZoneType
Extends ZoneType with a time schedule during which the zone applies.
h
schedule ScheduleTy 57 - Indicates the time schedule (multiple
pe time spans, periodic availability or
both) when the zone is applicable.
ScheduleType
ScheduleType is an element that indicates the time schedule (multiple time spans, periodic availability or both).
h
duration double 8 s duration is a DurationType that
indicates the duration or
active/execution time for the time
window.
time_span TimeSpanT 16 - timeSpan is a TimeSpanType that
ype supports specifying multiple spans of
time.
weekday_interval WeekdayInt 33 - weekdayInterval is a
ervalType WeekdayIntervalType that supports
specifying daily periodicity.

CAMELOT
TimeSpanType
TimeSpanType is an element that represents a span of time defined by the begin time and end time.
h
begin_time double 8 s beginTime is a TimeType that
specifies the beginning time of a
time window or time span.
the ending time of a time window or
time span.
WeekdayIntervalType
WeekdayIntervalType is an element that indicates the period of time during which the weekday interval is valid.
In other words, this sets the number of weeks/months during which the WeekdayInterval is active.
h
begin_time double 8 s beginTime is a TimeType that
indicates the time of day, on a day
given by the Weekday element, at
which the interval starts.
day_of_week byte 1 Enumerat dayOfWeek is a WeekdayKindType
ed that indicates the days of the week in
which the interval is valid.
WeekdayEnumTypeLDM:
FRIDAY = 0,
MONDAY = 1,
SATURDAY = 2,
SUNDAY = 3,
THURSDAY = 4,
TUESDAY = 5,
WEDNESDAY = 6
end_time double 8 s endTime is a TimeType that indicates
the time of day, on a day given by
the Weekday element, at which the
interval ends.
time_span TimeSpanT 16 - timeSpan is a TimeSpanType that
ype indicates the period of time during
which the weekday interval is valid.
In other words, this sets the number
of weeks/months during which the
WeekdayInterval is active.
ConditionalPathSegmentType
This element is used to specify one or more conditional PathSegment.
h
conditional_kind ConditionKi 125 - This element specifies the condition
ndType that will result in this Conditional
Path Segment being used chosen. A
segment shall be chosen as the next
segment when a logical AND of all
fields present (except OperatorInput)

CAMELOT
equate to TRUE.
path_id RoutePathT 35003+ - The Path ID is included only if
ype branching to a Path Segment defined
in an alternate or contingency path
(deviation from primary path).
path_segment_id SegmentTy 225 - This element indicates the Segment
pe ID of the next Path Segment in the
Path. Any Path Segment of the
current Path or other Paths can be
referenced.
ConditionKindType
This element specifies the condition that will result in this ConditionalPathSegment being used chosen. A
segment shall be chosen as the next segment when a logical AND of all fields present (except OperatorInput)
equate to TRUE.
h
altitude_range_conditio DistanceGr 12 - Choose this segment if current
n eatCircleTol altitude (at end of current segment)
eranceType is in the specified altitude range.
contingency_level byte 1 Enumerat Choose this segment if operating in
ed the contingency state specified by
this element.
SystemContingencyLevelEnumTypeL
DM:
FLIGHT_CRITICAL = 0,
LOST_COMMS = 1,
MISSION_CRITICAL = 2,
NORMAL = 3
endurance_condition Endurance 90 - Endurance remaining.
ConditionTy
pe
operator_input bool 1 None If true, only choose this segment if
commanded by the operator.
segment_capture_cond SegmentCa 5 - Segment Capture Conditions.
ition ptureConditi
onType
time_window DateTimeR 16 - Choose this segment if current time
angeType (at end of current segment) is in the
specified time window.
EnduranceConditionType
Endurance remaining.
h
endurance_remaining EnduranceT 89 - Choose this segment if the current
ype endurance is (LESS_THAN,
GREATER_THAN, EQUAL_TO - see
logical Operator field) the endurance
specified by this element.
logical_operator byte 1 Enumerat This segment provides the logical
ed operator for comparing current
endurance with the specified

CAMELOT
LogicalOperatorEnumTypeLDM:
EQUAL_TO = 0,
GREATER_THAN = 1,
LESS_THAN = 2
DistanceGreatCircleToleranceType
distance attribute.
h
step_size float 4 m
SegmentCaptureConditionType
Specifies segment capture condition parameters.
h
capture_count int 4 None Choose this segment if the current
segment has been captured
(LESS_THAN, GREATER_THAN,
EQUAL_TO - see logical Operator
field) Capture Count times.
logical_operator byte 1 Enumerat This segment provides the logical
ed operator for comparing current
segment number of captures with
the specified Capture Count.
LogicalOperatorEnumTypeLDM:
EQUAL_TO = 0,
GREATER_THAN = 1,
LESS_THAN = 2
EndPointType
Indicates the end point of the PathSegment. The start point is the end point of the previous PathSegment.
h
loiter_point LoiterPointT 12 - This element specifies a
ype Loiter. Currently specifying a
task/action associated with a
LoiterPoint when the task/action
occurs only during a portion of the
Loiter is not supported.
turn_point TurnPointTy 29 - This element is used to specify all
pe cases of turns in a segment including
fly-through and turn-short. It can
additionally be associated with
tasks/actions that require or are
coincident with turns. TurnPoints
will generally come in groups of at
least two in linked PathSegments. All
but the last in a group will include a
TurnRadius.

CAMELOT
way_point WayPointTy 21 - This element is used to specify a

pe point in the route where no turning
occurs. It is generally used for points
associated with Actions such as task
"transitions", changes in
acceleration, changes in speed,
changes in altitude, etc.
LoiterPointType
This element specifies a Loiter. Currently specifying a task/action associated with a LoiterPoint when the
task/action occurs only during a portion of the Loiter is not supported.
h
altitude float 4 m Indicates the altitude of the Loiter.
end_time double 8 s Indicates the time at which the loiter
will end.
TurnPointType
This element is used to specify all cases of turns in a segment including fly-through and turn-short. It can
additionally be associated with tasks/actions that require or are coincident with turns. TurnPoints will generally
come in groups of at least two in linked PathSegments. All but the last in a group will include a TurnRadius.
h
altitude float 4 m Indicates the altitude of the turning
waypoint.
course float 4 rad Indicates the course at the Waypoint
of this Turn Point.
turn_point_kind byte 1 Enumerat Turn Point type.
ed TurnKindEnumTypeLDM:
CAPTURE_OUTBOUND_COURSE = 0,
END_TURN = 1,
FLY_BY = 2,
START_TURN = 3
turn_radius float 4 m Indicates the radius of the
turn. When not specified, indicates
that the Turn Point is the end of a
turn.
waypoint_position Position2DT 16 - This element indicates the location
ype of the end of the path segment.
WayPointType
This element is used to specify a point in the route where no turning occurs. It is generally used for points
associated with Actions such as task "transitions", changes in acceleration, changes in speed, changes in altitude,
etc.
h
altitude float 4 m Indicates the altitude of the
Waypoint.
position Position2DT 16 - Position of Waypoint.
ype
waypoint_kind byte 1 Enumerat Type of Waypoint.

CAMELOT
ed WaypointKindEnumTypeLDM:
APPROACH = 0,
APPROACH_FINAL_POINT = 1,
APPROACH_INITIAL_POINT = 2,
HARD_DITCH = 3,
NAV_ONLY = 4,
PASSIVE = 5,
RUNWAY_LIMIT = 6,
RUNWAY_START = 7,
RUNWAY_THRESHOLD = 8,
TAKEOFF = 9,
TAKEOFF_FINAL_POINT = 10,
TAKEOFF_INITIAL_POINT = 11,
TAXI = 12,
TOUCHDOWN = 13
InertialType
Specifies parameters related to Inertial State of system.
h
domain_velocity Velocity3DP 12 - Vehicle's velocity in the current
latformNED operating domain of the system.
Type
ground_velocity Velocity2DP 8 - Representation of the vehicle's
latformNED ground velocity as directional speed
Type components.
orientation Orientation3 12 - Euler Angle Sequence describing the
DType orientation of the vehicle in the
order yaw, pitch, roll. The angles are
given in a locally level, North-East-
Down coordinate system centered
on the vehicle.
position Position2DT 16 - Physical location of the referenced
ype item in geospatial coordinates.
position_uncertainty Uncertainty 16 - Uncertainty of the physical location
Type of the referenced item
Velocity2DPlatformNEDType
Velocity2D_PlatformNED_Tuple specifies the velocity given by northing and easting vectors in a North-East-Down
coordinate system centered on the platform.
h
east_speed float 4 m/s eastSpeed specifies the easting
platform.
north_speed float 4 m/s northSpeed specifies the northing
platform.
UncertaintyType
Specifies the choices for representing position uncertainty.

CAMELOT

h
quality float 4 m2 This element represents the
positional accuracy of the entity. It is
the area, in square data miles, within
which it is assessed that there is a
95% probability that the track/point
lies.
uncertainty_ellipse OrientedElli 12 - This element represents an ellipse
pseType describing the 1-sigma position
uncertainty. The ellipse is defined by
the length of its semi-major and
semi-minor axes. The orientation of
the ellipse defines the angle between
the semi-major axis and true north.
NextPathSegmentType
This element is used to specify the next non-conditional PathSegment. If none is given then this is the end of the
Path.
h
path_id RoutePathT 35003+ - Indicates the Path ID of the Path
ype containing the next Path Segment. It
is only required when branching to a
Path Segment in a Path other than
the parent Path of the current Path
Segment.
path_segment_id SegmentTy 225 - This element indicates the Path
pe Segment ID of the next Path
Segment in the Path.
RoutePathType
RoutePathType is an element that is used to compose a route. A route path at the highest level of mission
(Sortie/Route) is a fully formed route. Route paths at the lower levels of missions are route paths consisting of
segments and points based on the mission type and actions.
h
first_segment_in_path SegmentTy 225 - Indicates the unique ID of the first
pe Path Segment of the Path.
metrics MetricsType 34769 - Indicates metrics related to the
"cost" to complete the Path. When
the Path is of EGRESS Path Type, this
element should at a minimum
specify fuel amount needed to
egress, including any reserve desired
for landing. When the Path is of
INGRESS Path Type, this element
should at a minimum specify the fuel
amount that will be available at the
end of the ingress Path. The
allocators and route planners for
mission operations will use these
fuel amount to ensure that sufficient

CAMELOT
fuel remains upon the transition to

the egress Path.
path_id RoutePathT 142183 - Indicates the unique ID for this
ype Path. Other Paths or Path Segments
may branch to this path by referring
to this ID.
path_kind byte 1 Enumerat Type for this path.
ed PathKindEnumTypeLDM:
ALTERNATE = 0,
EGRESS = 1,
EMERGENCY_LANDING = 2,
HARD_DITCH = 3,
INGRESS = 4,
LANDING = 5,
LOSS_OF_COMM = 6,
PRIMARY = 7,
RETURN_TO_BASE = 8,
SOFT_DITCH = 9,
TAKEOFF = 10
route_path_segment RoutePathS 107180 - A PathSegment is defined from the
egmentTyp + previous path segment EndPoint (or
e current vehicle state if no previous
path segment) to the current path
segment EndPoint. Elements given
here are not necessarily in
mission/flight order; it is necessary
to follow the linkages provided in
NextPathSegment and/or
start_time double 8 s Indicates the start time of the first
Path Segment of this Path. The start
time of subsequent Path Segments is
the end time of the previous Path
Segment.
RoutePathSegmentActionType
Indicates an action that is planned to occur on the PathSegment at the time/location specified by the Trigger
element, Multiple Actions occurring at different times along a straight segment can be specified with 1) an
EndPoint for each action to accurately describe where they will occur or 2) using the Trigger element to arrange
the Actions along a single PathSegment with a single EndPoint. The latter approach is required for simultaneous
Actions.
h
action_id ActionType 22 - Indicates a unique ID for the action.
action_kind ActionKindT 35922 - Type of Action
ype
action_trigger ActionTrigg 12 - Indicates the trigger for the specified
erType Action to occur. If omitted, capture
of the EndPoint of the Path Segment
is the trigger.
end_point_trigger bool 1 None TRUE indicates the Action should
occur at the EndPoint of the
PathSegment even if the Trigger

CAMELOT
doesn't occur before the EndPoint is

captured. FALSE indicates that the
Action should occur only if the
Trigger occurs prior to capture of the
EndPoint; if the Trigger does not
occur before the EndPoint is
captured then the Action will never
occur.
ActionType
ActionType is an element that contains the necessary and sufficient set of data used to construct one or more
commands to be executed by a resource.
h
action_point ActionPoint 9 - actionPoint is an ActionPointType
Type that specifies a set of data for
executing a specific set of commands
at a defined point for the
ActionType.
action_point_trigger ActionTrigg 12 - actionPointTrigger is a
erType ActionTriggerType that indicates the
trigger for the specified Action to
occur for the ActionType.
endpoint_trigger bool 1 None endpointTrigger is a BooleanType
that when TRUE indicates the Action
should occur at the EndPoint of the
PathSegment even if the Trigger
doesn't occur before the EndPoint is
captured. FALSE indicates that the
Action should occur only if the
Trigger occurs prior to capture of the
EndPoint; if the Trigger does not
occur before the EndPoint is
captured then the Action will never
occur.
ActionPointType
ActionPointType is an element that contains a set of data for executing a specific set of commands at a defined
point.
h
action_point_status byte 1 Enumerat actionPointStatus is an
ed ActionPointStatusType that specifies
the status of a commanded action
taken at a point for the
ActionPointType. Status include
initiated, completed, failed, in
progress, etc.
ActionPointStatusEnumTypeLDM:
COMPLETED = 0,
FAILED = 1,
IN_PROGRESS = 2,
INITIATED = 3
status_change_time double 8 s statusChangeTime is a TimeType that

CAMELOT
specifies the time associated with

the status reported at an action
point for the ActionPointType.
ActionTriggerType
ActionTriggerType is an element that specifies either the trigger distance or time from the Endpoint where the
action occurs.
h
distance_to_endpoint float 4 m distanceToEndpoint is a
DistanceType indicating the inbound
distance at which the Event will
make the specified transition.
transition_time double 8 s transitionTime is a TimeType that
indicates the time at which this
event will make the specified Event
Transition.
ActionKindType
Indicates the type of action that is planned to occur on the path segment.
h
payload_action PayloadActi 1986+ Indicates a payload action this is
onDataType generally independent of mission,
tasking and route planning. If there
are actions that are specific to a
certain payload type then this type
can be extended.
task_action TaskAction 33881 - Indicates a Task related action.

Type
vehicle_action VehicleActi 55 - Indicates a system/vehicle action
onDataType that is generally independent of
mission, tasking and route planning.
These actions are related to
operation of the system/vehicle itself
as opposed to a payload. If there are
actions that are specific a certain
vehicle type then this type can be
extended.
PayloadActionDataType
Specifies parameters for a Payload Action.
h
command_parameters RankingTyp 9 - This element provides data to
e deconflict multiple Payload
Commands from multiple users to
the same payload or to deconflict
Payload Commands from Tasks. It is
generally thought that Payload
Commands will be "second tier" to
all Task. However, the schema would

CAMELOT
allow a set of services/systems to

establish a common Precedence and
Priority scheme between them that
allows Payload Command to override
tasks.
component_id PayloadTyp 378+ - The Capability ID need only be
e included if the command is intended
for a specific element of a resource.
duration double 8 s Duration of the Payload Action.
special_instructions string 50 None Free-text explanation of any
extraordinary instructions
target TargetType 271 - Target of interest for the Payload
Action.
traceability Traceability 1270+ - External sources of tasking
Type oftentimes are defined at a higher
level of abstraction. A Task
management services would
decompose the external source of
tasking into discrete, actionable
tasks. This Element is intended to
provide traceability to the external
tasking received. The element
supports tracing to a collection deck,
ACTDF messaging, ATO, and EEI.
RankingType
RankingType is an element that specifies the relative ranking of a process or activity in terms of its priority and
precedence over other processes.
h
precedence UInt32 4 None precedence is a OrderType that
specifies a level of importance of a
process for the RankingType.
preempt_lower_rank byte 1 Enumerat preemptLowerRank is an
ed ExecutionPrecedenceType that
specifies whether a task should
immediately interrupt a lower
ranked task or whether it should wait
for its completion for the
RankingType.
ExecutionPrecedenceEnumTypeLDM:
IMMEDIATE = 0,
NEXT_AVAILABLE = 1
priority UInt32 4 None priority is a OrderType that specifies
a level of refinement of precedence
for the RankingType.
TargetType
TargetType is a PlaceType that is the object of an action.
Targets are external to the system (e.g. they are not under the control of the system). A target is a place in time
and space with the attendant changes and uncertainties in both as part of its specification.
h

CAMELOT
be_number BENumber 150 - BENumber is a BENumberType that

Type indicates an external Basic
Encyclopedia Number associated
with the point target. It is optional
because not all point targets
originate from or are associated with
BE numbers.
target_category byte 1 Enumerat targetCategory is a
ed TargetCategoryKindType that
indicates an external category code
for the point target. Category code is
based on a breakdown of targets into
major groups (i.e., air, ground,
moving, stationary, bomber, etc.)
TargetCategoryKindEnumTypeLDM:
AIR = 0,
GROUD = 1,
MOVING = 2,
STATIONARY = 3
target_id string 50 None targetID is a UniqueIDType that
identifies a unique instance of a
target.
target_name string 50 None targetName is a DescriptionType that
indicates an external name
corresponding to the PointTarget.
The name generally provides
information about the target's
location and/or function.
velocity GroundVelo 20 - velocity is a
city2DRequi VelocityRequirementType that for
rementType moving targets, this element
indicates the target's velocity.
BENumberType
BENumberType (Basic Encyclopedia Number Type) is an element which identifies the specific location of interest
to an analyst.
h
one_up_number string 50 None oneUpNumber is an DescriptionType
which further defines the agency
code.
record_originator string 50 None recordOriginator is an
DescriptionType which describes the
identifying agency code.
world_area_code string 50 None worldAreaCode is a DescriptionType
which defines where the installation
is located.
GroundVelocity2DRequirementType
Realizes VelocityRequirementType: a Requirement that specifies the type of velocity.
h
velocity GroundVelo 8 -
city2DType

CAMELOT
velocity_tolerance GroundVelo 12 -
city2DToler
anceType
GroundVelocity2DType
GroundVelocity2D_Tuple specifies the velocity vector within the local earth tangent plane, measured relative to
the earth (or ground).
h
east_speed float 4 m/s
north_speed float 4 m/s
GroundVelocity2DToleranceType
Realizes VelocityToleranceType: an ObservableTolerance that specifies the range of allowable values for a
velocity attribute.
h
TraceabilityType
TraceabilityType is an element that is intended to provide traceability to the external tasking received. The
element supports tracing to a collection deck, ACTDF messaging, ATO, and EEI.
h
actdf_traceability ACTDFTyp 154 - ACTDFTraceability is a
e ACTDFType that indicates a
reference to an Airborne
Collection Tasking message
for the TraceabilityType.
aoco_traceability AOCOType 4 - AOCOTraceability is a AOCOType
that indicates a reference to an
AOCO tasking for the
TraceabilityType.
ato_traceability ATOType 962+ - ATOTraceability is a ATOType that
indicates a reference to an Air
Tasking Order for the
TraceabilityType.
collection_deck_tracea CollectionD 100 - collectionDeckTraceability is a
bility eckType CollectionDeckType that indicates a
reference to an external tasking
source for the TraceabilityType.
eeiid EEIType 50 - EEIID is a EEIType that indicates a
reference to an Essential Elements of
Information tasking source for the
TraceabilityType.
ACTDFType
ACTDFType is an element that is defined by an externally generated tasking order, Aircraft Collection Tasking
Data Format.

CAMELOT
h
actdf_collection_versio int 4 None ACTDFCollectionVersion is a
n UniqueIDType that specifies the
Version identifier of ACTDF collection
plan associated with this task as
determined by an external system
for the OperationalZoneDataType.
actdf_mission_id string 50 None ACTDFMissionID is a UniqueIDType
that encompasses all Mission
Identifiers: alpha, numeric, and
alphanumeric. The preferred format
conforms to the CCJSI 3250.01d. The
optional Type attribute is used to
indicate whether the Mission ID is
ROME, SRO, GlobalHawk, etc.
actdf_task_id string 50 None ACTDFTaskID is a DescriptionType
that indicates the ACTDF collection
event within the associated ACTDF
collection plan that this task is
associated.
collection_tasking_des string 50 None collectionTaskingDescription is a
cription DescriptionType that describes the
collection tasking.
AOCOType
AOCOType is an element that defines an externally generated tasking order, AOCO JICD Signal Coordination
Message.
h
scmid int 4 None SCMID is a UniqueIDType that
indicates the ID of the related AOCO
JICD Signal Coordination Message.
ATOType
ATOType is an element that is an externally generated tasking order, Air Tasking Order.
h
ato_tasks UCSObjecti 908 - ATOTasks is a UCSObjectiveType that
veType indicates a reference to an external
tasking source: the Air Tasking Order.
mission_call_sign string 50 - missionCallSign is a DescriptionType
that refers to the aircraft call sign
corresponding to the mission ID.
mission_id int 4 None missionID is a UniqueIDType that
represents the unique ID of the
mission specified by the ATO.
UCSObjectiveType
UCSObjectiveType is an element that describes a clearly defined goal toward which UCS-level operations are
directed. UCS objectives are the highest level objectives in the UCS domain and may be decomposed into lower-
level objectives and allocated to lower level operations accordingly.

CAMELOT
h
approval_required bool 1 None approvalRequired is a BooleanType
that specifies whether allocation,
planning and execution of a UCS
objective requires approval (when
TRUE) for the UCSObjectiveType.
command_state byte 1 Enumerat commandState is a
ed CommandStatusType that describes
the current state of a high level UCS
objective for the UCSObjectiveType.
States include In Progress, Complete,
Aborted/Rejected, etc.
CommandStatusEnumTypeLDM:
ACCEPTED = 0,
COMMANDED = 1,
COMMANDED_PROCESSING = 2,
COMMANDED_REJECTED = 3,
COMPLETED = 4,
EXECUTING = 5,
FAILED = 6,
ISSUED = 7,
ISSUED_PROCESSING = 8,
ISSUED_REJECTED = 9
dependent_task_id string 50 None dependentTaskID is a
UCSObjectiveType that specifies the
TaskID of the dependent task for the
UCSObjectiveType.
development_state byte 1 Enumerat developmentState is a TaskStateType
ed that describes the allocation,
planning and execution progress of
an objective for the
UCSObjectiveType. Development
states include proposed, unallocated,
allocation pending approval,
allocated, planned pending approval,
planned, awaiting execution
approval, execution approved,
executing, completed, dropped,
failed, cancelled, etc.
TaskStateEnumTypeLDM:
ALLOCATED = 0,
ALLOCATED_PENDING_APPROVAL =
1,
AWAITING_EXECUTION_APPROVAL =
2,
CANCELLED = 3,
COMPLETED = 4,
DROPPED = 5,
EXECUTING = 6,
EXECUTION_APPROVED = 7,
FAILED = 8,
PLANNED = 9,
PLANNED_PENDING_APPROVAL =
10,
PROPOSED = 11,

CAMELOT
QUEUED = 12,
UNALLOCATED = 13
failure_reason byte 1 Enumerat failureReason is a
ed TaskFailureReasonType that
describes the reason why a task has
failed or was dropped for the
UCSObjectiveType. Failure reasons
include not set, user cancelled, flight
event, payload event, etc.
TaskFailureReasonEnumTypeLDM:
FLIGHT_EVENT = 0,
NOT_SET = 1,
OTHER = 2,
PAYLOAD_EVENT = 3,
USER_CANCELLED = 4
max_time_between_ta double 8 s maxTimeBetweenTasks is a
sks DurationRequirementType that
specifies the maximum time
between the completion of the
dependent Task and the start of this
task for the UCSObjectiveType. If
omitted, the Task can start any time
after completion of the dependent
Task, after the sibling
minTimeBetweenTasks.
min_time_between_tas double 8 s minTimeBetweenTasks is a
ks DurationRequirementType that
specifies the minimum time between
the completion of the dependent
Task and the start of this task for the
USCObjectiveType. If omitted, the
Task can start any time after
completion of the dependent Task,
before the sibling
maxTimeBetweenTasks.
precedence OrderConst 16 - precedence is an
raintType OrderConstraintType that specifies
level of importance of an objective
for the UCSObjectiveType. Objectives
with higher precedence levels must
be considered for allocation before
objectives with lower precedence
levels.
preferred_system_id DomainRes 229+ - preferredSystemID is a
ourceType DomainResourceType that specifies
the ID of a system that the objective
should be allocated to for the
UCSObjectiveType. The system
identified is the preferred system to
be used, if a choice of systems is
available during allocation.
priority OrderConst 16 - priority is an OrderConstraintType
raintType that specifies the priority of an
objective within a given precedence
level for the UCSObjectiveType.

CAMELOT
While precedence provides a fairly

granular way of expressing level of
importance, priority provides a much
finer means of filtering importance
within a precedence level. Allocation
services should consider a higher
priority objective before a lower
priority objective at the same
precedence level.
processing_status byte 1 Enumerat processingStatus is a
ed ProcessingStatusType that
specifies the current state of the
processing of an approval authority
request for the UCSObjectiveType.
ProcessingStatusEnumTypeLDM:
COMPLETED = 0,
FAILED = 1,
NOT_FOUND = 2,
PROCESSING = 3,
QUEUED = 4
relative_max_time DateTimeR 32 - relativeMaxTime is a
equirement TimeRequirement Type that specifies
Type the maximum time between the
completion of the dependent Task
and the start of this Task. If omitted,
the Task can start any time after
after the sibling relativeMinTime.
relative_min_time DateTimeR 32 - relativeMinTime is a
equirement TimeRequirementType that specifies
Type the minimum time between the
completion of the dependent Task
and the start of this Task. If omitted,
the Task can start any time after
before the sibling relativeMaxTime.
remarks string 50 None remarks is a DescriptionType that
describes additional comments and
details about the UCS mission for the
UCSObjectiveType.
required_effect_end_ti DateTimeR 32 - requiredEffectEndTime is a
me equirement TimeRequirementType that specifies
Type the end time of the effect of the task
is experienced by the Target for the
UCSObjectiveType. Not to be
confused with timing constraints
within the tasks themselves. For
example, this attribute would
represent required time of weapon
impact for a strike task.
required_effect_start_ti DateTimeR 32 - requiredEffectStartTime is a
me equirement TimeRequirementType that specifies
Type the start time of the effect of the
task is experienced by the Target for
the UCSObjectiveType. Not to be

CAMELOT
confused with timing constraints

within the tasks themselves. For
example, this attribute would
impact for a strike task. themselves.
For example, this attribute would
impact for a strike task.
required_system_id DomainRes 229+ - requiredSystemID is a
the ID of the system that the
objective must be allocated to during
allocation for the UCSObjectiveType.
special_instructions string 50 - specialInstructions is a
DescriptionType that describes an
explanation of any extraordinary
instructions using unstructured text
for the UCSObjectiveType.
task_allocation_functio byte 1 Enumerat taskAllocationFunction is a
n ed TaskAllocationKindType that
specifies a task allocation function
for the UCSObjectiveType.
TaskAllocationKindEnumTypeLDM:
GLOBAL_ALLOCATION = 0,
ROUTE_CONSTRAINED_ALLOCATION
= 1,
VEHICLE_CONSTRAINED_ALLOCATIO
N=2
task_transition_plan byte 1 Enumerat taskTransitionPlan is a
ed TaskTransitionType that specifies the
task "transition" planned to occur at
the TransitionPoint for the
UCSObjectiveType.
TaskTransitionEnumTypeLDM:
BEGIN = 0,
BEGIN_AND_END = 1,
END = 2,
PAUSE = 3,
RESUME = 4
unallocated_reason byte 1 Enumerat unallocatedReason is a
ed TaskUnallocatedReasonType that
specifies the reason why the
objective has been unallocated for
the UCSObjectiveType. Reasons for
an unallocation include no fire, no
image, ineligible vehicle, infeasible
route, insufficient resources,
insufficient sensor range, insufficient
fuel quantity, invalid RF band,
unachievable time constraint,
unassignable dependent task,
unavailable payload, etc.
TaskUnallocatedReasonEnumTypeLD
M:
INELIGIBLE_VEHICLE = 0,

CAMELOT
INFEASIBLE_ROUTE = 1,
INSUFFICIENT_FUEL_QUANTITY = 2,
INSUFFICIENT_RESOURCES = 3,
INSUFFICIENT_SENSOR_RANGE = 4,
INVALID_RF_BAND = 5,
NO_FIRE = 6,
NO_IMAGE = 7,
UNACHIEVABLE_TIME_CONSTRAINT
=8
UNASSIGNABLE_DEPENDANT_TASK =
9
UNAVAILABLE_PAYLOAD = 10
unallocated_reason_de string 50 - unallocatedReasonDescription is a
scription DescriptionType that describes
additional comments and details
about the unallocation of a task for
the UCSObjectiveType.
urgency OrderConst 16 - urgency is an OrderConstraintType
raintType that specifies the urgency with which
an objective should be accomplished
by a given system for the
UCSObjectiveType.
version_id string 50 None versionID is a UniqueIDType that
specifies the version of the
associated objective for the
UCSObjectiveType.
OrderConstraintType
OrderConstraintType is a Constraint that specifies the type of position of an element in a group of elements.
h
order UInt32 4 None
order_tolerance OrderTolera 12 -
nceType
OrderToleranceType
OrderToleranceType is an ObservableTolerance that specifies the range of allowable values for an order attribute.
h
lower_limit UInt32 4 None
step_size UInt32 4 None
upper_limit UInt32 4 None
DomainResourceType
DomainResourceType is an Element which specifies the items and abilities within the possession of the UCS
domain that can be used to accomplish its various missions.
h
location Position3DT 20 - location is a PositionCapabilityType
ype which specifies a point in space on a
world map for DomainResourceType.
part_identification UCSPartIde 104 - partIdentification is a

CAMELOT
ntificationM PartIdentificationType which

easurement specifies the manufacturing
Type identification for
DomainResourceType.
replaceability byte 1 Enumerat replaceability is a ReplaceabilityType
ed which specifies the
maintenance/replacement capability
for DomainResourceType.
Replaceability is specified through an
enumeration: {factory, line}
ReplaceabilityEnumTypeLDM:
FACTORY = 0,
LINE = 1
resource_allocation_st ResourceAll 1312+ - resourceAllocationState is a
ate ocationStat ResourceAllocationStateType which
eType describes the permission and control
relationships between the domain
resource which has this optional
attribute provided and other domain
resources in the system. The
multiplicity of 0..1 indicates the
optional nature of this attribute.
resource_allocation_st byte 1 Enumerat resourceAllocationStatus is a
atus ed ResourceAllocationStatusType which
specifies the availability status for a
DomainResourceType.
ResourceAllocationStatusEnumTypeL
DM:
ALLOCATED = 0,
ALLOCATED_W_LAUNCH_RECOVERY
= 1,
AVAILABLE = 2,
FAULT = 3,
FORCED_ALLOCATION = 4,
FORCED_ALLOCATION_W_LAUNCH_
RECOVERY = 5,
RELEASED = 6,
TEMPORARILY_UNAVAILABLE = 7,
UNAVAILABLE = 8
resource_configuration bool 1 None resourceConfigurationPermission is a
_permission BooleanType which specifies
whether the resource to which this
attribute is applied has configuration
permission.
resource_control_interf byte 1 Enumerat resourceControlInterface is a
ace ed ResourceControlInterfaceType that
specifies the kinds of resource
control.
ResourceControlInterfaceEnumTypeL
DM:
COMMAND_AUTO_MODE = 0,
COMMAND_FROM_OPERATOR = 1,
COMMAND_FROM_RESOURCE_MAN
AGER = 2,
COMMAND_IN_MISSION_PLAN = 3,

CAMELOT
OBJECTIVE_IN_MISSION_PLAN = 4
resource_description string 50 None resourceDescription is a
DescriptionType that provides an
overall description of the
DomainResource.
resource_status_permi bool 1 None resourceStatusPermission is a
ssion BooleanType which specifies
whether the resource to which this
attribute is applied has status
permission.
state_description string 50 None stateDescription is a DescriptionType
that specifies why the resource is in a
specific state for the
DomainResourceType.
ResourceAllocationStateType
ResourceAllocationStateType is a NamedSetType which describes the permissions and control authority
relationships between the domain resource to which this status is applied and the other domain resources in a
system.
h
configuration_permissi DomainRes 328+ - configurationPermissionResources is
on_resources ourceType a set of domain resources which are
allowed configuration level
permissions over "this" domain
resource.
controlled_resources DomainRes 328+ - controlled Resources is a set of
ourceType domain resources which are
controlled by "this" domain
resource.
controlling_resources DomainRes 328+ - controllingResource is a
ourceType DomainResourceType which
specifies the domain resource which
has operational control over "this"
domain resource. It provides
governance over the allowed
relationships.
status_permission_res DomainRes 328+ - statusPermissionResources is a set of
ources ourceType domain resources which are allowed
status level permissions over "this"
domain resource.
UCSPartIdentificationMeasurementType
Realizes PartIdentificationType: an Element that describes the manufacturing identification of assembly or part..
h
id int 4 None Specifies the primary identifier for
the component.
inventory_number string 50 None Specifies the inventory number for
the component.
serial_number string 50 None Specifies the serial number for the

component.

CAMELOT
CollectionDeckType
CollectionDeckType is an element that references an external tasking source (AKA Collection Deck).
h
collection_deck_missio string 50 None collectionDeckMissionID is a
n_id DescriptionType that describes the
collection deck mission ID which
uniquely identifies the collection
deck.
collection_deck_task_i string 50 - collectionDeckTaskID is a
d DescriptionType that describes the
unique ID of the collection deck task.
EEIType
EEIType is an element that is an externally generated tasking order containing Essential Elements of Information
tasking.
h
eei_text string 50 None EEIText is a DescriptionType that
specifies Essential Elements of
Information about a task.
TaskActionType
Indicates a Task related action.
h
task_id SortieObjec 33880 The identifier for the Task.
tiveType
task_transition byte 1 Enumerat This element indicates the task
ed "transition" planned to occur at the
TransitionPoint. This is not to be
confused with the more detailed
TaskStatus/State or other status
elements.
BEGIN = 0,
BEGIN_AND_END = 1,
END = 2,
PAUSE = 3,
RESUME = 4
SortieObjectiveType
SortieObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for a
sortie mission. When UCSObjectives are decomposed, they may contain sortie objectives that are allocated to
sortie missions. A Sortie Mission is for one air system from engine start to engine stop.
h
comms_objectives CommsObj 1022 - commsObjectives is a
ectiveType CommsObjectiveType containing
communications objectives.
effects_objectives EffectsObje 762 - effectsObjectives is a

CAMELOT
ctiveType EffectsObjectiveType containing

effects related objectives.
payload_objectives PayloadObj 14758 - Wrong description in UCS
ectiveType
replan_reason ReplanRea 17338 - replanReason is a ReplanReasonType
sonType that indicates the specific triggers
that caused the replan of a sortie
mission for the SortieObjectiveType.
route_objectives RouteObjec 3823 - routeObjectives is a
tiveType RouteObjectiveType containing route
related objectives.
CommsObjectiveType
CommsObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
communications plans. When UCSObjectives are decomposed, they may contain communications objectives that
are allocated to communication missions.
h
comms_relay_objective CommsRel 687+ - commsRelayObjectives is a
s ayObjective CommsRelayObjectiveType
Type containing communications relay
objectives.
comm_timeout double 8 s prePlannedCommReturnTime is a
TimeRequirementType that specifies
when a vehicle will regain
communications during a preplanned
communications outage, for a
CommsObjectiveType.
configuration_number int 4 None configurationNumber is a
UniqueIDType that specifies the
configuration number used during
communications planning for the
CommsObjectiveType.
discrete_bandwidth RadioChan 16 - discreteBandwidth is a
nelAddress AddressRequirementType that
Requiremen specifies frequency range for a
tType communication channel for the
CommsObjectiveType.
discrete_frequency RadioFrequ 16 - discreteFrequency is a
encyHertzR FrequencyRequirementType that
equirement specifies the center frequency used
Type for planning communication devices
for the CommsObjectiveType.
encrypted bool 1 None encrypted is a BooleanType that
specifies the targeted signals as
either encrypted or "in the clear" for
the CommsObjectiveType.
encryption_key string 50 - encryptionKey is an
EncryptionKeyType that specifies the
type of procedure or method used
for encryption for the
CommsObjectiveType.
hop_code int 4 None hopCode is a UniqueIDType that
specifies the frequency hopping code

CAMELOT
used during comms for the

CommsObjectiveType.
loss_parameter GeneralPo 16 - lossParameter is a
werRequire PowerRequirementType that
mentType specifies expected loss parameter at
which communications cannot be
maintained for the
AntennaOrientationAction.
modulation byte 1 Enumerat modulation is a RadioWaveformType
ed that specifies the expected
modulation of the communications
signal for the CommsObjectiveType.
AM = 0,
BPSK = 1,
CONTINUOUS_WAVE = 2,
FM = 3,
FSK = 4,
LSSB = 5,
OQPSK = 6,
OTHER = 7,
QPSK = 8,
USSB = 9
multi_channel_num_ch int 4 None multiChannelNumChannels is a
annels CountRequirementType that
specifies the number of channels
used in a multi-channel transmission
multi_channel_spacing RadioChan 16 - multiChannelSpacing is a
nelAddress AddressRequirementType that
Requiremen specifies the bandwidth allotted to a
tType channel for the
CommsObjectiveType.
pre_planned_comm_re DateTimeR 32 - prePlannedCommReturnTime is a
turn_time equirement TimeRequirementType that specifies
Type when a vehicle will regain
communications during a preplanned
communications outage, for a
CommsObjectiveType.
radio_power_level RadioPower 16 - radioPowerLevel is a
LevelRequir PowerRequirementType that
ementType specifies the transmission power
level of the Comms radio for the
CommsObjectiveType.
receive_data_rate CommsRat 12 - receiveDataRate is a
eMegabitsP CommunicationRateRequirementTyp
erSecondR e that specifies the maximum receive
equirement data rate supported by the Comms
Type radio for the CommsObjectiveType.
receive_frequency RadioFrequ 16 - receiveFrequency is a
encyHertzC FrequencyConstraintType that
onstraintTy specifies the receive frequency used
pe for planning communications devices
scheduling_state byte 1 Enumerat schedulingState is a

CAMELOT
ed CommsSchedulingStateType that
specifies whether the task is
planned, requested, updated or
cancelled for the
CommsObjectiveType. A cancelled
state would release any external
comms resources associated with
this request.
CommsSchedulingStateEnumTypeLD
M:
CANCELLED = 0,
PENDING_SCHEDULE_ALLOCATION =
1,
PENDING_SCHEDULE_APPROVAL = 2,
SCHEDULE_ALLOCATED = 3,
SCHEDULE_UNALLOCATED = 4,
SCHEDULING_REJECTED = 5,
SCHEDULING_REQUESTED = 6
transmit_data_rate CommsRat 12 - transmitDataRate is a
eMegabitsP CommunicationRateRequirementTyp
erSecondR e that specifies the maximum
equirement transmit data rate supported by the
Type Comms radio for the
CommsObjectiveType.
transmit_frequency RadioFrequ 16 - transmitFrequency is a
encyHertzC FrequencyConstraintType that
onstraintTy specifies the transmit frequency
pe used for planning communications
devices for the
CommsObjectiveType.
vehicle_comms_objecti VehicleCom 94 - vehicleCommsObjectives is a
ves msObjectiv VehicleCommsObjectiveType that
eType contains vehicle objectives.
CommsRelayObjectiveType
CommsRelayObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for communications relay. When CommsObjectives are decomposed, they may contain communications relay
objectives that are allocated to communications relay missions.
h
comms_system CommsSyst 376 - commsSystem is a
emType CommsSystemType is a reference to
the comm relay system to be used
for the CommsRelayObjectiveType.
frequency_set FrequencyS 77 - frequencySet is a FrequencySetType
etType that specifies the data characterizing
the signals used by the comms relay
payload for the
CommsRelayObjectiveType.
ownership_required_by DomainRes 229+ - ownershipRequiredBy is a
the resource owner of the Comms
Relay payload during comms relay
mission for the

CAMELOT
relay_state byte 1 Enumerat relayState is a CommRelayStateType
ed that specifies operational state of
the comms relay payload for the
Operational states include turnoff,
turnon, standby, deploy, activate,
deactivate, stow, etc.
CommsRelayStateEnumTypeLDM:
ACTIVATE = 0,
DEACTIVATE = 1,
DEPLOY = 2,
STANDBY = 3,
STOW = 4,
TURNOFF = 5,
TURNON = 6
station_number int 4 None stationNumber is a UniqueIDType
that specifies the station number on
the comm relay system to be used
for the relay for the
FrequencySetType
FrequencySetType is an element that contains the data necessary to characterize signal frequencies.
h
content byte 1 Enumerat content is a RFSignalContentType
ed that specifies the type of data carried
in the signal (such as voice, video,
etc.) for the FrequencySetType.
RFSignalContentEnumTypeLDM:
DATA = 0,
VOICE = 1
encrypted bool 1 None encrypted is a BooleanType that
specifies whether the signal is
encrypted or unsecure for the
FrequencySetType.
frequency_range FrequencyR 52 - frequencyRange is a
angeType FrequencyRangeType that specifies
one or more signal frequency ranges
for the FrequencySetType.
modulation byte 1 Enumerat modulation is a RadioWaveformType
ed that specifies the type of modulation
applied to the signal frequency for
the FrequencySetType. Modulation
types can include AM, FM, CW, etc.
AM = 0,
BPSK = 1,
FM = 3,
FSK = 4,
LSSB = 5,
OQPSK = 6,

CAMELOT
OTHER = 7,
QPSK = 8,
USSB = 9
multi_channel_num_ch int 4 None multiChannelNumChannels is a
annels CountRequirementType that
specifies the number of channels in a
multi-channel signal for the
FrequencySetType.
multi_channel_spacing SpectralRa 16 - multiChannelSpacing is a
ngeKiloHert FrequencyRequirementType that
zRequireme specifies the frequency spacing
ntType between channels in a multi-channel
signal for the FrequencySetType.
sei_command bool 1 None SEICommand is a BooleanType that
specifies whether the collection
sensor executes or bypasses
functionality to characterize and
identify the emitter entity for the
FrequencySetType.
stream_signal bool 1 None streamSignal is a BooleanType that
specifies whether or not to stream
received signals for the
FrequencySetType.
SpectralRangeKiloHertzRequirementType
Realizes FrequencyRequirementType: a Requirement that specifies the type of frequency range covered by a
spectral image.
h
frequency float 4 KHz
frequency_tolerance FrequencyK 12 -
iloHertzTole
ranceType
FrequencyKiloHertzToleranceType
h
lower_limit float 4 KHz
step_size float 4 KHz
upper_limit float 4 KHz
RadioChannelAddressRequirementType
Realizes AddressRequirementType: that specifies the type of band of frequencies of sufficient width for a single
radio.
h
address UInt32 4 None
address_tolerance RadioChan 12 -
nelAddress

CAMELOT
ToleranceT
ype
RadioChannelAddressToleranceType
Realizes AddressToleranceType: an ObservableTolerance that specifies the range of allowable values for an
address attribute.
h
lower_limit UInt32 4 None
step_size UInt32 4 None
upper_limit UInt32 4 None
RadioFrequencyHertzRequirementType
Realizes FrequencyRequirementType: a Requirement that specifies the type of frequency at which a wireless
system needs to transmit and receive electric impulses or signals.
h
frequency_tolerance RadioFrequ 12 -
encyHertzT
oleranceTy
pe
RadioFrequencyHertzToleranceType
h
GeneralPowerRequirementType
Realizes PowerRequirementType: a Requirement that specifies the type of power.
h
power float 4 W
power_tolerance GeneralPo 12 -
werToleran
ceType
GeneralPowerToleranceType
Realizes PowerToleranceType: The type of tolerance containing the range of allowable values for Power attribute.
h
lower_limit float 4 W
step_size float 4 W
upper_limit float 4 W
RadioPowerLevelRequirementType

CAMELOT
Realizes PowerRequirementType: a Requirement that specifies type of level of power.

h
power float 4 dBW
power_tolerance RadioPower 12 -
LevelTolera
nceType
RadioPowerLevelToleranceType
Realizes PowerToleranceType: The type of tolerance containing the range of allowable values for Power attribute.
h
lower_limit float 4 dBW
step_size float 4 dBW
upper_limit float 4 dBW
RadioFrequencyHertzConstraintType
Realizes FrequencyConstraintType: a Constraint that specifies the type of frequency at which a wireless system
needs to transmit and receive electric impulses or signals.
h
frequency_tolerance RadioFrequ 12 -
encyHertzT
oleranceTy
pe
RadioFrequencyHertzToleranceType
h
VehicleCommsObjectiveType
VehicleCommsObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for vehicle communications. When CommsObjectives are decomposed, they may contain vehicle
communications objectives that are allocated to vehicle communications missions.
h
atc_comms_objective ATCComms 17 - ATCCommsObjectives is an
ObjectiveTy ATCCommsObjectiveType that
pe contains ATC objectives.
c2_data_link_objective C2DataLink 0 - C2DataLinkObjectives is a
s ObjectiveTy C2DataLinkObjectiveType that
pe contains C2 data link objectives.
communications_priorit byte 1 Enumerat communicationsPriority is a
y ed CommsSystemPriorityType that

CAMELOT
specifies the priority of the

communications device (e.g.,
Primary, Secondary, etc.) for the
VehicleCommsObjectiveType.
CommsSystemPriorityEnumTypeLDM
:
BACKUP = 0,
FAILOVER= 1,
PRIMARY = 2,
SECONDARY = 3
communications_role byte 1 Enumerat communicationsRole is a
ed CommsRoleType that specifies
whether the role of communications
device is related to a flight or mission
system for the
VehicleCommsObjectiveType.
CommsRoleEnumTypeLDM:
FLIGHT = 0,
MISSION = 1
iff_comms_objectives IFFComms 41 - IFFCommsObjectives is a
ObjectiveTy IFFCommsObjectiveType that
pe contains IFF objectives.
navaid_comms_objecti NAVAIDCo 34 - NAVAIDCommsObjectives is a
ves mmsObjecti NAVAIDCommsObjectiveType that
veType contains NAVAID objectives.
C2DataLinkObjectiveType
C2DataLinkObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
C2 data link communications. When CommsObjectives are decomposed, they may contain C2 data link
h
ATCCommsObjectiveType
ATCCommsObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
ATC communications. When CommsObjectives are decomposed, they may contain ATC communications
objectives that are allocated to vehicle communications missions.
h
air_traffic_control_freq RadioFrequ 16 - airTrafficControlFrequencyRequirem
uency_requirement encyHertzR ent is a FrequencyRequirementType
equirement that specifies the frequency being
Type used by air traffic control comm
equipment for the
ATCCommsObjectivesType.
voice_transmit_enable byte 1 Enumerat voiceTransmitEnabled is a
d ed TransmitterStatusType that specifies
whether voice transmission from
ATC over NAVAID Radio is enabled or
disabled for the
ATCCommsObjectivesType.

CAMELOT
OFF = 0,
ON = 1,
STANDBY = 2,
IFFCommsObjectiveType
IFFCommsObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
IFF communications. When CommsObjectives are decomposed, they may contain IFF communications objectives
that are allocated to vehicle communications missions.
h
mode_1_code int 4 None mode1Code is a UniqueIDType that
specifies a 2 digit code assigned by
ATC (mission code) for the
IFFCommsObjectivesType.
mode_1_enable bool 1 None mode1Enable is a BooleanType that
or disabled for the
ATC for the
or disabled for the
mode_3a_code int 4 None mode3ACode is a UniqueIDType that
ATC for the
IFFCommsObjectivesType. This
attribute is also used when Mode 4 is
enabled.
mode_3a_enable bool 1 None mode3AEnable is a BooleanType that
or disabled for the
IFFCommsObjectivesType
mode_3a_ident bool 1 None mode3AIdent is a BooleanType that
specifies whether the IDENT reply bit
is activated or inhibited for the
mode_4ab_state byte 1 Enumerat mode4ABState is an
ed IFFModeFourABStatusType that
specifies whether Mode 4A or Mode
4B is active for the
IFFModeFourABStatusEnumTypeLD
M:
A = 0,
B=1
or disabled for the
IFFCommsObjectivesType. Mode 4 is

CAMELOT
a cryptographic mode which requires

both the Interrogator and the
Transponder to work in conjunction
with an external Cryptographic Unit
in charge of the "secure"
encoding/decoding of interrogations
and replies.
mode_4_hold bool 1 None mode4Hold is a BooleanType that
specifies whether or not Mode 4
crypto codes are stored when power
is removed from the aircraft for the
mode_4_indicator byte 1 Enumerat mode4Indicator is an
ed IFFModeFourIndicatorType that
describes the status of an air vehicle
interrogation for the
IFFCommsObjectivesType. Statuses
include not interrogated,
interrogated with no response,
interrogated with invalid response
and interrogated with valid
response.
M:
= 0,
2,
ATC (mission code) for the
or disabled for the
mode_c_code int 4 None modeCCode is a UniqueIDType that
specifies a 4-digit octal code for the
aircraft's pressure altitude for the
mode_c_enable bool 1 None modeCEnable is a BooleanType that
specifies whether Mode C is enabled
or disabled for the
IFFCommsObjectivesType. Mode C
provides 4-digit octal code for
aircraft's pressure altitude.
mode_s_address int 4 None modeSAddress is a UniqueIDType
that specifies a unique 24-bit address
assigned to an air vehicle selected
for interrogation for the
mode_s_aircraft_id int 4 None modeSAircraftID is a UniqueIDType
that specifies the aircraft being

CAMELOT
selected for interrogation for the

mode_s_enable bool 1 None modeSEnable is a BooleanType that
or disabled for the
mode_s_max_true_air_s byte 1 Enumerat modeSMaxTrueAirspeed is an
peed ed IFFModeSMaxTrueAirSpeedType that
defines the true airspeed of the
aircraft being interrogated for the
IFFCommsObjectivesType. Aircraft
airspeed is captured as a range, e.g.
0-75, 75-150, 150-300, etc.
IFFModeSMaxTrueAirspeedEnumTyp
eLDM:
GT_0_TO_75 = 0,
GT_1200 = 1,
GT_150_TO_300 = 2,
GT_300_TO_600 = 3,
GT_600_TO_1200 = 4,
GT_75_TO_150 = 5,
NO_AIRSPEED_AVAILABLE = 6,
NOT_ASSIGNED = 7
ed that specifies the power state of the
IFF transponder system for the
IFFCommsObjectivesType. Power
states include on, off, standby, etc.
POWER_OFF = 1,
POWER_ON = 2,
POWER_STANDBY = 3
NAVAIDCommsObjectiveType
NAVAIDCommsObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for NAVAID communications. When CommsObjectives are decomposed, they may contain NAVAID
h
navigational_aid_freque RadioFreq 16 - navigationalAidFrequencyRequireme
ncy_requirement uencyHert nt is a FrequencyRequirementType
zRequire that specifies the frequency to be
mentType used by NAVAID radios for the
NAVAIDCommsObjectivesType.
radial_to_from_constrain byte 1 Enumerat radialToFromConstraint is a
t ed RadialToFromStatusType that
specifies whether the AV is flying
toward the VOR or away from the
VOR for the
RadialToFromStatusEnumTypeLDM:
IN_TO = 0,
OUT_OF = 1

CAMELOT
radial_vor_requirement RelativeA 16 - radialVORRequirement is an

ngleRequi AngleRequirementType that specifies
rementTyp the direction of the flight path
e vectoring into or out of the VOR for
the NAVAIDCommsObjectivesType.
voice_transmit_enabled byte 1 Enumerat voiceTransmitEnabled is a
ed TransmitterStatusType that specifies
that voice transmission from ATC
over NAVAID Radio is enabled for the
OFF = 0,
ON = 1,
STANDBY = 2,
RelativeAngleRequirementType
Realizes AngleRequirementType: a Requirement that specifies the type of angle.
h
angle float 4 rad
angle_tolerance RelativeA 12 -
ngleTolera
nceType
RelativeAngleToleranceType
Realizes AngleToleranceType: an ObservableTolerance that specifies the range of allowable values for an angle
attribute.
h
EffectsObjectiveType
EffectsObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
effects plans. When UCSObjectives are decomposed, they may contain effects objectives that are allocated to
effects missions.
h
designation_objective byte 1 Enumerat designationObjective is a
ed DesignationObjectiveType that
specifies the objective of a
designated target for the
UCSOBjectiveType. Designation
objectives include Find, Fix, Track,
etc.
DesignationObjectiveEnumTypeLDM:
ASSESS = 0,
ELECTRONIC_ATTACK = 1,
FIND = 2,
FIX = 3,

CAMELOT
OPPORTUNISTIC_ISR = 4,
STRIKE = 5,
TARGET = 6,
TRACK = 7
ew_objectives EWObjectiv 761 - EWObjectives is a EWObjectiveType
eType containing Electronic Warfare
objectives.
weapon_objectives NA NA NA weaponObjectives is a
WeaponObjectiveType containing
weapon planning objectives.
(Not applicable at the moment)
EWObjectiveType
EWObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for planning
electronic attack against a specified target list. When EffectsObjectives are decomposed, they may contain EW
objectives that are allocated to EW missions.
h
ew_escort_objective EWEscortO 100 - EWEscortObjective is a
bjectiveTyp EWEscortObjectiveType that
e contains electronic warfare escort
objectives.
ew_loiter_objective EWLoiterOb 174 - EWLoiterObjective is a
jectiveType EWLoiterObjectiveType that contains
electronic warfare loiter objectives.
ew_route_path_objecti EWRouteP 145 - EWRoutePathObjective is a
ve athObjectiv EWRoutePathObjectiveType that
eType contains electronic warfare route
path objectives.
protect_all_assets bool 1 None protectAllAssets is a BooleanType
that specifies whether all known
friendly assets including escorted
assets or only a subset of these
should be protected for the
EWObjectiveType.
protected_asset_id DomainRes 229+ - protectedAssetID is a
ourceType DomainResourceType that specifies a
list of friendly assets which should be
protected for the EWObjectiveType.
protected_asset_priorit int 4 None protectedAssetPriority is a
y CountRequirementType that
specifies a priority for each of the
protected assets for the
EWObjectiveType.
self_protect bool 1 None selfProtect is a BooleanType that
specifies if the jamming asset should
utilize resources for self-protection
for the EWObjectiveType.
suppress_all bool 1 None suppressAll is a BooleanType that
specifies (when TRUE) that all known
threats should be jammed for the
EWObjectiveType.
suppressed_entity_id ExternalRes 50 - suppressedEntityID is an
ourceType ExternalResourceType that defines

CAMELOT
the list of hostile entities (threats)

which should be the target of
jamming for the EWObjectiveType.
suppressed_entity_prio int 4 None suppressedEntityPriority is a
rity CountRequirementType that
specifies the prioritization of the
specified entity (threat) for the
EWObjectiveType.
suppressed_frequencie FrequencyR 52 - suppressedFrequencies is a
s angeType FrequencyRangeType that defines
the list of specific frequencies which
should be the target of jamming for
the EWObjectiveType.
EWEscortObjectiveType
EWEscortObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
EW escort support. When EWObjectives are decomposed, they may contain EW escort objectives that are
allocated to EW escort support missions.
h
max_offset_distance DistanceRe 16 - maxOffsetDistance is a
quirementT DistanceRequirementType that
ype specifies the maximum offset
distance to be maintained by the EW
escort for the
EWEscortObjectiveType.
min_offset_distance DistanceRe 16 - minOffsetDistance is a
ype specifies the minimum offset
distance to be maintained by the EW
escort for the
relative_angle_offset RelativeAng 16 - relativeAngleOffset is an
leRequirem AngleRequirementType that specifies
entType the relative angle between the EW
escort and the protected asset for
the EWEscortObjectiveType.
rendezvous_point Position3DT 20 - rendezvousPoint is a
ype PositionRequirementType that
specifies the location where the EW
escort begins for the
rendezvous_point_arriv DateTimeR 32 - rendezvousPointArrivalTime is a
al_time equirement TimeRequirementType that specifies
Type the time that the EW escort begins
for the EWEscortObjectiveType.
DistanceRequirementType
Realizes DistanceRequirementType: a Requirement that specifies the type of distance.
h
distance float 4 m
distance_tolerance DistanceTol 12 -

CAMELOT
eranceType
distance attribute.
h
step_size float 4 m
EWLoiterObjectiveType
EWLoiterObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for an
electronic attack loiter track. When EWObjectives are decomposed, they may contain EW loiter objectives that
are allocated to EW loiter missions.
h
loiter byte 1 Enumerat loiter is a LoiterKindType that
ed specifies the configuration or form of
the flight path flown by the air
vehicle during an EW loiter for the
EWLoiterObjectiveType. Pattern
types can include circle, figure eight,
racetrack, stationary (for air vehicles
capable of hovering), spiral (if
altitude change is supported), etc.
LoiterKindEnumTypeLDM:
CIRCLE = 0,
FIGURE_8 = 1,
HOVER = 2,
N_A = 3,
RACETRACK = 4
loiter_altitude AltitudeMSL 16 - loiterAltitude is an
Requiremen DistanceRequirementType that
tType specifies the required altitude of the
air vehicle while flying the EW loiter
pattern for the
EWLoiterObjectiveType.
loiter_area PositionedE 144 - loiterArea is an
llipseRequir AreaRequirementType that specifies
ementType the required boundary of the loiter
for the EWLoiterObjectiveType.
loiter_duration double 8 s loiterDuration is a
specifies the length of time the air
vehicle is required to fly the EW
pattern before exiting the loiter area
and transitioning to the next planned
action for the
loiter_turn_direction byte 1 Enumerat loiterTurnDirection is a
ed TurnDirectionKindType that specifies
the direction the vehicle is required

CAMELOT
to turn when entering an EW loiter

pattern for the
EWLoiterObjectiveType. Turn
direction can be specified as
clockwise, counterclockwise, left,
right, into the wind, etc.
INTO_THE_WIND = 0,
LEFT_TURN = 1,
NO_VALID_TURN_DIRECTION = 2,
RIGHT_TURN = 3,
orbits int 4 None orbits is a CountRequirementType
that specifies the number of circuits
the air vehicle is required to
complete around the EW pattern
before exiting the loiter area and
transitioning to the next planned
action for the
AltitudeMSLRequirementType
Realizes DistanceRequirementType: a Requirement that specifies the type of distance.
h
distance float 4 m
distance_tolerance AltitudeMSL 12 -
ToleranceT
ype
AltitudeMSLToleranceType
distance attribute.
h
step_size float 4 m
EWRoutePathObjectiveType
EWRoutePathObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for a flight path segment during electronic attack. When EWObjectives are decomposed, they may contain EW
path objectives that are allocated to EW path segment missions.
h
line_type byte 1 Enumerat lineType is a LineSegmentType that
ed defines whether the point-to-point
flight legs are flown using great circle
or rhumb line navigation for the
EWRoutePathObjectiveType.
LineSegmentEnumTypeLDM:
GREAT_CIRCLE = 0,

CAMELOT
RHUMB = 1
path_point_arrival_time DateTimeR 32 - pathPointArrivalTime is a
Type the arrival time for each point in the
path for the
route_path Path3DReq 112 routePath is a PathRequirementType
uirementTy that specifies a predefined path
pe containing an ordered set of must
visit points for the
Path3DRequirementType
Realizes LocationRequirementType: a PositionRequirementType that specifies the type of point on the world
map.

h
distance Position3DT 28 -
imeType
distance_tolerance Position3DT 84 -
imeToleran
ceType
Position3DTimeToleranceType
Realizes PositionToleranceType: an ObservableTolerance that specifies the range of allowable values for a
position attribute.
h
lower_limit Position3DT 28 -
imeType
step_size Position3DT 28 -
imeType
upper_limit Position3DT 28 -
imeType
Position3DTimeType
Position3DTime_Tuple specifies a location relative to the WGS-84 ellipsoid at a given point in time (optional).
h
geodetic_position Position2DT 16 - geodeticPosition specifies a location
ype on the surface of the Earth.
height_above_ellipsoid float 4 m heightAboveEllipsoid specifies the
height above the WGS-84 ellipsoid.
time_at_position double 8 s timeAtPosition specifies the date and
time when this position is considered
valid or an associated measurement
was made.
PayloadObjectiveType
PayloadObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
payload plans. When UCSObjectives are decomposed, they may contain payload objectives that are allocated to

CAMELOT
payload missions.
h
cargo_objectives CargoObjec 679 - cargoObjectives is a
tiveType CargoObjectiveType containing cargo
related objectives.
collection_objectives CollectionO 2855 - collectionObjectives is a
bjectiveTyp CollectionObjectiveType containing
e collection objectives.
sensor_product_ped_o ProductObj 11224 - sensorProductPEDObjectives is a
bjectives ectiveType ProductObjectiveType containing SP
PED related objectives.
CargoObjectiveType
CargoObjectivetype is an element that describes a clearly defined goal specifying the action(s) required for cargo
payload plans. When UCSObjectives are decomposed, they may contain cargo objectives that are allocated to
cargo payload missions.
h
cargo CargoPaylo 561 - cargo is a CargoPayloadType that
adType describes the details of the cargo for
the CargoObjectivetype.
cargo_load_unload_str byte 1 Enumerat cargoLoadUnloadStrategy is a
ategy ed CargoLoadUnloadStrategyType that
defines the planned delivery
methodology for cargo pickup and
dropoff for the CargoObjectivetype.
Delivery methodology can include
stationary (landing), hover, etc.
CargoLoadUnloadStrategyEnumType
LDM:
HOVER = 0,
STATIONARY_LAND = 1
cargo_transition_locati Position3DT 20 - cargoTransitionLocation is a
on ype PositionRequirementType that
specifies a control location where
the cargo is loaded, unloaded,
released, handed over, etc. for the
CargoObjectivetype.
cargo_transition_locati DateTimeR 32 - cargoTransitionLocationArrivalTime
on_arrival_time equirement is a TimeRequirementType that
Type specifies the time when the cargo
arrives at the designated transition
location for the CargoObjectivetype.
cargo_vehicle_control_ byte 1 Enumerat cargoVehicleControlStrategy is a
strategy ed VehicleControlStrategyType that
defines the intended operational
control of the delivery air vehicle
during cargo pickup and dropoff for
the CargoObjectivetype. Control
strategy can include fully automated,
global operator controlled, local
operator handoff, etc.
VehicleControlStrategyEnumTypeLD

CAMELOT
M:
FULLY_AUTOMATED_CONTROL = 0,
HANDOFF_TO_LOCAL_CONTROL = 1,
VEHICLE_OPERATOR_CONTROL = 2
egress_constraint RelativeAng 16 - egressConstraint is an
leConstraint AngleConstraintType that specifies
Type the restricted outbound direction of
flight from the cargo transition
location for the CargoObjectivetype.
egress_constraint_rang DistanceCo 16 - egressConstraintRange is a
e nstraintTyp DistanceConstraintType that
e specifies the restricted length of the
outbound flight leg from the cargo
transition location for the
CargoObjectivetype.
ingress_constraint RelativeAng 16 - ingressConstraint is an
leConstraint AngleConstraintType that specifies
Type the restricted inbound direction of
flight to the cargo transition location
for the CargoObjectivetype.
ingress_constraint_ran DistanceCo 16 - ingressConstraintRange is a
ge nstraintTyp DistanceConstraintType that
e specifies the restricted length of the
inbound flight leg to the cargo
transition location for the
CargoObjectivetype.
CargoPayloadType
CargoPayloadType is an Element which specifies the type of Payload that consists of goods or merchandize.
h
attachment_status byte 1 Enumerat attachmentStatus is an
ed AttachmentStatusType which
specifies the attachment status of
the payload for CargoPayloadType.
The status is specified as an
enumeration: {loaded, discarded,
released, jettisoned}
AttachmentStatusEnumTypeLDM:
DISCARDED = 0,
JETTISONED = 1,
LOADED = 2,
RELEASED = 3
cargo_packaging byte 1 Enumerat cargoPackaging is a
ed CargoPackagingType which specifies
the packaging for
CargoPayloadType The packaging is
specified as an
enumeration: {sling_time, pallet,
container}
CargoPackagingEnumTypeLDM:
CONTAINER = 0,
PALLET = 1,
SLING_LOAD = 2

CAMELOT
cargo_size Rectangular 24 - cargoSize is a VolumeType which

VolumeTyp specifies the space encompassing the
e cargo structure for
CargoPayloadType
cargo_weight float 4 kg cargoWeight is a MassType which
specifies the weight of the cargo and
its supporting and enclosing
structures for CargoPayloadType
clearance_validity byte 1 Enumerat clearanceValidity is a
ed ReleaseClearanceType which
specifies the clearance state for
release of CargoPayloadType The
enumeration: {clear, not_clear}
ReleaseClearanceEnumTypeLDM:
CLEAR = 0,
NOT_CLEAR = 1
launch_acceptability_re LARType 240 - launchAcceptabilityRegion is a
gion LARType which specifies the
minimum and maximum range for
release of entity for
CargoPayloadType
number_stores_availab int 4 - numberStoresAvailable is a
le CountCapabilityType which specifies
the number of available locations for
entity storage for CargoPayloadType
number_stores_to_rele int 4 - numberStoresToRelease is a
ase CountCapabilityType which specifies
the number of releasable entities
stored for CargoPayloadType
rack_rail_ejector_lock byte 1 Enumerat rackRailEjectorLock is a
ed RackRailEjectorLockType which
specifies the lock state of the entity
on the ejector rail for
CargoPayloadType The state is
specified as an
enumeration: {locked, unlocked}
RackRailEjectorLockEnumTypeLDM:
LOCKED = 0,
UNLOCKED = 1
releasable_cargo_units int 4 - releasableCargoUnitsPerStation is a
_per_station CountCapabilityType which specifies
the number of cargo units attached
to a station that are releasable for
CargoPayloadType
release_clearance byte 1 Enumerat releaseClearance is a
ed ReleaseClearanceType which
specifies the clearance state for
release of CargoPayloadType The
enumeration: {clear, not_clear}
ReleaseClearanceEnumTypeLDM:
CLEAR = 0,
NOT_CLEAR = 1
safe_enable_state byte 1 Enumerat safeEnableState is a

CAMELOT
ed SafeEnableStatusType which
specifies the safe state for the entity
(weapon) for
CargoPayloadType Safe state is
specified as an enumeration: {Not
Applicable, Enable, Inhibit}
ENUM {Not Applicable, Enable, Inhibi

SafeEnableStatusEnumTypeLDM:
ENABLE = 0,
INHIBIT = 1,
NOT_APPLICABLE = 2
safe_separation_status byte 1 Enumerat safeSeparationStatus is a
ed SafeSeparationStatusType which
specifies the separation state of the
cargo unit for CargoPayloadType.
The separation state is specified as
an enumeration: {hung_cargo,
released}
SafeSeparationStatusEnumTypeLDM:
HUNG_CARGO = 0,
RELEASED = 1
select_for_jettison bool 1 None selectForJettison is a BooleanType
that when set to true, this store will
be selected for ejection from the
host platform without being armed
or otherwise prepared for
launch. The next time all release
conditions are met and release
consent is provided this store will be
jettisoned.
select_for_release bool 1 None selectForRelease is a BooleanType
that when set to true, the next time
all release conditions are met and
release consent is provided this store
will be released.
target TargetType 271 - target is a TargetType which specifies
the target for which the intended
cargo unit applicable actions address
for CargoPayloadType
weapon_arm bool 1 None weaponArm is a BooleanType that
when set to true, the weapon is
commanded to the armed state.
RectangularVolumeType
RectangularVolume_Measurement characterizes the size of a three dimensional rectangular volume.
h
depth double 8 m depth specifies the depth of the
rectangular volume.
height double 8 m height specifies the height of the
rectangular volume.
width double 8 m width specifies the width of the
rectangular volume.

CAMELOT
LARType
LARType is an element that defines a Launch Acceptability Region; that is, an enclosed region in which a weapon
can be successfully launched to reach a specified target. The LAR is dependent on the specified weapon's
performance and maneuverability characteristics, the flight state at weapon release, and environmental
conditions.
h
generated_by_weapon bool 1 None generatedByWeapon is a
BooleanType that specifies whether
the LAR has been computed by the
weapon (TRUE) or aircraft (FALSE) for
the LARType.
launch_acceptability_re ZoneType 70 - launchAcceptabilityRegion is a
gion ZoneType that defines an enclosed
region in which a weapon can be
successfully launched to reach a
specified target for the LARType.
launch_acceptability_re byte 1 Enumerat launchAcceptabilityRegionRelation is
gion_relation ed a LARRelationType that specifies the
type of LAR to be calculated for the
LARType. LAR types include in range,
in range min, in zone, and in zone
min. For an In Zone LAR, the
munition reaches the target by
following the predefined waypoints
and successfully achieves the desired
impact angle and attack azimuth. For
an In Range LAR, the munition flies
directly to the target without
following the waypoints and does
not consider the desired impact
conditions.
LARRelationEnumTypeLDM:
IN_RANGE = 0,
IN_RANGE_MIN = 1,
IN_ZONE = 2,
IN_ZONE_MIN = 3
planned_release_condi ReleaseCo 168 - plannedReleaseConditions is a
tions nditionsTyp ReleaseConditionsType that specifies
e the weapon release conditions
(speed, heading, altitude, etc.) used
in computing the LAR for the
LARType.
ReleaseConditionsType
ReleaseConditionsType is an element that defines the release and environmental conditions required for LAR
generation.
h
temperature Temperatur 16 - temperature is a
eConstraint TemperatureConstraintType that
Type specifies the air temperature at
weapon release for the

CAMELOT
ReleaseConditionsType.
vehicle_course CourseTrue 16 - vehicleCourse is a
NorthRequir AngleRequirementType that specifies
ementType the course of the carrier air vehicle
at weapon release for the
vehicle_orientation Orientation3 12 - vehicleOrientation is an
DType OrientationRequirementType that
specifies the orientation of the
carrier air vehicle at weapon release
for the ReleaseConditionsType.
vehicle_position Position3DT 20 - vehiclePosition is a
specifies the position of the carrier
air vehicle at weapon release for the
vehicle_velocity Orientation 96 - vehicleVelocity is a
Velocity3D VelocityRequirementType that
Requiremen specifies the airspeed of the carrier
tType air vehicle at weapon release for the
wind_velocity Velocity2DP 8 - windVelocity is a
latformNED VelocityConstraintType that specifies
Type the wind velocity at weapon release
for the ReleaseConditionsType.
TemperatureConstraintType
TemperatureConstraintType is a Constraint that specifies the type of Temperature.
h
temperature float 4 K
temperature_tolerance Temperatur 12 -
eTolerance
Type
TemperatureToleranceType
Realizes TemperatureToleranceType: an ObservableTolerance that specifies the range of allowable values for a
temperature attribute.
h
lower_limit float 4 K
step_size float 4 K
upper_limit float 4 K
CourseTrueNorthRequirementType
Realizes AngleRequirementType: that specifies the type of angle indicating the direction of motion.
h
angle float 4 rad
angle_tolerance CourseTrue 12 -
NorthTolera
nceType

CAMELOT
CourseTrueNorthToleranceType
attribute.s
h
OrientationVelocity3DRequirementType
h
orientation_rate Orientation 24 -
Velocity3DT
ype
orientation_rate_tolera Orientation 72 -
nce Velocity3DT
oleranceTy
pe
OrientationVelocity3DType
h
pitch_rate_y double 8 rad/s pitchRateY specifies the rate of
change of the platform's rotation
about the lateral axis (e.g. the axis
parallel to the wings) in a locally
level, XYZ coordinate system
roll_rate_x double 8 rad/s rollRateX specifies the rate of change
of the platform's rotation about the
longitudinal axis (e.g. the axis
through the body of an aircraft from
tail to nose) in a locally level, XYZ
platform.
yaw_rate_z double 8 rad/s yawRateZ specifies the rate of
change of the platform's rotation
about the vertical axis (e.g. the axis
from top to bottom through an
aircraft) in a locally level, XYZ
platform.
OrientationVelocity3DToleranceType
Realizes OrientationVelocityToleranceType: an ObservableTolerance that specifies the range of allowable values
for an orientationVelocity attribute.
h

CAMELOT
lower_limit Orientation 24 -
Velocity3DT
ype
step_size Orientation 24 -
Velocity3DT
ype
upper_limit Orientation 24 -
Velocity3DT
ype
RelativeAngleConstraintType
Realizes AngleConstraintType: a Constraint that specifies the type of angle.
h
angle float 4 rad
angle_tolerance RelativeAng 12 -
leTolerance
Type
RelativeAngleToleranceType
attribute.
h
DistanceConstraintType
DistanceConstraintType is a Constraint that specifies the type of distance.
h
distance float 4 m
eranceType
distance attribute.
h
step_size float 4 m
CollectionObjectiveType
CollectionObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
planning one or more sensor collections. When PayloadObjectives are decomposed, they may contain collection
objectives that are allocated to collection missions.

CAMELOT
h
acceptable_classificati SecurityInfo 360 - acceptableClassification is a
on rmationTyp SecurityInformationType that
e specifies the highest acceptable
classification level of the collection
results for the
CollectionObjectiveType.
air_sample_sensor_obj AirSampleS 1 - airSampleSensorObjectives is a
ectives ensorObject AirSampleSensorObjectiveType
iveType containing air sample sensor
objectives.
collection_intent byte 1 Enumerat collectionIntent is a
ed CollectionIntentType that specifies
the intent of the collection payload
command or task for the
CollectionObjectiveType. Such as
Battle Damage Assessment or DMPI
Placement.
CollectionIntentEnumTypeLDM:
BATTLE_DAMAGE_ASSESSMENT = 0,
BATTLE_DAMAGE_ESTIMATE = 1,
COLLATERAL_DAMAGE_ASSESSMEN
T = 2,
COLLATERAL_DAMAGE_ESTIMATE =
3,
DMPI_PLACEMENT = 4
collection_output CollectionO 272 - collectionOutput is a
utputDataTy CollectionOutputDataType that
pe specifies the data product(s)
required from the planned target
collection(s) for the
CollectionObjectiveType. Collection
products can include data types such
as EO streaming video, video stills
from IR, MTI, etc.
collections_per_missio int 4 None collectionsPerMission is a
n CountRequirementType that
specifies the number of times a
target is revisited for collection
during a mission for the
collections_target TargetType 271 - collectionTarget is a TargetType that
identifies the target designated for
collection during the mission for the
generate_product bool 1 None generateProduct is a BooleanType
that specifies if a product should be
generated for this task for the
CollectionObjectiveType. If a product
is required, then completion of the
request will result in the publishing
of product metadata.
interval_between_colle DurationSe 32 - intervalBetweenCollections is a
ctions condsRequi DurationRequirementType that
rementType specifies the time required between

CAMELOT
repeated target collections during a

mission for the
look_at_coordinates LookAtCoor 144 - lookAtCoordinates is a
dinatesType LookAtCoordinatesType that
specifies an area that the user is
interested in that is not within the
immediate confines of the collection
target area for the
max_contiguous_dropo DurationSe 32 - maxContiguousDropoutAllowed is a
ut_allowed condsRequi DurationRequirementType that
rementType specifies the threshold time for an
acceptable loss of collection
capability after which the task is
deemed unsuccessful for the
max_staleness DurationSe 32 - maxStaleness is a
condsRequi DurationRequirementType that
rementType specifies the maximum allowed
product staleness for the product
used for the
mti_objectives MTIObjectiv 190 - MTIObjectives is a MTIObjectiveType
eType containing Moving target indicator
objectives.
optical_sensor_objectiv OpticalSens 419 - opticalSensorObjectives is a
es orObjective OpticalSensorObjectiveType
Type containing Moving target indicator
objectives.
product_classification SecurityInfo 360 - productClassification is a
rmationTyp SecurityInformationType that
e specifies the required classification
level, markings and dissemination
constraints applied to the collection
products for the
sar_objectives SARObjecti 268 - SARObjectives is a SARObjectiveType
veType containing SAR objectives.
sigint_objectives SIGINTObje 468 - SIGINTObjectives is a
ctiveType SIGINTObjectiveType containing
SIGINT objectives.
SecurityInformationType
SecurityInformationType is an element that defines security classification information used to mark and control
dissemination of sensor output products.
h
classification_level byte 1 Enumerat classificationLevel is a
ed SecurityClassificationLevelType that
specifies the highest security level
that applies to the product for the
CONFIDENTIAL = 0,

CAMELOT
NOT_DEFINED = 1,
RESTRICTED = 2,
SECRET = 3,
TOP_SECRET = 4,
UNCLASSIFIED = 5
classification_reason string 50 None classificationReason is a
DescriptionType that describes the
reason for the classification level
applied to the product for the
classified_by string 50 None classifiedBy is a DescriptionType that
specifies the agency responsible for
classifying the product for the
classified_on double 8 s classifiedOn is a TimeType that
defines when the classification level
of the product went into effect for
code_words string 50 None codeWords is a DescriptionType that
specifies the trigraphs that define
the caveats for the classification for
declassify_on string 50 None declassifyOn is a DescriptionType
that specifies when the product is
reviewed for reclassification for the
derived_from string 50 None derivedFrom is a DescriptionType
that defines the product from which
this classification was derived for the
dissemination_control byte 1 Enumerat disseminationControl is a
ed SecurityDisseminationControlType
that describes the restrictions on
dissemination of the product for the
SecurityDisseminationControlEnumT
ypeLDM:
COMSEC = 0,
CUI = 1,
DES = 2,
FGI = 3,
FOR_OFFICIAL_USE_ONLY = 4,
LES = 5,
NO_FOREIGN = 6,
NOCONTRACT = 7,
ORCON = 8,
PROPIN = 9,
SBU = 10
page_markings string 50 None pageMarkings is a DescriptionType
that specifies the security markings
required in or on the product for the
releasable_to string 50 None releasableTo is a DescriptionType
that specifies the list of who the
product can be released to for the

CAMELOT
AirSampleSensorObjectiveType
AirSampleSensorObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for air sample sensor collections. When SensorObjectives are decomposed, they may contain air sample
objectives that are allocated to air sample missions.
h
air_sample_sensor byte 1 Enumerat airSampleSensor is an
ed AirSampleSensorType that specifies
whether the sensor performs direct
sampling of the air or remote sensing
with spectral analysis for the
AirSampleSensorObjectiveType.
AirSampleModeEnumTypeLDM:
SAMPLE = 0,
SPECTROMETER = 1
CollectionOutputDataType
CollectionOutputDataType is an element that defines the data used to control the formatting of ISR sensor
products.
h
product byte 1 Enumerat product is a
ed CollectionOutputProductType that
specifies the data product(s)
required from the planned target
collection(s) for the
CollectionOutputDataType.
Collection products can include data
types such as EO streaming video,
video stills from IR, MTI, etc.
CollectionOutputProductEnumTypeL
DM:
ACO = 0,
ACTDF = 1,
AIREP = 2,
ATO = 3,
AUTOMATIC_TARGET_DETECTION =
4,
COHERENT_CHANGE_DETECTION =
5,
COMINT = 6,
DYNAMIC_IMAGE = 7,
GRIB = 8,
HYPERSPECTRAL = 9,
INVERSE_SAR = 10,
LINK16 = 11,
METAR = 12,
MTI = 13,
MULTISPECTRAL = 14,
OTHER = 15,
PIREP = 16,
PROGNOSTIC_WEATHER_CHARTS =

CAMELOT
17,
SATELLITE_WEATHER_IMAGERY_BAS
E_REFLECTIVITY = 18,
SATELLITE_WEATHER_IMAGERY_CO
MP_REFLECTIVITY = 19,
SATELLITE_WEATHER_IMAGERY_INF
RARED = 20,
SATELLITE_WEATHER_IMAGERY_MIC
ROWAVE = 21,
SATELLITE_WEATHER_IMAGERY_MSI
= 22,
SATELLITE_WEATHER_IMAGERY_VISI
BLE = 23,
SATELLITE_WEATHER_IMAGERY_WA
TERVAPOR = 24,
STREAMING_VIDEO_OPTICAL = 25,
STREAMING_VIDEO_OPTICAL_INFRA
RED = 26,
STREAMING_VIDEO_OPTICAL_VISIBL
E = 27,
SURFACE_WEATHER_CHARTS = 28,
TABULAR_WEATHER_DATA = 29,
TAF = 30,
TWO_COLOR_MULTI_VIEW = 31,
VIDEO_CLIP_OPTICAL = 32,
VIDEO_CLIP_OPTICAL_INFRARED =
33,
VIDEO_CLIP_OPTICAL_VISIBLE = 34,
VIDEO_STILL_OPTICAL = 35,
VIDEO_STILL_OPTICAL_INFRARED =
36,
VIDEO_STILL_OPTICAL_VISIBLE = 37,
WBID = 38,
WBRD = 39,
WCID = 40,
WCMD = 41,
WEATHER_FORECAST_CHARTS = 42
product_format OutputProd 110 - productFormat is an
uctFormatT OutputProductFormatType that
ype specifies the digital format of the
sensor data product for the
product_settings_jpeg JPEGProdu 101 - productSettingsJPEG is a
ctSettingsT JPEGProductSettingsType that
ype specifies the control settings applied
to data formatted using the JPEG
standard for the
product_settings_nitf NITFProduc 60 - productSettingsNITF is a
tSettingsTy NITFProductSettingsType that
pe specifies the control settings applied
to data formatted using the NITF
standard for the

CAMELOT
OutputProductFormatType
OutputProductFormatType is an element that defines the digital format of a sensor data product.
h
mime string 50 None mime is a DescriptionType that
describes the digital encoding
standard used to format the data
product for the
OutputProductFormatType.
non_mime ForeignKey 60 - nonMime is a ForeignKeyType that
Type identifies the digital encoding
technique (that is non-conformant
with Mime standards) used to format
the data product for the
OutputProductFormatType.
JPEGProductSettingsType
JPEGProductSettingsType is an element that defines compression and quality settings for JPEG image products.
h
compression_ratio Compressio 32 - compressionRatio is a
nRatioRequ SizeRequirementType that specifies
irementTyp the size reduction of the image
e compared to its uncompressed size
for the JPEGProductSettingsType.
peak_snr SignalToNoi 32 - peakSNR is a SizeRequirementType
seRatioReq that specifies the qualitative level of
uirementTy reconstructability required from a
pe compressed JPEG image for the
JPEGProductSettingsType.
rate_distortion_slope RateDistorti 32 - rateDistortionSlope is a
onSlopeRe SizeRequirementType that specifies
quirementT the rate distortion optimization level
ype applied to the image compression
process for the
JPEGProductSettingsType.
wavelet_transform byte 1 Enumerat waveletTransform is a
ed JPEGWaveletKindType that specifies
the type of wavelet transform
(irreversible or reversible) applied to
the image compression process for
the JPEGProductSettingsType.
JPEGWaveletKindEnumTypeLDM:
IRREVERSIBLE = 0,
REVERSIBLE = 1
wavelet_transform_lev int 4 None waveletTransformLevel is a
el CountRequirementType that
specifies the level of computational
complexity used to
compress/decompress the image for
the JPEGProductSettingsType.

CAMELOT
CompressionRatioRequirementType
Realizes SizeRequirementType: a Requirement that specifies the type of size.
h
size double 8 None
size_tolerance Continuous 24 -
SizeToleran
ceType
SignalToNoiseRatioRequirementType
h
size double 8 None
SizeToleran
ceType
ContinuousSizeToleranceType
Realizes SizeToleranceType: an ObservableTolerance that specifies the range of allowable values for a size
attribute.
h
lower_limit double 8 None
step_size double 8 None
upper_limit double 8 None
RateDistortionSlopeRequirementType
h
size double 8 None
SizeToleran
ceType
NITFProductSettingsType
NITFProductSettingsType is an element that defines the baseline information contained in the header section of
NITF products.
h
collection_id int 4 None collectionID is a UniqueIDType that
specifies the identifier assigned to
the collection for the
NITFProductSettingsType.
country_code string 5 None countryCode is a DescriptionType
that specifies the code identifying
the country whose sovereignty
includes the geographic region of the

CAMELOT
scene for the

originating_station_id string 50 None originatingStationID is a
UniqueIDType that describes the
sensor resource used to collect the
SAR image for the
scene_source byte 1 Enumerat sceneSource is a
ed SARCollectionReasonType that
describes the rationale for planning
the SAR collection for the
NITFProductSettingsType. Rationale
can be described as pre-planned, ad
hoc, etc.
SARCollectionReasonEnumTypeLDM:
AD_HOC = 0,
PRE_PLANNED = 1,
RESERVED = 2
DurationSecondsRequirementType
Realizes DurationRequirementType: a Requirement that specifies the type of duration.
h
duration double 8 s
duration_tolerance DurationSe 24 -
condsToler
anceType
DurationSecondsToleranceType
Realizes DurationToleranceType: DistanceToleranceType is an ObservableTolerance that specifies the range of
allowable values for a distance attribute.
h
LookAtCoordinatesType
LookAtCoordinatesType is an element that specifies a specific geospatial location for a collection. This element is
used in cases where a collection target isn't sufficiently specific and/or cannot be adjusted to suit the needs of
the task creator, but the relation to the original target must be preserved.
h
collection_ellipse PositionedE 144 - collectionEllipse is an
llipseRequir AreaRequirementType that defines
ementType the look at location as an elliptical
area defined by major and minor axis
lengths and a center point for the
LookAtCoordinatesType.
MTIObjectiveType
MTIObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for MTI

CAMELOT
sensor collections. When SensorObjectives are decomposed, they may contain MTI objectives that are allocated
to MTI missions.
h
absolute_slant_range_ bool 1 None absoluteSlantRangeConstraint is a
constraint BooleanType that specifies whether
the constrained slant range from
sensor to target reference point is
measured along the beam centerline
LOS ray or at the near/far edge of
the sensor FOV for the
MTIObjectiveType.
cfar_threshold int 4 None cfarThreshold is a
SizeRequirementType that defines
the minimum Constant False Alarm
Rate that a pixel in an MTI range-
Doppler image must achieve in order
to be declared a detection for the
MTIObjectiveType.
collection_pattern byte 1 Enumerat collectionPattern is a
ed CollectionPatternType that specifies
the configuration or form of the
flight path flown by the air vehicle
during sensor collection over a large
geographic area for the
MTIObjectiveType. Pattern types can
include Zamboni, raster, box-in, box-
out, etc.
CollectionPatternEnumTypeLDM:
BOXIN_HORIZONTAL = 0,
BOXIN_VERTICAL = 1,
BOXOUT_HORIZONTAL = 2,
BOXOUT_VERTICAL = 3,
RASTER_HORIZONTAL = 4,
RASTER_VERTICAL = 5,
ZAMBONI_HORIZONTAL = 6,
ZAMBONI_VERTICAL = 7
compress_output bool 1 None compressOutput is a BooleanType
that specifies whether the collected
sensor product is compressed on
output or uncompressed for the
MTIObjectiveType.
elevation_angle_constr ElevationTa 16 - elevationAngleConstraints is an
aints rgetLineOfS AngleConstraintType that specifies
ightVertical the allowable range of angle
TargetAngle measured from the local level plane
ConstraintT at the target to the beam centerline
ype LOS ray for the MTIObjectiveType.
grazing_angle_constrai GrazingLine 16 - grazingAngleConstraints is an
nts OfSightFoc AngleConstraintType that specifies
alPlaneQua the allowable grazing angle for the
rterAngleCo MTIObjectiveType. Grazing angle is
nstraintTyp measured from the tangent plane of
e the surface of the target (e.g. terrain
slope) to the beam centerline LOS

CAMELOT
ray.
look_angle_constraints ElevationSe 16 - lookAngleConstraints is an
nsorLineOf AngleConstraintType that specifies
SightVertica the allowable bearing angle from
lSensorAngl sensor to target for the
eConstraint MTIObjectiveType. The look angle is
Type usually specified from true North to
the projection of the sensor beam
centerline LOS ray on local level at
the target.
map_angle_constraints MapHalfAn 16 - mapAngleConstraints is an
gleConstrai AngleConstraintType that specifies
ntType the allowable map angle for the
MTIObjectiveType. The map angle is
defined as the angle between the
instantaneous course of the air
vehicle along the planned collection
segment and the beam centerline
LOS ray pointing at the designated
starting aimpoint of the target.
moving_target_indicato byte 1 Enumerat movingTargetIndicatorMode is a
r_mode ed MTIModeType that specifies the MTI
collection mode for the
MTIObjectiveType. MTI collection
modes include high resolution,
medium resolution, low resolution,
wide area search, narrow sector
search, clutter mapping, attack
planning, high range resolution
(HRR), high update rate (HUR), etc.
MTIModeEnumTypeLDM:
ARC = 0,
ATTACK_PLANNING = 1,
ATTACK_PLANNING_WITH_TRACKIN
G = 2,
CLUTTER_MAP = 3,
FTI = 4,
HIGH_RESOLUTION = 5,
HRR = 6,
HUR = 7,
LOW_RESOLUTION = 8,
MEDIUM_RESOLUTION = 9,
MOVING_TARGETS = 10,
NARROW_SECTOR_SEARCH = 11,
NORMAL = 12,
SPOT = 13,
WIDE_AREA_SEARCH = 14
mti_cross_range_resol ResolutionR 32 - mtiCrossRangeResolution is a
ution equirement ResolutionRequirementType that
Type specifies the size of a resolution cell
in the radar cross range axis for the
MTIObjectiveType.
mti_iirs IIRSRating 16 - mtiIIRS is a
Requiremen ResolutionRequirementType that
tType specifies the desired level of quality

CAMELOT
(i.e. image interpretability) required

of the MTI sensor data product for
the MTIObjectiveType.
mti_output_format byte 1 Enumerat mtiOutputFormat is a
ed MTIOutputFormatType that specifies
the format of the MTI output
product for the MTIObjectiveType.
Product formats can include raw,
STANAG 4607, etc.
MTIOutputFormatEnumTypeLDM:
MTI_RAW = 0,
STANAG_4607 = 1
mti_range_resolution ResolutionR 32 - mtiRangeResolution is a
equirement ResolutionRequirementType that
Type specifies the size of a resolution cell
in the radar range axis for the
MTIObjectiveType.
output_format_hrr byte 1 Enumerat outputFormatHRR is a
ed MTIHRROutputFormatType that
specifies the HRR output format for
the MTIObjectiveType. Only valid if
MTI mode is HRR. Formats can
include range Doppler chip, range
profile, threshold scatter, etc.
MTIHRROutputFormatEnumTypeLD
M:
RANGE_DOPPLER_CHIP = 0,
RANGE_PROFILE = 1,
THRESHOLD_SCATTER = 2
peak_scatters_hrr int 4 None peakScattersHRR is a
CountRequirementType that
characterizes the number of
individual reflecting elements of a
radar target for the
MTIObjectiveType.
slant_range_constraint DistanceCo 16 - slantRangeConstraints is a
s nstraintTyp DistanceConstraintType that defines
e the allowable slant range distance
from the sensor reference point to
the ground reference point for the
MTIObjectiveType.
target_speed_constrain GroundSpe 16 - targetSpeedConstraints is a
ts edConstrain SpeedConstraintType that specifies
tType the allowable (min to max) speed of
the target which can be detected by
the sensor for the MTIObjectiveType.
The target speed is the radial
component of target velocity
measured in the radar range axis.
ElevationTargetLineOfSightVerticalTargetAngleConstraintType
h

CAMELOT
angle float 4 rad

angle_tolerance ElevationTa 12 -
rgetLineOfS
ightVertical
TargetAngle
ToleranceT
ype
ElevationTargetLineOfSightVerticalTargetAngleToleranceType
attribute.
h
GrazingLineOfSightFocalPlaneQuarterAngleConstraintType
h
angle float 4 rad
angle_tolerance GrazingLine 12 -
OfSightFoc
alPlaneQua
rterAngleTol
eranceType
GrazingLineOfSightFocalPlaneQuarterAngleToleranceType
attribute.
h
ElevationSensorLineOfSightVerticalSensorAngleConstraintType
h
angle float 4 rad
angle_tolerance ElevationSe 12 -
nsorLineOf
SightVertica
lSensorAngl
eTolerance
Type
ElevationSensorLineOfSightVerticalSensorAngleToleranceType

CAMELOT
attribute.
h
MapHalfAngleConstraintType
h
angle float 4 rad
angle_tolerance MapHalfAn 12 -
gleToleranc
eType
MapHalfAngleToleranceType
attribute.
h
ResolutionRequirementType
ResolutionRequirementType is a Requirement which specifies the type of measure of the smallest detail which
can be distinguished by a sensor system under specific conditions.
h
resolution double 8 m
resolution_tolerance ResolutionT 24 -
oleranceTy
pe
ResolutionToleranceType
ResolutionToleranceType is an ObservableTolerance that specifies the range of allowable values for a resolution
attribute.
h
lower_limit double 8 m
step_size double 8 m
upper_limit double 8 m
IIRSRatingRequirementType
Realizes ResolutionRequirementType: a Requirement that specifies the type of measure of the smallest detail
which can be distinguished by a sensor system under specific conditions.
h

CAMELOT
resolution int 4
resolution_tolerance IIRSRatingT 12 -
oleranceTy
pe
IIRSRatingToleranceType
Realizes OrderToleranceType: an ObservableTolerance that specifies the range of allowable values for an order
attribute.
h
lower_limit int 4
step_size int 4
upper_limit int 4
DistanceConstraintType
Realizes DistanceConstraintType: a Constraint that specifies the type of distance.
h
distance float 4 m
eranceType
GroundSpeedConstraintType
Realizes SpeedConstraintType: a Constraint that specifies the type of speed magnitude.
h
speed float 4 m/s
speed_tolerance GroundSpe 12 -
edToleranc
eType
GroundSpeedToleranceType
Realizes SpeedToleranceType: an ObservableTolerance that specifies the range of allowable values for a speed
attribute.
h
OpticalSensorObjectiveType
OpticalSensorObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for planning one or more sensor collections. When PayloadObjectives are decomposed, they may contain optical
objectives that are allocated to optical missions.
h
eoir_objectives EOIRObject 395 - EOIRObjectives is a
iveType EOIRObjectiveType containing EOIR
objectives.

CAMELOT
ladar_onjectives LADARObje 8 - LADARObjectives is a

ctiveType LADARObjectiveType containing
LADAR objectives.
multispectral_objective MultiSpectr 16 - multiSpectralObjectives is a
s alObjective MultiSpectralObjectiveType
Type containing multispectral objectives.
EOIRObjectiveType
EOIRObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for EOIR
sensor collections. When SensorObjectives are decomposed, they may contain EOIR objectives that are allocated
to EOIR missions.
h
measured along the centerline LOS
ray or at the near/far edge of the
sensor FOV for the
EOIRObjectiveType.
collection_mode byte 1 Enumerat collectionMode is a
ed OpticalModeType which specifies the
collection mode for an Optical
Sensor.
OpticalModeEnumTypeLDM:
HYPERSPECTRAL = 0,
INFRARED = 1,
MULTISPECTRAL = 2,
OTHER = 3,
VISIBLE = 4
collection_pair_identifie byte 1 Enumerat collectionPairIdentifier is a
r ed PairIdentifierType that specifies
whether the collection is intended to
be the initial or final collection of the
stereo pair for the
EOIRObjectiveType.
PairIdentifierEnumTypeLDM:
INITIAL_COLLECT = 0,
RECOLLECT = 1
during collections over a large
geographic area for the
EOIRObjectiveType. Pattern types
can include Zamboni, raster, box-in,
box-out, etc.
BOXIN_VERTICAL = 1,

CAMELOT
collection_spectrum FrequencyH 16 - collectionSpectrum is a
ertzSpecific FrequencySpecType that specifies
ationType the required optical frequency
spectrum of the sensor for the
EOIRObjectiveType.
ightVertical the allowable range of angle
ConstraintT at the target to the sensor centerline
ype LOS ray for the EOIRObjectiveType.
goal_iirs IIRSRating 16 - goalIIRS is a
tType specifies the desired level of quality
(i.e. image interpretability) required
of the EOIR sensor data product for
the EOIRObjectiveType. The Imagery
Interpretability Rating Scale (IIRS)
ranges from 0 (lowest quality) to 9
(highest quality).
alPlaneQua the allowable grazing angle for the
rterAngleCo EOIRObjectiveType. Grazing angle is
nstraintTyp measured from the tangent plane of
e the surface of the target (e.g. terrain
slope) to the sensor centerline LOS
ray.
horizontal_fov_angle FieldOfView 16 - horizontalFOVAngle is an
LineOfSight AngleRequirementType specifies the
FocalPlane extent of the angle viewable in the
Requiremen horizontal axis of the sensor's
tType detector plane for the
EOIRObjectiveType.
infrared_polarity byte 1 Enumerat infraredPolarity is an IRPolarityType
ed that specifies whether objects with
temperatures above a specified
threshold are shown as white or
black in an IR image for the
EOIRObjectiveType.
IRPolarityEnumTypeLDM:
BLACK_HOT = 0,
WHITE_HOT = 1
eConstraint EOIRObjectiveType. The look angle is
the projection of the sensor

CAMELOT
the target.
EOIRObjectiveType. The map angle is
segment and the sensor centerline
minimum_iirs IIRSRating 16 - minimumIIRS is a
tType specifies the minimum acceptable
level of quality (i.e. image
interpretability) required of the EOIR
EOIRObjectiveType. The Imagery
Interpretability Rating Scale (IIRS)
ranges from 0 (lowest quality) to 9
(highest quality).
optical_settings OpticalSetti 166 - opticalSettings is an
ngsType OpticalSettingsType that specifies
the general control settings (such as
sharpness, gamma, focus, etc.)
applied to the collection sensor for
the EOIRObjectiveType.
s nstraintTyp DistanceConstraintType that
e specifies the allowable distance
between the sensor and the
collection aimpoint (measured along
the sensor centerline LOS ray) for the
EOIRObjectiveType.
sun_azimuth_angle_co AzimuthSen 32 - sunAzimuthAngleConstraints is an
nstraints sorLineOfSi AngleConstraintType that specifies
ghtHorizont the allowable direction from which
alTrueNorth sunlight is coming as measured in
TargetPosA the horizontal plane at the collection
ngleConstra target for the EOIRObjectiveType.
intType
sun_elevation_angle_c ElevationTa 16 - sunElevationAngleConstraints is an
onstraints rgetLineOfS AngleConstraintType that specifies
ightVertical the allowable angle from which
TargetAngle sunlight is coming as measured in
ConstraintT the vertical plane at the collection
ype target for the EOIRObjectiveType.
sweep_speed SpeedRequ 16 - sweepSpeed is a
irementTyp SpeedRequirementType that
e specifies the rate at which the sensor
look-point moves across the terrain
for the EOIRObjectiveType.
vertical_fov_angle FieldOfView 16 - verticalFOVAngle is an
LineOfSight AngleRequirementType that specifies
FocalPlane the extent of the angle viewable in

CAMELOT
Requiremen the vertical axis of the sensor's

tType detector plane for the
EOIRObjectiveType.
OpticalSettingsType
OpticalSettingsType is an element that defines the common control settings for EOIR sensors.
h
auto_focus bool 1 None autoFocus is a BooleanType that
specifies whether focus is controlled
automatically by the sensor or set
manually for the
OpticalSettingsType.
auto_focus_trim AutoFocusT 16 - autoFocusTrim is a
rimType SizeRequirementType that specifies
the focus trim level used when the
control mode is set to manual for the
auto_gain bool 1 None autoGain is a BooleanType that
specifies whether gain is controlled
manually for the
auto_sharpness bool 1 None autoSharpness is a BooleanType that
specifies whether sharpness is
controlled automatically by the
sensor or set manually for the
focus_value FocusValue 16 - focusValue is a SizeRequirementType
Type that specifies the focus setting used
when the control mode is set to
manual for the OpticalSettingsType.
gain_value ColorAdjust 32 - gainValue is a SizeRequirementType
mentType that specifies the gain setting used
gamma_state bool 1 None gammaState is a BooleanType that
specifies whether gamma
(luminance) is controlled
manually for the
gamma_value ColorAdjust 32 - gammaValue is a
mentType SizeRequirementType that specifies
the gamma (luminance) setting used
ir_polarity bool 1 None IRPolarity is a BooleanType that
specifies whether objects with
temperatures above a specified
threshold are shown as white or
black in an IR image for the
level VideoLevel 32 - level is a SizeRequirementType that

CAMELOT
Requiremen specifies the contrast setting used

tType when the control mode is set to
parfocality bool 1 None parfocality is a BooleanType that
specifies whether focus is
automatically controlled while
zooming for the OpticalSettingsType.
sharpness_value Sharpness 32 - sharpnessValue is a
Requiremen SizeRequirementType that specifies
tType the sharpness setting used when the
control mode is set to manual for the
AutoFocusTrimType
Realizes SizeType: an entity that describes the magnitude or number of a measurable or countable entity.
h
size float 4 None
size_tolerance AutoFocusT 12 -
rimToleranc
eType
AutoFocusTrimToleranceType
attribute.
h
lower_limit float 4 None
step_size float 4 None
upper_limit float 4 None
FocusValueType
h
size float 4 None
size_tolerance FocusValue 12 -
ToleranceT
ype
FocusValueToleranceType
attribute.
h
lower_limit float 4 None
step_size float 4 None
upper_limit float 4 None
ColorAdjustmentType

CAMELOT

h
size double 8 None
size_tolerance ColorAdjust 24 -
mentTolera
nceType
ColorAdjustmentToleranceType
attribute.
h
SharpnessRequirementType
h
size double 8 None
size_tolerance SharpnessT 24 -
oleranceTy
pe
SharpnessToleranceType
attribute.
h
VideoLevelRequirementType
h
size double 8 None
size_tolerance VideoLevel 24 -
ToleranceT
ype
VideoLevelToleranceType
attribute.
h

CAMELOT
FieldOfViewLineOfSightFocalPlaneRequirementType
Realizes AngleRequirementType: that specifies the type of extent or range of vision.
h
angle float 4 rad
angle_tolerance FieldOfView 12 -
LineOfSight
FocalPlane
ToleranceT
ype
FieldOfViewLineOfSightFocalPlaneToleranceType
attribute.
h
AzimuthSensorLineOfSightHorizontalTrueNorthTargetPosAngleConstraint
Type
h
angle double 8 rad
angle_tolerance AzimuthSen 24 -
sorLineOfSi
ghtHorizont
alTrueNorth
TargetPosA
ngleToleran
ceType
AzimuthSensorLineOfSightHorizontalTrueNorthTargetPosAngleTolerance
Type
attribute.
h
lower_limit double 8 rad
step_size double 8 rad
upper_limit double 8 rad
AzimuthSensorLineOfSightHorizontalTrueNorthTargetPosAngleRequireme
ntType

CAMELOT
h
angle double 8 rad
angle_tolerance AzimuthSen 24 -
sorLineOfSi
ghtHorizont
alTrueNorth
TargetPosA
ngleToleran
ceType
AzimuthSensorLineOfSightHorizontalTrueNorthTargetPosAngleTolerance
Type
attribute.
h
lower_limit double 8 rad
step_size double 8 rad
upper_limit double 8 rad
SpeedRequirementType
SpeedRequirementType is a Requirement which specifies the type of speed magnitude.
h
speed float 4 m/s
speed_tolerance SpeedToler 12 -
anceType
SpeedToleranceType
SpeedToleranceType is an ObservableTolerance that specifies the range of allowable values for a speed attribute.
h
LADARObjectiveType
LADARObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
LADAR sensor collections. When SensorObjectives are decomposed, they may contain LADAR objectives that are
allocated to LADAR missions.
h
laser_designator_code int 4 None laserDesignatorCode is a
specifies the three or four-digit
identification code (depending on
the laser equipment) embedded in
the laser emitter signal for the
LADARObjectiveType.
laser_designator_powe float 4 W laserDesignatorPower is a
r PowerRequirementType that

CAMELOT
specifies the emitter power of the

laser designator for the
LADARObjectiveType.
MultiSpectralObjectiveType
MultiSpectralObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for MultiSpectral sensor collections. When OpticalSensorObjectives are decomposed, they may contain
MultiSpectral objectives that are allocated to MultiSpectral missions.
h
desired_frequency_ran SpectralRa 16 - desiredImageFrequencyRange is a
ge ngeKiloHert FrequencyRequirementType that
zRequireme specifies the collection frequency
ntType range for a MultiSpectral imaging
sensor for the
MultiSpectralObjectiveType. There
may be multiple frequency ranges
specified; one for each band.
SpectralRangeKiloHertzRequirementType
Realizes FrequencyRequirementType: a Requirement that specifies the type of frequency range covered by a
spectral image.
h
frequency float 4 KHz
frequency_tolerance FrequencyK 12 -
iloHertzTole
ranceType
FrequencyKiloHertzToleranceType
h
lower_limit float 4 KHz
step_size float 4 KHz
upper_limit float 4 KHz
SARObjectiveType
SARObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for SAR
sensor collections. When SensorObjectives are decomposed, they may contain SAR objectives that are allocated
to SAR missions.
h
measured along the centerline LOS
ray or at the near/far edge of the
sensor FOV for the
SARObjectiveType.

CAMELOT
az_subset_fraction ElevationTa 16 - azSubsetFraction is an

rgetLineOfS AngleRequirementType that specifies
ightVertical azimuth constraints for the
TargetAngle SARObjectiveType.
Requiremen
tType
collection_altitude_con AltitudeMSL 16 - collectionAltitudeConstraints is an
straints ConstraintT DistanceConstraintType that
ype specifies the acceptable range of
altitude of the air vehicle during a
collection for the SARObjectiveType.
collection_pair_identifie byte 1 Enumerat collectionPairIdentifier is a
r ed PairIdentifierType that specifies
whether the collection is intended to
be the initial or final collection of the
stereo pair for the
SARObjectiveType.
PairIdentifierEnumTypeLDM:
INITIAL_COLLECT = 0,
RECOLLECT = 1
during a collection over a large
geographical area for the
SARObjectiveType.
BOXIN_VERTICAL = 1,
continuous_spot_angle ElevationTa 16 - continuousSpotAngle is an
rgetLineOfS AngleRequirementType that specifies
ightVertical the required sensor sweep angle for
TargetAngle the continuous spot scene for the
Requiremen SARObjectiveType.
tType
cross_track_deviation_ HeadingTru 16 - crossTrackDeviationTolerance is a
tolerance eNorthAngl AngleConstraintType that specifies
eRequireme the lateral distance the air vehicle is
ntType allowed to deviate from its
commanded track along a collection
segment for the SARObjectiveType.
ightVertical the acceptable range of angle
ConstraintT at the target to the SAR beam
ype centerline LOS ray for the
SARObjectiveType.

CAMELOT
goal_iirs IIRSRating 16 - goalIIRS is a

tType defines the goal or desired Imagery
Interpretability Rating Scale value for
the SARObjectiveType.
alPlaneQua the acceptable range of angle
rterAngleCo measured from the tangent plane of
nstraintTyp the surface of the target (e.g. terrain
e slope) to the SAR beam centerline
LOS ray for the SARObjectiveType.
heading_deviation_tole CourseTrue 16 - headingDeviationTolerance is a
rance NorthConstr AngleConstraintType that specifies
aint the rotation angle (in the horizontal
plane) the air vehicle is allowed to
deviate from its commanded heading
along a collection segment for the
SARObjectiveType.
eConstraint SARObjectiveType. The look angle is
the projection of the sensor beam
the target.
los_buffer_angle ElevationSe 16 - losBufferAngle is an
nsorLineOf AngleRequirementType that specifies
SightVertica the acceptable tolerance about the
lSensorAngl commanded angle for the
eRequireme SARObjectiveType.
ntType
SARObjectiveType. The map angle is
segment and the beam centerline
max_mapping_time DurationSe 32 - maxMappingTime is a
rementType specifies the maximum dwell or
integration time per swath patch
required to obtain the map
resolution specified for a collection
for the SARObjectiveType.
minimum_iirs IIRSRating 16 - minimumIIRS is a
tType defines the minimum Imagery
Interpretability Rating Scale value

CAMELOT
required for the SARObjectiveType.

num_images_azimuth int 4 None numImagesAzimuth is a
specifies the number of images (in
the radar cross range axis) in the SAR
map for the SARObjectiveType.
num_images_range int 4 None numImagesRange is a
specifies the number of images (in
the radar range axis) in the SAR map
for the SARObjectiveType.
percent_azimuth_colle PercentReq 16 - percentAzimuthCollection is a
ction uirementTy SizeRequirementType that specifies
pe the acceptable reduction in cross
range image size if collection time
becomes constrained for the
SARObjectiveType.
s nstraintTyp DistanceConstraintType that
e specifies the allowable slant range
distance maintained between the
sensor and the aimpoint of a
collection target for the
SARObjectiveType.
synthetic_aperture_rad byte 1 Enumerat syntheticApertureRadarMode is a
ar_mode ed SAROperatingModeType that
specifies the collection mode
required to capture the scene for the
SARObjectiveType. SAR collection
modes can include spotlight,
stripmap, dwell, transit, etc.
SAROperatingModeEnumTypeLDM:
AIP13_MONOPULSE_CALIBRATION =
0,
AIP14_WIDE_AREA_MTI = 1,
AIP15_COARSE_RESOLUTION_SEARC
H = 2,
AIP16_MEDIUM_RESOLUTION_SEAR
CH = 3,
AIP17_HIGH_RESOLUTION_SEARCH =
4,
AIP18_POINT_IMAGING = 5,
AIP19_SWATH_MTI = 6,
AIP20_REPETITIVE_POINT_IMAGING
= 7,
AS201_SEARCH = 8,
AS202_SPOT_3 = 9,
AS204_SPOT_1 = 10,
AS207_CONTINUOS_SPOT_3 = 11,
AS209_EMTI_WIDE_FRAME_SEARCH
= 13,
AS210_EMTI_NARROW_FRAME_SEA
RCH = 14,
AS211_EMTI_AUGMENTED_SPOT =

CAMELOT
15,
AS212_EMTI_WIDE_AREA_MTI = 16,
AS213_MONOPULSE_CALIBRATION =
17,
GSH_TIER_2_SEARCH_MODE = 18,
GSP_TIER_2_SPOT_MODE = 19,
SAR_07A_MODE_3_AREA_SLANT_PL
AN = 20,
SAR_07L_MODE_3_LOC_SLANT_PLA
N = 21,
= 22,
23,
SAR_10S_ETP_SCAN_SLANT = 24,
SAR_14A_MODE_4_AREA_SLANT_PL
ANE = 25,
SAR_14L_MODE_4_LOC_SLANT_PLA
NE = 26,
= 27,
28,
= 29,
SAR_22FG_MODE_5_GROUND_PLAN
E = 30,
31,
= 32,
33,
= 34,
SPOT_SAR = 35,
SPOT_SAR _WITH_FTI = 36,
SWATH_SAR = 37,
SWATH_SAR_WITH_FTI = 38
ElevationTargetLineOfSightVerticalTargetAngleRequirementType
h
angle float 4 rad
angle_tolerance ElevationTa 12 -
rgetLineOfS
ightVertical
TargetAngle
ToleranceT
ype
ElevationTargetLineOfSightVerticalTargetAngleToleranceType

CAMELOT
attribute.
h
AltitudeMSLConstraintType
Realizes AltitudeConstraintType: a DistanceConstraintType that specifies the type of vertical elevation of an
object above the surface of earth.
h
distance float 4 m
distance_tolerance AltitudeMSL 12 -
ToleranceT
ype
AltitudeMSLToleranceType
distance attribute.
h
step_size float 4 m
HeadingTrueNorthAngleRequirementType
Realizes AngleRequirementType: that specifies the type of compass direction in which the longitudinal axis is
pointing.
h
angle float 4 rad
angle_tolerance HeadingTru 12 -
eNorthAngl
eTolerance
Type
HeadingTrueNorthAngleToleranceType
attribute.
h
CourseTrueNorthConstraintType
h

CAMELOT
angle float 4 rad

angle_tolerance CourseTrue 12 -
NorthTolera
nceType
CourseTrueNorthToleranceType
attribute.
h
ElevationSensorLineOfSightVerticalSensorAngleRequirementType
h
angle float 4 rad
angle_tolerance ElevationSe 12 -
nsorLineOf
SightVertica
lSensorAngl
eTolerance
Type
ElevationSensorLineOfSightVerticalSensorAngleToleranceType
attribute.
h
PercentRequirementType
h
size float 4 %
size_tolerance PercentTole 12 -
ranceType
PercentToleranceType
attribute.
h
lower_limit float 4 %
step_size float 4 %

CAMELOT
upper_limit float 4 %
SIGINTObjectiveType
SIGINTObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
SIGINT sensor collections. When SensorObjectives are decomposed, they may contain SIGINT objectives that are
allocated to SIGINT missions.
h
commanded_mdf SIGINTMiss 0 - commandedMDF is a
ionType SIGINTMissionType reference that
specifies the SIGINT mission data file
used by the sensor for the
SIGINTObjectiveType.
NOT AVAILABLE ON UCS
emitter_track_collectio EmitterTrac 8 - emitterTrackCollectionObjective is a
n_objective kCollection EmitterTrackCollectionObjectiveType
ObjectiveTy containing emitter track collection
pe objectives.
emitter_track_refineme EmitterTrac 2 - emitterTrackRefinementObjective is
nt_objective kRefinemen a
tObjectiveT EmitterTrackRefinementObjectiveTy
ype pe containing emitter track
collection objectives.
pulse_data_collection_ PulseDataC 101 - pulseDataCollectionObjective is a
objective ollectionObj PulseDataCollectionObjectiveType
ectiveType containing pulse data collection
objectives.
reporting_vehicle DomainRes 229+ - reportingVehicle is a
the vehicle reporting the signal
collection for the
SIGINTObjectiveType.
signal_collection_objec SignalColle 77 - signalCollectionObjective is a
tive ctionObjecti SignalCollectionObjectiveType
veType containing signal collection
objectives.
signals_intelligencence byte 1 Enumerat signalsIntelligenceMode is a
_mode ed SignalsIntelligenceModeType that
specifies the signal collection mode
for the SIGINTObjectiveType.
Collection modes can include
COMINT, ELINT, etc.
SignalsIntelligenceModeEnumTypeL
DM:
COMINT = 0,
ELINT = 1
target_language string 50 targetLanguage is a DescriptionType
that defines the foreign language
expected to be used in the targeted
signal for the SIGINTObjectiveType.
SIGINTMissionType
SIGINTMissionType is an element that specifies an association between an sensor payload resource and a SIGINT
objective. A SIGINTMissionType contains sufficient attributes to define the context of a SIGINT mission.

CAMELOT
SIGINTMissionType attributes include Requirement sub types that specify SIGINT mission level requirements and
Constraint sub types that specify SIGINT mission level restrictions.
h
EmitterTrackCollectionObjectiveType
EmitterTrackCollectionObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for collection of emitter track data. When SIGINTObjectives are decomposed, they may contain emitter
track objectives that are integrated into SIGINT missions.
h
frequency_range FrequencyR 8 - frequencyRange is a
angeType FrequencyRangeType that specifies
the range of emitter tracker
frequencies collected by the SIGINT
sensor for the
EmitterTrackCollectionObjectiveType
.
EmitterTrackRefinementObjectiveType
EmitterTrackRefinementObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for emitter entity identification. When SIGINTObjectives are decomposed, they may contain specific
emitter identification objectives that are integrated into SIGINT missions.
h
geo_locate TaskTransiti 1 Enumerat geoLocate is a TaskTransitionType
onType ed that specifies execution control of
the SIGINT sensor's capability to
localize and refine the position fix of
an emitter entity for the
EmitterTrackRefinementObjectiveTy
pe. Execution control can include
states such as begin, pause, resume,
end, etc.
BEGIN = 0,
BEGIN_AND_END = 1,
END = 2,
PAUSE = 3,
RESUME = 4
perform_specific_emitt bool 1 None performSpecificEmitterIdentification
er_identification is a BooleanType that specifies
whether SIGINT sensor emitter
identification processing is executed
or bypassed for the
EmitterTrackRefinementObjectiveTy
pe.
PulseDataCollectionObjectiveType
PulseDataCollectionObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for pulse train SIGINT sensor plans. When SIGINTObjectives are decomposed, they may contain pulse
train objectives that are allocated to SIGINT missions.

CAMELOT

h
dwell_duration DurationSe 32 - dwellDuration is a
rementType specifies the length of each dwell for
the
PulseDataCollectionObjectiveType.
dwells int 4 None dwells is a CountRequirementType
that specifies the total number of
dwells collected from the targeted
signal emission for the
frequency_range RadioFrequ 16 - frequencyRange is a
equirement specifies the frequency range
Type allowed for the pulse data collection
for the
repetition_interval DurationSe 32 - repetitionInterval is a
rementType specifies the time (start to start)
between dwells for the
sei_command bool 1 None SEICommand is a BooleanType that
specifies whether the collection
sensor executes or bypasses
functionality to characterize and
identify the emitter entity for the
tune_frequency RadioFrequ 16 - tuneFrequency is a
equirement specifies the frequency used for the
Type pulse data collection for the
SignalCollectionObjectiveType
SignalCollectionObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
for SIGINT sensor collections. When SIGINTObjectives are decomposed, they may contain signal collection
objectives that are allocated to SIGINT missions.
h
frequency_set FrequencyS 77 - frequencySet is a FrequencySetType
etType that specifies the data characterizing
the signals targeted for collection for
the SignalCollectionObjectiveType.
ProductObjectiveType
ProductObjectiveType is an element that describes a clearly defined goal specifying the base-level action(s)
required for products generated by a payload sensor. When PayloadObjectives are decomposed, they may
contain sensor product objectives that are allocated to product missions.
h
product_archieve_obje ProductArc 2420+ - productArchiveObjectives is a

CAMELOT
ctives hiveObjectiv ProductArchiveObjectiveType

eType containing SP PED product archive
related objectives.
product_capture_object ProductCap 1326 - productCaptureObjectives is a
ives tureObjectiv ProductCaptureObjectiveType
eType containing SP PED product capture
related objectives.
product_dissemination ProductDiss 2714 - productDisseminationObjectives is a
_objectives eminationO ProductDisseminationObjectiveType
bjectiveTyp containing SP PED product
e dissemination related objectives.
product_exploitation_o ProductExpl 3466 - productExploitationObjectives is a
bjectives oitationObje ProductExploitationObjectiveType
ctiveType containing SP PED product
exploitation related objectives.
product_retrieval_objec ProductRetr 1298 - productRetrievalObjectives is a
tives ievalObjecti ProductRetrievalObjectiveType
veType containing SP PED product retrieval
related objectives.
ProductArchiveObjectiveType
ProductArchiveObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
to deposit and catalog payload sensor products in a UCS long term storage archive for future retrieval. When
ProductObjectives are decomposed, they may contain archive objectives that are allocated to product archive
missions.
h
active_capture PEDTaskin 1072 - activeCapture is a PEDTaskingType
gType that specifies the processing that is
applicable to products actively being
captured for the
ProductArchiveObjectiveType.
processing_request SensorProd 712 - processingRequest is a
uctProcessi SensorProductProcessingOrderType
ngOrderTyp that specifies archive processing
e instructions for sensor product for
the ProductArchiveObjectiveType.
sensor_product SensorProd 636+ - sensorProduct is a
e specifies the sensor data product to
be archived for the
ProductArchiveObjectiveType.
PEDTaskingType
PEDTaskingType is an element that specifies the download or capture of a set of related sensor products to a PED
Management service.
h
classification_request_t byte 1 Enumerat classificationRequestType is a
ype ed ClassificationRequestStatusType that
specifies the type of classification
request being issued for
PEDTaskingType. The

CAMELOT
classificationRequestType is specified
through an
enumeration: {APPLY_CLASS_LABEL,
RETURN_CLASS_LABEL}
ClassificationRequestStatusEnumTyp
eLDM:
APPLY_CLASS_LABEL = 0,
RETURN_CLASS_LABEL = 1
entity_association_reas string 50 None entityAssociationReason is a
on Description Type that allows for
specifying why this product is
associated to the entity for
PEDTaskingType.
mission ProductMis 0 - mission is a ProductMissionType that
sionType specifies the sensor mission
associated with the generation of the
PEDTaskingType.
product_classification_r int 4 None productClassificationRequestID is a
equest_id UniqueIDType that specifies the ID
assigned to the classification status
request for PEDTaskingType.
product_collected byte 1 Enumerat productCollected is a
describes the product collected, e.g.
still video, streaming video, satellite
weather imagery, etc. for the
PEDTaskingType.
DM:
ACO = 0,
ACTDF = 1,
AIREP = 2,
ATO = 3,
4,
5,
COMINT = 6,
DYNAMIC_IMAGE = 7,
GRIB = 8,
HYPERSPECTRAL = 9,
INVERSE_SAR = 10,
LINK16 = 11,
METAR = 12,
MTI = 13,
MULTISPECTRAL = 14,
OTHER = 15,
PIREP = 16,
17,

CAMELOT
RARED = 20,
ROWAVE = 21,
= 22,
BLE = 23,
TERVAPOR = 24,
RED = 26,
E = 27,
TAF = 30,
33,
36,
WBID = 38,
WBRD = 39,
WCID = 40,
WCMD = 41,
product_dissemination int 4 None productDisseminationRequestID is a
_request_id UniqueIDType that specifies the ID
assigned to the dissemination
request for PEDTaskingType.
security_classification SecurityInfo 360 - securityClassification is a
rmationTyp SecurityInformationType that defines
e the classification of the product to be
disseminated for the
PEDTaskingType.
sensor_source SensorType 588 - source is a SensorType that describes
the kind of sensor that generated the
product for the PEDTaskingType.
tail_number string 10 - tailNumber is a UniqueIDType that
specifies the tail number of the air
vehicle resource associated with the
sensor mission for the
PEDTaskingType.
task_association_reaso string 50 - taskAssociationReason is a
n DescriptionType that allows entry for
specifying why the product is
associated to the task for
PEDTaskingType.
task_id int 4 None taskID is a UniqueIDType that defines

CAMELOT
the identifier associated with a task

to download or capture a set of
related sensor products for the
PEDTaskingType.
ProductMissionType
ProductMissionType is an element that describes a mission aimed at supporting sensor product information.
h
product_archieve_miss ProductArc 0 - productArchiveMissionPlan is a
ion_plan hiveMission ProductArchiveMissionPlanType
PlanType containing sensor product archive
related mission plans.
product_capture_missi ProductCap 0 - productCaptureMissionPlan is a
on_plan tureMission ProductCaptureMissionPlanType
PlanType containing sensor product capture
product_dissemination ProductDiss 0 productDisseminationMissionPlan is
_mission_plan eminationMi a
ssionPlanTy ProductDisseminationMissionPlanTy
pe pe containing sensor product
dissemination related mission plans.
product_exploitation_m ProductExpl 0 productExploitationMissionPlan is a
ission_plan oitationMiss ProductExploitationMissionPlanType
ionPlanTyp containing sensor product
e exploitation related mission plans.
product_retrieval_missi ProductRetr 0 productRetrievalMissionPlan is a
on_plan ievalMission ProductRetrievalMissionPlanType
PlanType containing sensor product retrieval
ProductArchiveMissionPlanType
ProductArchiveMissionPlanType is an element that defines a spatio-temporally ordered set of archive missions.
h
product_archieve_miss ProductArc 0 - productArchiveMission is a
ion hiveMission ProductArchiveMissionType
Type containing sensor product archive
related missions.
ProductArchiveMissionType
ProductArchiveMissionType is an element that describes a mission that is in the repository of historical
information.
h
ProductCaptureMissionPlanType
ProductCaptureMissionPlanType is an element that defines a spatio-temporally ordered set of capture missions.
h

CAMELOT
product_capture_missi ProductCap 0 - productCaptureMission is a

on tureMission ProductCaptureMissionType
Type containing sensor product capture
related missions.
ProductCaptureMissionType
ProductCaptureMissionType is an element that describes a mission aimed at capturing sensor product
information.
h
ProductDisseminationMissionPlanType
ProductDisseminationMissionPlanType is an element that defines a spatio-temporally ordered set of
dissemination missions.
h
product_dissemination ProductDiss 0 - productDisseminationMission is a
_mission eminationMi ProductDisseminationMissionType
ssionType containing sensor product
dissemination related missions.
ProductDisseminationMissionType
ProductDisseminationMissionType is an element that describes a mission aimed at distributing information.
A DisseminationMissionType specifies an association between an sensor payload resource and a dissemination

objective. A DisseminationMissionType contains sufficient attributes to define the context of a dissemination
mission. DisseminationMissionType attributes include Requirement sub types that specify dissemination mission
level requirements and Constraint sub types that specify dissemination mission level restrictions.
h
ProductExploitationMissionPlanType
ProductExploitationMissionPlanType is an element that defines a spatio-temporally ordered set of product
exploitation missions.
h
product_exploitation_m ProductExpl 0 - productExploitationMission is a
ission oitationMiss ProductExploitationMissionType
ionType containing sensor product
exploitation related missions.
ProductExploitationMissionType
ProductExploitationMissionType is an element that describes a mission aimed at exploiting sensor product
information.
h

CAMELOT
ProductRetrievalMissionPlanType
ProductRetrievalMissionPlanType is an element that defines a spatio-temporally ordered set of product retrieval
missions.
h
product_retrieval_missi ProductRetr 0 - productRetrievalMission is a
on ievalMission ProductRetrievalMissionType
Type containing sensor product retrieval
related missions.
ProductRetrievalMissionType
ProductRetrievalMissionType is an element that describes a mission aimed at retrieval of sensor product
information.
h
SensorType
SensorType is an Element which specifies the type of device that responds to a physical stimulus and transmits a
resulting impulse.
h
the test status for SensorType. Test
enumeration: {off, abort,
bit_suspended}
BIT_FAILED = 0,
BIT_PASSED = 1,
BIT_SUSPENDED = 2,
OFF_ABORT = 3,
RUNNING_BIT = 4
calibration_time double 8 s calibrationTime is a
specifies the time taken to adjust the
function for SensorType.
communication_role float 4 Mbit/s communicationRate is a
CommunicationRateCapabilityType
which specifies the communication
data rate for SensorType.
data_capture_rate float 4 Mbit/s dataCaptureRate is a
which specifies the rate at which
data is collected for SensorType.
field_of_regard FieldOfReg 28 - fieldOfRegard is a
ardCircleTy AreaCapabilityType which specifies
the area covered when pointing to

CAMELOT
pe all mechanical possible positions for

SensorType.
field_of_view_azimuth float 4 rad fieldOfViewAzimuth is a
AngleCapabilityType which specifies
the horizontal range covered when
pointing to one position for
SensorType.
The multiplicity indicates support for

multiple fields of view. They are
ordered because the elevation and
azimuth are paired for each field of
view enumerated.
field_of_view_elevation float 4 rad fieldOfViewElevation is a
the vertical range covered when
pointing to one position for
SensorType.
The multiplicity indicates support for

multiple fields of view. They are
ordered because the elevation and
azimuth are paired for each field of
view enumerated.
product SensorProd 1079 - product is a SensorProductType
uctType which specifies all data products
provided for a given task for
SensorType.
resolution double 8 m resolution is a
ResolutionCapabilityType which
specifies the smallest change that
can be detected in the quantity that
is measured for SensorType.
sensor byte 1 Enumerat sensor is a SensorPayloadType which
ed specifies the type for SensorType.
The sensor type is specified as an
enumeration: { eoir_sensor,
eo_sensor, gmti_sensor,
laser_sensor, sar_sensor, ir_sensor,
multispectral_sensor, sigint_sensor,
ais_sensor, radiation_sensor,
atmospheric_sensor,
airborne_contaminant_sensor}
SensorPayloadEnumTypeLDM:
AIRBORNE_CONTAMINANT_SENSOR
= 0,
AIS_SENSOR = 1,
ATMOSPHERIC_SENSOR = 2,
EO_SENSOR = 3,
EOIR_SENSOR = 4,
GMTI_SENSOR = 5,
IR_SENSOR = 6,
LASER_SENSOR= 7,
MULTISPECTRAL_SENSOR = 8,
RADIATION_SENSOR = 9,

CAMELOT
SAR_SENSOR = 10,
SIGINT_SENSOR = 11
sensor_address UInt32 4 None sensorAddress is a
specifies the address within
allowable addresses for SensorType.
sensor_control_mode byte 1 Enumerat sensorControlMode is a
ed SensorControlModeType which
specifies the control mode for
SensorType. The control mode is
specified as an
enumeration: {immediate_mode,
mission_mode}
SensorControlModeEnumTypeLDM:
IMMEDIATE_MODE = 0,
MISSION_MODE = 1
sensor_revision_level string 10 None sensorRevisionLevel is a
UniqueIDType which specifies the
revision level for the OFP for
SensorType.
sensor_search byte 1 Enumerat sensorSearch is a SensorSearchType
ed which specifies the search method
for SensorType. The search method
is specified as an
enumeration: {geographic_area_sea
rch, geographic_line_search,
laser_designated_target_search,
auto_target_tracking}
SensorSearchEnumTypeLDM:
AUTO_TARGET_TRACKING = 0,
GEOGRAPHIC_AREA_SEARCH = 1,
GEOGRAPHIC_LINE_SEARCH = 2,
LASER_DESIGNATED_TARGET_SEARC
H=3
sensor_search_status byte 1 Enumerat sensorSearchStatus is a
ed SensorSearchStatusType which
specifies the search status for
SensorType. Search status is
specified as an
enumeration: {search_cancelled,
search_completed, search_failed,
search_in_progress}
SensorSearchStatusEnumTypeLDM:
SEARCH_CANCELLED = 0,
SEARCH_COMPLETED = 1,
SEARCH_FAILED = 2,
SEARCH_IN_PROGRESS = 3
slew_time double 8 s slewTime is a DurationCapabilityType
which specifies the time needed to
move from one point to another for
SensorType.
target_tracker bool 1 None targetTracker is a BooleanType which
specifies the ability to track a target
that is being detected by another
component of the vehicle (e.g. an

CAMELOT
optical sensor) for SensorType.

tracker_mode byte 1 Enumerat trackerMode is a
ed SensorTrackerModeType which
specifies the state of tracking
operations for a sensor.
SensorTrackerModeEnumTypeLDM:
ACQUIRE = 0,
OFF = 1,
TRACK = 2
warmup_time double 8 s warmupTime is a
specifies the time needed for the
sensor to come to an operational
state for SensorType.
FieldOfRegardCircleType
FieldOfRegardCircle_Measurement specifies the field of view of a sensor encompassing all available orientations
of the sensor.
h
radius float 4 m radius specifies the distance from
the center of the field of regard circle
to its edge.
reference_point Position2DT 24 - referencePoint specifies the center
imeType point of the field of regard circle at a
specific point in time.
SensorProductType
SensorProductType is an element that describes a data product provided by a payload sensor in a given task.
h
point_index int 4 None pointIndex is a CountType that
specifies the order in which
collection points occurred in time for
SensorProductType.
processing_type byte 1 Enumerat processingType is a
specifies the type of processing that
has been done on the product
associated with this
ProductMetadata for
SensorProductType.
DM:
ACO = 0,
ACTDF = 1,
AIREP = 2,
ATO = 3,
4,
5,
COMINT = 6,
DYNAMIC_IMAGE = 7,

CAMELOT
GRIB = 8,
HYPERSPECTRAL = 9,
INVERSE_SAR = 10,
LINK16 = 11,
METAR = 12,
MTI = 13,
MULTISPECTRAL = 14,
OTHER = 15,
PIREP = 16,
17,
RARED = 20,
ROWAVE = 21,
= 22,
BLE = 23,
TERVAPOR = 24,
RED = 26,
E = 27,
TAF = 30,
33,
36,
WBID = 38,
WBRD = 39,
WCID = 40,
WCMD = 41,
product_location_state byte 1 Enumerat productLocationState is a
ed ProductLocationStateType that
specifies a rough indication of how
long the product will be available at
the sibling NetworkLocation for
SensorProductType. TEMPORARY
indicates the location is provided by
a UAS or other intermediate System
with limited storage and/or network

CAMELOT
connectivity. FINAL indicates the

longer-term, within the context of
the Systems, final network location
of a product
ProductLocationStateEnumTypeLDM
:
FINAL = 0,
TEMPORARY = 1
product_source_type byte 1 Enumerat productSourceType is a
specifies the type of product being
referenced for SensorProductType.
This is needed in cases where a task
or command results in generation of
multiple product types.
DM:
ACO = 0,
ACTDF = 1,
AIREP = 2,
ATO = 3,
4,
5,
COMINT = 6,
DYNAMIC_IMAGE = 7,
GRIB = 8,
HYPERSPECTRAL = 9,
INVERSE_SAR = 10,
LINK16 = 11,
METAR = 12,
MTI = 13,
MULTISPECTRAL = 14,
OTHER = 15,
PIREP = 16,
17,
RARED = 20,
ROWAVE = 21,
= 22,
BLE = 23,
TERVAPOR = 24,
RED = 26,

CAMELOT
E = 27,
TAF = 30,
33,
36,
WBID = 38,
WBRD = 39,
WCID = 40,
WCMD = 41,
task PEDTaskin 1072 - task is a PEDTaskingType that defines
gType the details of the PED task such as
the task ID, source, mission, etc. for
the SensorProductType.
SensorProductProcessingOrderType
SensorProductProcessingOrderType is an element that defines a list of operations to be performed on one or
more sensor data products by PED services.
h
archieve_final bool 1 None archiveFinal is a BooleanType that
specifies whether processed or
exploited data is archived for the
SensorProductProcessingOrderType.
archieve_final_spec ArchiveData 18 - archiveFinalSpec is an
Type ArchiveDataType that specifies the
details for where and how a
processed sensor product is archived
for the
archieve_raw bool 1 None archiveRaw is a BooleanType that
specifies whether raw data is saved
and archived prior to processing for
the
archieve_raw_spec ArchiveData 18 - archiveRawSpec is an
details for where and how a raw
sensor product is archived for the
disseminate_final bool 1 None disseminateFinal is a BooleanType
that specifies that processed or
exploited sensor product data is
disseminated for the

CAMELOT
disseminate_raw bool 1 None disseminateRaw is a BooleanType

that specifies that raw sensor
product data is disseminated for the
dissemination_final_de Disseminati 40 - disseminationFinalDestination is a
stination onDataType DisseminationDataType that
describes the controls for handling
dissemination of processed or
exploited sensor product data for the
dissemination_final_lin DataLinkCo 254 - disseminationFinalLink is a
k nnectionTyp DataLinkConnectionType that
e describes where and how to
disseminate processed or exploited
sensor product data for the
dissemination_final_ra RankingTyp 9 - disseminationFinalRank is a
nk e RankingType that defines the ranking
of the task to disseminate processed
or exploited sensor product data for
the
dissemination_raw_des Disseminati 40 - disseminationRawDestination is a
tination onDataType DisseminationDataType that
describes the controls for handling
dissemination of raw sensor product
data for the
dissemination_raw_link DataLinkCo 254 - disseminationRawLink is a
nnectionTyp DataLinkConnectionType that
e describes where and how to
disseminate raw sensor product data
for the
dissemination_raw_ran RankingTyp 9 - disseminationRawRank is a
k e RankingType that defines the ranking
of the task to disseminate raw sensor
product data for the
exploitation bool 1 None exploitation is a BooleanType that
specifies that exploitation is part of
the order for the
exploitation_list Exploitation 50 - exploitationList is an
CapabilityT ExploitationCapabilityType that
ype defines an ordered list of
exploitation capabilities to be
employed for the
exploitation_rank RankingTyp 9 - exploitationRank is a RankingType
e that specifies the ranking associated
with the exploitation portion of this
task for the
processing_request_id int 4 None processingRequestID is a

CAMELOT
UniqueIDType that specifies the

identifier of the processing order for
the
processing_type byte 1 Enumerat processingType is a
ed ProductProcessingKindType that
specifies the processing to occur on
products to produce other products
for
The processingType is specified
through an enumeration:
ProductProcessingKindType.
ProductProcessingEnumTypeLDM:
0,
CLIP = 1,
2,
DYNAMIC_IMAGE = 3,
HYPERSPECTRAL = 4,
INFRARED = 5,
INVERSE_SAR = 6,
MTI_TRACKS = 7,
MULTISPECTRAL = 8,
OTHER = 9,
STILL = 10,
VISIBLE = 12,
WBID = 13,
WCID = 14,
WCMD = 15
product_type_referenc byte 1 Enumerat productTypeReferenceType is a
e_type ed CollectionOutputProductType that
specifies the product type being
processed for the
DM:
ACO = 0,
ACTDF = 1,
AIREP = 2,
ATO = 3,
4,
5,
COMINT = 6,
DYNAMIC_IMAGE = 7,
GRIB = 8,
HYPERSPECTRAL = 9,
INVERSE_SAR = 10,
LINK16 = 11,
METAR = 12,
MTI = 13,

CAMELOT
MULTISPECTRAL = 14,
OTHER = 15,
PIREP = 16,
17,
RARED = 20,
ROWAVE = 21,
= 22,
BLE = 23,
TERVAPOR = 24,
RED = 26,
E = 27,
TAF = 30,
33,
36,
WBID = 38,
WBRD = 39,
WCID = 40,
WCMD = 41,
ArchiveDataType
ArchiveDataType is an element that specifies the duration and priority of a data item archive.
h
manually_deleted bool 1 None manuallyDeleted is a BooleanType
that specifies that a data item can
only be manually deleted for the
ArchiveDataType.
number_of_days int 4 None numberOfDays is a CountType that
specifies length of time a data item is
to remain archived for the
ArchiveDataType.
number_of_missions int 4 None numberOfMissions is a CountType

CAMELOT
that specifies that the data item

should be deleted when the number
of missions is exceeded for the
ArchiveDataType.
space_needed bool 1 None spaceNeeded is a BooleanType that
specifies (if TRUE) that the data item
should be deleted when storage
capacity is reached and items must
be deleted because space is needed
for the ArchiveDataType.
timestamp double 8 s timeStamp is a TimeType that
specifies the time a data item should
be kept until for the
ArchiveDataType.
DisseminationDataType
DisseminationDataType is an element that describes the method, destination, options and any additional
extensions to be executed in the dissemination of a sensor product.
h
archieve_options ArchiveData 18 - archiveOptions is an
duration and priority of a data item
archive for the
DisseminationDataType.
auto_download bool 1 None autoDownload is a BooleanType that
specifies whether or not automatic
download of products is enabled for
the DisseminationDataType.
destination_id string 10 None destinationID is a UniqueIDType that
specifies the ID of destination
resource for the
extension_command Disseminati 10 extensionCommand is a
onExtensio DisseminationExtensionCommandTy
nCommand pe that specifies additional classified
Type processing capability for the
push_contents bool 1 None pushContents is a BooleanType that
specifies automatic dissemination
(push) of the sensor data product to
resources on completion for the
DisseminationExtensionCommandType
DisseminationExtensionCommandType is an element defined by Identification of additional classified processing
capabilities to be executed upon dissemination of a sensor product.
h
command string 10 None command is a DescriptionType that
defines the name of a human
readable dissemination command.

CAMELOT
DataLinkConnectionType
DataLinkConnectionType is an element that specifies a comm link connection used to receive a product from or
disseminate a product to. Note that not all attributes are required for each connection.
h
comm_address string 50 None commAddress is a DescriptionType
that specifies the recipient node
address for the
DataLinkConnectionType.
comm_protocol string 50 None commProtocol is a DescriptionType
that specifies the protocol used for
the DataLinkConnectionType. Comm
protocols include RS232 or FireWire
for serial connections and TCP/IPV4
for IP. Additionally the protocol
could be a composite to add an
application layer such as FTP over
TCP/IP.
comm_rate float 4 Mbit/s commRate is a CommsRateType that
specifies the communication rate,
usually baud or bps, for the
comm_type string 50 None commType is a DescriptionType that
specifies the communication stack
general type such as serial, IP, ATM,
etc. for the DataLinkConnectionType.
This field determines the available
options for the commProtocol
attribute.
data_encryption string 50 None dataEncryption is a DescriptionType
that describes the encryption
method used during COMM for the
data_format string 50 None dataFormat is a DescriptionType that
describes the format of the data
being transferred across the data link
for the DataLinkConnectionType.
RankingType
RankingType is an element that specifies the relative ranking of a process or activity in terms of its priority and
precedence over other processes.
h
precedence UInt32 4 None precedence is a OrderType that
process for the RankingType.
preempt_lower_rank byte 1 Enumerat preemptLowerRank is an

ed ExecutionPrecedenceType that
specifies whether a task should
immediately interrupt a lower
ranked task or whether it should wait
for its completion for the
RankingType.

CAMELOT
ExecutionPrecedenceEnumTypeLDM:
IMMEDIATE = 0,
NEXT_AVAILABLE = 1
priority UInt32 4 None priority is a OrderType that specifies
a level of refinement of precedence
for the RankingType.
ExploitationCapabilityType
ExploitationCapabilityType is an element that specifies the processing or algorithmic function to be executed on a
sensor product to improve its usability or change its format.
h
capability string 50 None capability is a DescriptionType that
describes the processing capability to
be executed on a sensor product for
the ExploitationCapabilityType.
ProductCaptureObjectiveType
ProductCaptureObjectiveType is an element that describes a clearly defined goal specifying the action(s) required
to download and capture sensor products in a UCS temporary storage resource. When ProductObjectives are
decomposed, they may contain capture objectives that are allocated to product capture missions.
h
capture_from DataLinkCo 254 - captureFrom is a
nnectionTyp DataLinkConnectionType that
e specifies the data link transmitting
the sensor data to be downloaded
and stored for the
ProductCaptureObjectiveType.
tasking_id PEDTaskin 1072 - taskingID is a PEDTaskingType that
gType specifies the task ID assigned to the
product dissemination task for the
ProductCaptureObjectiveType.
ProductDisseminationObjectiveType
ProductDisseminationObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for sensor data dissemination. When ProductObjectives are decomposed, they may contain
dissemination objectives that are allocated to product dissemination missions.
h
captured for the
ProductDisseminationObjectiveType.
desired_sensor_produc SensorProd 636+ - desiredSensorProduct is a
t uctDataTyp SensorProductDataType that
be disseminated for the
destination Disseminati 40 - destination is a
onDataType DisseminationDataType that

CAMELOT
specifies the storage resource and

file management operations for the
disseminated sensor product file for
the
dissemination_destinati DataLinkCo 254 - disseminationDestination is a
on nnectionTyp DataLinkConnectionType that
e defines the data link that receives
the disseminated sensor product for
the
processing_request SensorProd 712 processingRequest is a
ngOrderTyp that specifies dissemination
e processing instructions for sensor
product for the
ProductExploitationObjectiveType
ProductExploitationObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required to exploit a given payload sensor product or set of products. The result of the exploitation objective is
usually one or more new product(s) with a higher usability value. When ProductObjectives are decomposed, they
may contain exploitation objectives that are allocated to product exploitation missions.
h
captured for the
ProductExploitationObjectiveType.
output_product SensorProd 636+ - outputProduct is a
uctDataTyp SensorProductFileType that specifies
e the sensor product resulting from
the exploitation process for the
output_product_classifi SecurityInfo 360 - outputProductClassification is a
cation rmationTyp SecurityInformationType that
e specifies the classification
requirements applied to the
exploited product for the
processing_request SensorProd 712 - processingRequest is a
ngOrderTyp that specifies exploitation processing
e instructions for sensor product for
the
required_processing_ty Exploitation 50 - requiredProcessingType is an
pe CapabilityT ExploitationCapabilityType that
ype describes exploitation processing to
be implemented for the
source_product SensorProd 636+ - desiredSensorProduct is a

CAMELOT

be disseminated for the
ProductRetrievalObjectiveType
ProductRetrievalObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for inquiry/retrieval of payload sensor products from a UCS long term storage archive. When
ProductObjectives are decomposed, they may contain retrieval objectives that are allocated to product retrieval
missions.
h
filter SensorProd 450 - filter is a
uctFilterExp SensorProductFilterExpressionType
ressionType that defines a filter expression to be
applied for selection of files to be
retrieved for the
ProductRetrievalObjectiveType.
query ArchiveQue 1258 - query is an ArchiveQueryType that
ryType specifies the archive search criteria
that will result in the archived sensor
data products to be retrieved for the
ProductRetrievalObjectiveType.
SensorProductFilterExpressionType
SensorProductFilterExpressionType is an element that defines a filter expression to be applied for selection of
sensor data products.
h
format_filter FilterExpres 225 - formatFilter is a FilterExpressionType
sionTypeIC that defines a format to filter a query
D by for the
SensorProductFilterExpressionType.
named_filter FilterExpres 225 - nameFilter is a FilterExpressionType
sionTypeIC that defines a product name to filter
D a query by for the
SensorProductFilterExpressionType.
FilterExpressionType
SensorProductFilterExpressionType is an element that defines a filter expression to be applied for selection of
sensor data products.
h
data_products DataProduc 175 - dataProducts is a DataProductType
tType that defines the filtered set of data
products for the
FilterExpressionType.
expression string 50 - expression is a DescriptionType that
defines the expression used to filter
data product types for the
FilterExpressionType.
DataProductType

CAMELOT
DataProductType is an element that describes an informational product of a Mission.

h
creation_time double 8 s creationTime is a TimeType that
specifies the product creation time
for the DataProductType.
expires_time double 8 s expiresTime is a TimeType that
specifies the expiration time to
indicate the soonest the Product may
become inaccessible for
DataProductType.
product_life_cycle_stat byte 1 Enumerat productLifeCycleStatus is a
us ed DataLifeCycleType which is an
enumerated list of values containing
the status of the DataProductType.
DataLifeCycleEnumTypeLDM:
NEW = 0,
REMOVE = 1,
UPDATE = 2
product_name string 50 None productName is a DescriptionType
that specifies the name of the
product for use in file naming, etc.
for the DataProductType.
product_uri string 50 None productURI is a DescriptionType that
specifies the URI of the product for
the DataProductType.
source ResourceTy 0 - source is a Resource that specifies

pe the data source for the
DataProductType.
update_time double 8 s updateTime is a TimeType that
specifies the most recent update
time for the DataProductType.
version string 50 None version is a UniqueIDType that
specifies the version of the
DataProductType.
ResourceType
ResourceType is a top-level, abstract Resource used as a classifier for attributes that can to refer to any Resource.
h
ArchiveQueryType
ArchiveQueryType is an element that describes a query for a sensor data product archive.
h
the end of the time window to use
for the ArchiveQueryType.
format string 50 None format is a DescriptionType that
describes the format of the query

CAMELOT
response e.g. list, table, etc. for the

ArchiveQueryType.
geo_bounding_box ZoneType 70 - geoBoundingBox is a ZoneType that

specifies the volume in space for
which data is applicable for the
ArchiveQueryType.
keyword string 50 None keyword is a DescriptionType that
specifies a search keyword for the
ArchiveQueryType.
start_time double 8 s startTime is a TimeType that
specifies the start of the time
window to use for the
ArchiveQueryType.
tasking_id PEDTaskin 1072 - taskingID is a PEDTaskingType that
gType specifies a task ID to use to filter data
products returned for the
ArchiveQueryType.
ZoneType
ZoneType is an element that indicates a zone comprised of a two dimensional region and an altitude band.
h
inclusionary_zone bool 1 None inclusionaryZone is a BooleanType
where TRUE represents an inclusion
zone and FALSE represents an
exclusion zone.
maximum_altitude AltitudeAGL 4 - maximumAltitude is an DistanceType
Type representing the maximum altitude
of a ZoneType.
minimum_altitude AltitudeAGL 4 - minimumAltitude is an DistanceType
Type representing the minimum altitude
of a ZoneType.
zone_area ZoneAreaT 61 - zoneArea is an ZoneAreaType
ype specifying either a polygon or
located ellipse based area.
AltitudeAGLType
Altitude_AGL_Tuple specifies the entity's height above terrain, as reported by a radar system.
h
altitude float 4 m
ReplanReasonType
Specifies choices for characterizing replanning activities.
h
route_planning RouteRepla 17319 - routePlanning is a
nReasonTy RouteReplanReasonType that
pe describes the conditions affecting
the route plan that caused the replan
for the ReplanReasonType.

CAMELOT
task_allocation TaskAllocati 19 - taskAllocation is a

onReplanR TaskAllocationReplanReasonType
easonType that describes the tasking change
that caused the replan for the
ReplanReasonType.
RouteReplanReasonType
RouteReplanReasonType is an element that specifies the route triggers that invoke the replan of a generated
route.
h
operator_invoked_repl bool 1 None operatorInvokedReplan is a
an BooleanType that specifies that the
route replan was specified by the
operator for the
RouteReplanReasonType.
route_replan_trigger byte 1 Enumerat routeReplanTrigger is a
ed RoutePlanningAutonomyTriggerType
that specifies the conditions that
trigger a replan for the
RouteReplanReasonType. Replan
triggers include route conflicts, being
off route, a new threat, planning
failure, etc.
RoutePlanningAutonomyTriggerEnu
mTypeLDM:
DMPI_INVALIDATES_RELEASE_POINT
= 0,
MOVING_TASK = 1,
NEW_THREAT = 2,
NEW_ZONE = 3,
PLANNING_FAILURE = 4,
ROUTE_CONFLICT = 5,
RTB = 6,
VEHICLE_OFF_ROUTE = 7
route_replan_type byte 1 Enumerat routeReplanType is a
ed RoutePlanningKindType that
specifies that either all routes in a
plan or only the affected route are
replanned for the
RoutePlanningKindEnumTypeLDM:
REROUTE_AFFECTED = 0,
REROUTE_ALL = 1
threat_vulnerability_thr ThreatVulne 17316 - threatVulnerabilityThreshold is a
eshold rabilityThres ThreatVulnerabilityThresholdType
holdType that that specifies the exposure
thresholds that trigger the replan of
a generated route when threat cost
levels are exceeded for the
ThreatVulnerabilityThresholdType
ThreatVulnerabilityThresholdType is an element that specifies the exposure thresholds that trigger the replan of

CAMELOT
a generated route when threat cost levels are exceeded.

h
acquisition_cost_thresh RouteThrea 4329 - acquisitionCostThreshold is a
old tFOMType RouteThreatFOMType that defines
the acquisition cost threshold that
triggers a replan for the
ThreatVulnerabilityThresholdType.
intercept_cost_threshol RouteThrea 4329 - interceptCostThreshold is a
d tFOMType RouteThreatFOMType that defines
the intercept cost threshold that
launch_cost_threshold RouteThrea 4329 - launchCostThreshold is a
tFOMType RouteThreatFOMType that defines
the launch cost threshold that
track_cost_threshold RouteThrea 4329 - trackCostThreshold is a
tFOMType RouteThreatFOMType that defines
the track cost threshold that triggers
a replan for the
RouteThreatFOMType
RouteThreatFOMType is an element that describes the computed data that summarizes the threat exposure over
a route.
h
composite_exposure_ti double 8 s compositeExposureTime is a
me DurationType that defines the
composite exposure time of a route
to threats for the
RouteThreatFOMType. Composite
exposure computes the all of the
time that the route is exposed to one
or more threats. It does not
accumulate addition FOM for
exposure to multiple threats at the
same point on the route. For
example, the FOM due to exposure
to two threats from times a to b is
the same as the FOM due to
exposure to one threat from times a
to b.
cumulative_exposure_t double 8 s cumulativeExposureTime is a
ime DurationType that defines the
cumulative exposure time of a route
to threats for the
RouteThreatFOMType. Cumulative
exposure computes all of the
exposure times for each threat
against the route. It does accumulate
additional FOM for exposure to

CAMELOT
multiple threats at the same route

point.
route_fom_summary FOMSumm 4313 - routeFOMSummary is a
aryType FOMSummaryType that defines the
computed data that summarizes
threat exposure for the
RouteThreatFOMType.
FOMSummaryType
FOMSummaryType is an element that describes the computed data that summarizes the threat exposure over a
leg or path.
h
composite_exposure_ti double 8 s compositeExposureTime is a
me DurationType that defines the
composite exposure time of a route
to threats for the
FOMSummaryType. Composite
exposure computes all of the time
that the route is exposed to one or
more threats. It does not accumulate
multiple threats at the same point on
the route. For example, the FOM due
to exposure to two threats from
times a to b is the same as the FOM
due to exposure to one threat from
times a to b.
cumulative_exposure_t double 8 s cumulativeExposureTime is a
ime DurationType that defines the
cumulative exposure time of a route
to threats for the
FOMSummaryType. Cumulative
exposure computes all of the
exposure times for each threat
against the route. It does accumulate
multiple threats at the same route
point.
fom_events FOMEventT 4297+ - FOMEvents is a FOMEventType that
ype describes the individual FOM events
for a route or path for the
FOMSummaryType. The FOM events
include which threat and the
exposure time.
FOMEventType
FOMEventType is an element that describes the computed data that characterizes the threat exposure from a
single threat event.
h
exposure_end_time double 8 s exposureEndTime is a TimeType that
specifies the end of exposure to a
threat for specified FOM for the

CAMELOT
FOMEventType.
exposure_start_time double 8 s exposureStartTime is a TimeType
that specifies the beginning of
exposure to a threat for specified
FOM for the FOMEventType.
probability_of_detectio float 4 % probabilityOfDetection is a SizeType
n that defines the detection threshold
that triggers accumulation of FOM
exposure for the FOMEventType.
probability_of_intercept float 4 % probabilityOfIntercept is a SizeType
that defines the interception
threshold that triggers accumulation
of FOM exposure for the
FOMEventType.
probability_of_kill float 4 % probabilityOfKill is a SizeType that
defines the kill threshold that
triggers accumulation of FOM
probability_of_track float 4 % probabilityOfTrack is a SizeType that
defines the track threshold that
triggers accumulation of FOM
probability_time_index double 8 s probabilityTimeIndex is a TimeType
that specifies the time segment used
to calculate the probability of
threat EntityDataT 4257+ - threat is an EntityDataType that
ype specifies the threat entity
characteristics for the
FOMEventType. These characteristics
include entity activity, kinematics,
site, source, strength, etc.
TaskAllocationReplanReasonType
TaskAllocationReplanReasonType is an element that specifies the allocation triggers that invoke the replan of a
generated route.
h
allocation_kind byte 1 Enumerat allocationKind is a
ed TaskAllocationKindType that
specifies the extent of the task
allocation replanning required as a
result of the replan trigger for the
TaskAllocationReplanReasonType.
TaskAllocationKindEnumTypeLDM:
GLOBAL_ALLOCATION = 0,
ROUTE_CONSTRAINED_ALLOCATION
= 1,
VEHICLE_CONSTRAINED_ALLOCATIO
N=2
allocation_replan_trigg byte 1 Enumerat allocationReplanTrigger is a
er ed TaskAllocationAutonomyTriggerType
that specifies the reason that task
allocations require replanning for the

CAMELOT
These reasons can include the air
vehicle encountering an unplanned
zone or an unexpected threat,
failures with planning or resources,
dropped or failed tasks, etc.
TaskAllocationAutonomyTriggerEnu
mTypeLDM:
DMPI_INVALIDATES_RELEASE_POINT
= 0,
DMPI_OVER_DESIGNATION = 1,
DMPI_UNDER_DESIGNATION = 2,
DROPPED_TASKS = 3,
DROPPED_TASKS_ABOVE_PRECEDEN
CE = 4,
DROPPED_TASKS_BELOW_PRECEDE
NCE = 5,
FAILED_TASKS = 6,
MOVING_TASKS = 7,
NEW_AUTONOMOUSLY_GENERATED
_TASKS = 8,
NEW_RESOURCE_AVAILABLE = 9,
NEW_THREAT = 10,
NEW_ZONE = 11,
PLANNING_FAILURE = 12,
RESOURCE_FAILURE = 13,
RTB = 14,
VEHICLE_OFF_ROUTE = 15
operator_invoked_repl bool 1 None operatorInvokedReplan is a
an BooleanType that specifies that an
operator invoked the task allocation
replan for the
precedence OrderConst 16 - precedence is an
raintType OrderConstraintType that
precedence is a SizeType that
replan for the
RouteObjectiveType
RouteObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for flight
plans. When UCSObjectives are decomposed, they may contain route objectives that are allocated to route
missions.
h
aerial_refueling_objecti RefuelObje 0 - aerialRefuelingObjectives is a
ves ctiveType RefuelObjectiveType containing
vehicle aerial refueling related
objectives.
contingency_condition_ Contingenc 2 - contingencyConditionObjectives is a
objectives yCondition ContingencyConditionObjectiveType
ObjectiveTy containing vehicle contingency
condition related objectives.

CAMELOT
pe
launch_objectives LaunchObje 263 - launchObjectives is a
ctiveType LaunchObjectiveType containing
vehicle launch related objectives.
loiter_objectives LoiterObject 164 - loiterObjectives is a
iveType LoiterObjectiveType containing
vehicle loiter related objectives.
recovery_objectives RecoveryO 331 - recoveryObjectives is a
bjectiveTyp RecoveryObjectiveType containing
e vehicle recovery related objectives.
return_to_base bool 1 None returnToBase is a BooleanType that
specifies the state of the return to
base (RTB) flight mode for the
RouteObjectiveType. When the air
vehicle detects loss of
communication with the controlling
resource, and RTB is active, then the
vehicle immediately initiates a return
to base flight plan. If RTB is not
active when loss of communication is
detected, the vehicle will execute a
default preplanned action that may
or may not result in initiating a
return to base.
search_objectives SearchObje 150 - searchObjectives is a
ctiveType SearchObjectiveType containing
vehicle search related objectives.
vehicle_handover_obje VehicleHan 2715 - vehicleHandoverObjectives is a
ctives doverObject VehicleHandoverObjectiveType
iveType containing vehicle handover related
objectives.
waypoint_objectives WaypointO 197 - waypointObjectives is a
bjectiveTyp WaypointObjectiveType containing
e vehicle search related objectives.
RefuelObjectiveType
RefuelObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for air
refueling a receiver resource. When RouteObjectives are decomposed, they may contain refuel objectives that
are allocated to refuel missions.
h
ContingencyConditionObjectiveType
ContingencyConditionObjectiveType is an element that is intended to provide the operator with the how the
contingency is being dealt with or what is being recommended to address the problem.
h
autonomous_correction bool 1 None autonomousCorrectionAllowed is a
_allowed BooleanType to indicate if
autonomous behavior is allowed to
correct the identified autonomy
case.

CAMELOT
recommended_operato byte 1 Enumerat recommendedOperatorAction is a

r_action ed OperatorContingencyActionType
that is intended to be a
recommendation to the operator to
perform an action.
OperatorContingencyActionEnumTyp
eLDM:
DROP_TASKS = 0,
ESCALATE_TO_PARENT_SYSTEM = 1,
FAIL_TASKS = 2,
REALLOCATE_ALL_TASKS = 3,
REALLOCATE_DROPPED_TASKS = 4,
REALLOCATE_FAILED_TASKS = 5,
REPLAN_COMM = 6,
REROUTE_ALL_VEHICLES = 7,
REROUTE_CONFLICTED_VEHICLES =
8
LaunchObjectiveType
LaunchObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for air
vehicle launch. When RouteObjectives are decomposed, they may contain launch objectives that are allocated to
launch missions.
h
airfield_id AirfieldType 166 - airfieldID is an AirfieldType that
specifies the identifier of the airport
designated for the launch for the
LaunchObjectiveType.
initial_true_heading HeadingTru 16 - initialTrueHeading is an
eNorthAngl AngleRequirementType that specifies
eRequireme the required alignment of the air
ntType vehicle's longitudinal axis at the
runway takeoff location for the
maximum_takeoff_gros MassConstr 16 - maximumTakeoffGrossWeight is a
s_weight aintType MassConstraintType that specifies
the maximum weight authorized at
brake release for takeoff, or at the
start of the takeoff roll for the
maximum_wind_speed Velocity2DP 32 - maximumWindSpeed is a
latformNED SpeedConstraintType that specifies
ConstraintT the not-to-exceed wind component
ype limitations during takeoff for the
takeoff_climb_mode byte 1 Enumerat takeoffClimbMode is an
ed AirVehicleClimbModeType that
specifies the command mode used to
control air vehicle altitude and
ascent rate along the departure flight
path up to the transition point to the
en route flight path for the
AirVehicleClimbModeEnumTypeLDM
:

CAMELOT
BEST_RATE_OF_CLIMB = 0,
EXTENDED_RANGE_CLIMB = 2,
GRADUATE = 3,
MANUAL = 4,
MAXIMUM_RATE_OF_CLIMB = 5,
OPTIMUJM_PERFORMANCE = 6
takeoff_time DateTimeC 32 - takeoffTime is a
onstraintTy TimeRequirementType that specifies
pe the absolute time at which the
aircraft is required to takeoff for the
AirfieldType
AirfieldType is an element defined by a description of the observable parameters for an airfield applicable to UAV
operations.
h
runways RunwayTyp 166 - runways is a RunwayType that
e defines information about the
landing area.
RunwayType
RunwayType is an element that is defined as a description of the observable parameters for a runway applicable
to UAV operations.
h
runway_heading HeadingTru 16 - runwayHeading is an
eNorthAngl AngleRequirementType that defines
eRequireme the heading of the runway with
ntType respect to true north.
runway_length_availabl DistanceRe 16 - runwayLengthAvailable is a
e quirementT DistanceRequirementType that
ype defines the total usable length of a
runway.
runway_magnetic_vari float 4 rad runwayMagneticVariation is an
ation AngleType which specifies the
difference between true north and
magnetic north bearing for
RunwayType.
runway_minimum_leng DistanceRe 16 - runwayMinimumLength is a
th quirementT DistanceRequirementType that
ype specifies the minimum length of a
runway which is declared suitable for
the ground run of the aircraft during
takeoff for the RunwayType.
runway_msl_altitude AltitudeMSL 16 - runwayMSLAltitude is a
tType defines the MSL altitude in which a
runway is situated.
runway_safe_threshold AltitudeMSL 16 - runwaySafeThresholdHeight is a
_height Requiremen DistanceRequirementType that
tType represents the safe threshold height.

CAMELOT
runway_slope ElevationTa 16 - runwaySlope is an AngleType that

rgetLineOfS defines the vertical angle in which a
ightVertical runway is fixed.
TargetAngle
Requiremen
tType
runway_surface string 50 None runwaySurface is a DescriptionType
that defines the surface compound
of the runway.
runway_width DistanceRe 16 - runwayWidth is a
ype defines the width measurement of a
runway.
MassConstraintType
MassConstraintType is a Constraint that specifies the type of mass.
h
mass float 4 kg
mass_tolerance MassTolera 12 -
nceType
MassToleranceType
Realizes MassToleranceType: an ObservableTolerance that specifies the range of allowable values for a mass
attribute.
h
lower_limit float 4 kg
step_size float 4 kg
upper_limit float 4 kg
Velocity2DPlatformNEDConstraintType
Realizes VelocityConstraintType: a Constraint which specifies the type of velocity.
h
velocity Velocity2DP 8 -
latformNED
Type
velocity_tolerance Velocity2DP 24 -
latformNED
ToleranceT
ype
Velocity2DPlatformNEDToleranceType
Realizes VelocityToleranceType: an ObservableTolerance that specifies the range of allowable values for a
velocity attribute.
h
lower_limit Velocity2DP 8 -
latformNED
Type

CAMELOT
step_size Velocity2DP 8 -
latformNED
Type
upper_limit Velocity2DP 8 -
latformNED
Type
DateTimeConstraintType
Realizes TimeConstraintType: a Constraint that specifies the type of time.
h
time double 8 s
time_tolerance DateTimeT 24 -
oleranceTy
pe
DateTimeToleranceType
Realizes TimeToleranceType: an ObservableTolerance that specifies the range of allowable values for a time
attribute.
h
LoiterObjectiveType
LoiterObjectiveType is an element that describes a clearly defined goal specifying the action(s) required to
transition an air vehicle from its current flight state to flight in a prescribed loiter pattern. When RouteObjectives
are decomposed, they may contain loiter objectives that are allocated to loiter missions.
h
loiter_altitude_requirem AltitudeMSL 16 - loiterAltitudeRequirement is an
ent Requiremen DistanceRequirementType that
air vehicle while flying the loiter
pattern for the LoiterObjectiveType.
loiter_bearing_require HeadingTru 16 - loiterBearingRequirement is an
ment eNorthAngl AngleRequirementType that specifies
eRequireme the orientation of the loiter pattern
ntType for the LoiterObjectiveType. The
orientation is specified as a clockwise
rotation of the pattern's major axis
(with respect to true North).
loiter_cycles_requirem int 4 None loiterCyclesRequirement is a
ent CountRequirementType that
specifies the number of circuits the
air vehicle is required to complete
around the pattern before exiting
the loiter area and transitioning to
the next planned action for the
LoiterObjectiveType.

CAMELOT
loiter_duration DurationHo 8 - loiterDuration is a

ursRequire DurationRequirementType that
mentType specifies the length of time the air
vehicle is required to fly the pattern
before exiting the loiter area and
transitioning to the next planned
action for the LoiterObjectiveType.
loiter_flight_mode byte 1 Enumerat loiterFlightMode is an
ed AirVehicleFlightModeType that
specifies the altitude and steering
command modes required to
navigate the air vehicle along the
flight path of the prescribed loiter
AirVehicleFlightModeEnumTypeLDM
:
BEA = 0,
LRC = 1,
MEC = 2,
MRC = 3,
loiter_flying_behaviour byte 1 Enumerat loiterFlyingBehaviorRequirement is a
_requirement ed FlyingBehaviorType that specifies the
required turn behavior used by the
vehicle when navigating loiter
pattern points (i.e., fly over a pattern
navigation point before initiating a
turn to the next pattern point or
initiate a turn to the next pattern
flight segment before reaching the
loiter navigation point) for the
FlyingBehaviorEnumTypeLDM:
FLYBY = 0,
FLYOVER = 1
loiter_length_requirem DistanceRe 16 - loiterLengthRequirement is a
ent quirementT DistanceRequirementType that
ype specifies the required length of a
non-circular loiter pattern for the
loiter_pattern byte 1 Enumerat loiterPattern is a LoiterKindType that
ed specifies the configuration or form of
the flight path flown by the air
vehicle during a loiter for the
LoiterObjectiveType. Pattern types
can include circle, figure eight,
racetrack, stationary (for air vehicles
capable of hovering), spiral (if
altitude change is supported), etc.
LoiterKindEnumTypeLDM:
CIRCLE = 0,
FIGURE_8 = 1,
HOOVER = 2,
N_A = 3,
RACETRACK = 4

CAMELOT
loiter_radius_requirem DistanceRe 16 - loiterRadiusRequirement is a

ent quirementT DistanceRequirementType that
ype specifies the horizontal radial length
(about a reference point in space)
required in defining a circular-shaped
flight pattern for the
LoiterObjectiveType. The radius
determines the size of the circular or
polygonal pattern flown by the air
vehicle when the loiter pattern is
circular or constructed as an
inscribed regular polygon. The radius
can also determine the size of the
semi-circular path flown by the air
vehicle at each end of a racetrack
pattern.
loiter_reference_positio Position3DT 20 - loiterReferencePosition is a
n ype PositionRequirementType that
specifies the required geographic
point used to spatially locate the
loiter pattern for the
loiter_speed_requirem IndicatedAir 32 - loiterSpeedRequirement is a
ent speedRequi SpeedRequirementType that
rementType specifies the required speed of the
air vehicle while flying the loiter
loiter_time_requiremen DateTimeR 32 - loiterTimeRequirement is a
t equirement TimeRequirementType that specifies
Type the arrival time when the air vehicle
is required to enter the loiter pattern
for the LoiterObjectiveType.
loiter_turn_direction byte 1 Enumerat loiterTurnDirection is a
to turn when entering a loiter
Turn direction can be specified as
clockwise, counterclockwise, left,
right, into the wind, etc.
INTO_THE_WIND = 0,
LEFT_TURN = 1,
RIGHT_TURN = 3,
DurationHoursRequirementType
Realizes DurationRequirementType: a Requirement that specifies the type of duration.
h
duration double 8 s
duration_tolerance DurationHo 24 -
ursToleranc

CAMELOT
eType
DurationHoursToleranceType
Realizes DurationToleranceType: DistanceToleranceType is an ObservableTolerance that specifies the range of
allowable values for a distance attribute.
h
IndicatedAirspeedRequirementType
Realizes SpeedRequirementType: a Requirement that specifies the type of rate of motion in relation to air.
h
speed float 4 m/s
speed_tolerance IndicatedAir 12 -
speedToler
anceType
IndicatedAirspeedToleranceType
attribute.
h
RecoveryObjectiveType
RecoveryObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for air
vehicle recovery. When RouteObjectives are decomposed, they may contain recovery objectives that are
allocated to recovery missions.
h
airfield_id AirfieldType 166 - airfieldID is a AirfieldType that
specifies the identifier of the airport
designated for landing for the
RecoveryObjectiveType. The
identifier is seven characters in
length, consisting of a two-letter
country code followed by a 5-digit
number.
approach_speed IndicatedAir 32 - approachSpeed is a
speedConst SpeedConstraintType that specifies
raintType the published or derived speed of
the aircraft when making an
approach to land that provides
sufficient maneuvering capability
and safety margins when accounting
for gross weight, wind, wind shear,

CAMELOT
icing, aerodynamic configuration and

landing distance for the
RecoveryObjectiveType.
iaf Position3DT 20 - IAF is a PositionRequirementType
ype that specifies the navigational point
(Initial Approach Fix point) that
connects the end of the en route
flight plan with the start of the
approach flight plan for the
landing_descent_mode byte 1 Enumerat landingDescentMode is an
ed AirVehicleDescentModeType that
specifies the command mode used to
control air vehicle altitude and
descent rate along the flight path to
the runway touchdown point for the
AirVehicleFlightModeEnumTypeLDM
:
BEA = 0,
LRC = 1,
MEC = 2,
MRC = 3,
maximum_landing_gro MassConstr 16 - maximumLandingGrossWeight is a
ss_weight aintType MassConstraintType that specifies
the maximum gross weight at which
the aircraft is permitted to land for
the RecoveryObjectiveType.
maximum_wind_speed Velocity2DP 32 - maximumWindSpeed is a
latformNED SpeedConstraintType that specifies
ConstraintT the not-to-exceed wind component
ype limitations that provide sufficient
aircraft control and maneuvering
capability on final approach and
touchdown for the
minimum_glide_slope GlideSlope 16 - minimumGlideSlope is an
WGS84Con AngleConstraintType that that
straintType specifies the minimum angle
between horizontal and the glide
path of the aircraft on approach to a
runway for the
RecoveryObjectiveType. Alignment
and descent on the specified glide
slope ensures that the air vehicle will
safely clear all obstacles between it
and the touchdown point.
min_landing_fuel MassConstr 16 - minLandingFuel is a
aintType MassConstraintType that specifies
the minimum onboard fuel load
required at the initial approach fix
point of the planned recovery
mission for the

CAMELOT
touch_down_time DateTimeC 32 - touchDownTime is a

onstraintTy TimeConstraintType that specifies
pe the absolute time when the aircraft
is required to land at the designated
recovery airfield for the
RecoveryObjectiveType
IndicatedAirspeedConstraintType
Realizes SpeedConstraintType: a SpeedConstraintType that specifies the type of rate of motion in relation to air.
h
speed float 4 m/s
speed_tolerance IndicatedAir 12 -
speedToler
anceType
GlideSlopeWGS84ConstraintType
h
angle float 4 rad
angle_tolerance GlideSlope 12 -
WGS84Tole
ranceType
GlideSlopeWGS84ToleranceType
attribute.
h
SearchObjectiveType
SearchObjectiveType is an element that describes a clearly defined goal specifying the action(s) required for
search. When RouteObjectives are decomposed, they may contain search objectives that are allocated to search
missions.
h
initial_course CourseTrue 16 - initialCourse is a
NorthRequir AngleRequirementType that specifies
ementType the course of the initial leg of the
search pattern for the
SearchObjectiveType.
initial_search_point Position3DT 20 - initialSearchPoint is a
specifies the waypoint that
represents the entry point of the
search pattern for the

CAMELOT
initial_turn_direction byte 1 Enumerat initialTurnDirection is a
to turn at the end of the first leg of
the search pattern for the
INTO_THE_WIND = 0,
LEFT_TURN = 1,
RIGHT_TURN = 3,
leg_length DistanceRe 16 - legLength is a
ype specifies the required distance flown
along the first leg of the search
pattern for the SearchObjectiveType.
Depending on the type of search
pattern, subsequent search legs may
or may not be the same length.
search_airspeed GroundSpe 16 - searchAirspeed is a
edRequirem SpeedRequirementType that
entType specifies the required speed of the
air vehicle as it navigates the search
pattern for the SearchObjectiveType.
search_bank_angle RollAngleR 16 - searchBankAngle is an
equirement AngleRequirementType that specifies
Type the required bank angle used while
performing turns along the search
flight path for the
search_pattern byte 1 Enumerat searchPattern is a SearchPatternType
ed that specifies the configuration or
form of the flight path to be flown by
the air vehicle during the search for
the SearchObjectiveType. Pattern
types can include parallel track,
sector search, expanding square, etc.
SearchPatternEnumTypeLDM:
EXPANDING_SQUARE = 0,
PARALLEL_TRACK = 1,
SECTOR_SEARCH = 2
search_radius DistanceRe 16 - searchRadius is a
ype specifies the required radius of the
search area (about the initial search
point) when sector searches are
executed for the
time_of_arrival DateTimeR 32 - timeOfArrival is a
Type the required arrival time at the initial
search point for the

CAMELOT
track_spacing DistanceRe 16 - trackSpacing is a

ype specifies the required separation
distance between search legs when
parallel track or expanding square
search patterns are executed for the
GroundSpeedRequirementType
Realizes SpeedRequirementType: a Requirement that specifies the type of speed magnitude.
h
speed float 4 m/s
speed_tolerance GroundSpe 12 -
edToleranc
eType
GroundSpeedToleranceType
attribute.
h
RollAngleRequirementType
h
angle float 4 rad
angle_tolerance RollAngleTo 12 -
leranceTyp
e
RollAngleToleranceType
attribute.
h
VehicleHandoverObjectiveType
VehicleHandoverObjectiveType is an element that describes a clearly defined goal specifying the action(s)
required for air vehicle handover from one controlling resource to another. When SortieObjectives are
decomposed, they may contain vehicle handover objectives that are allocated to sortie missions.
h

CAMELOT
air_system AirSystemT 2257 - airSystem is an AirSystemType that

ype specifies the air system resource
identified for handover of control for
the VehicleHandoverObjectiveType.
controlling_resource DomainRes 229+ - controllingResource is a
the identifier of the resource
releasing control the air system for
the VehicleHandoverObjectiveType.
requesting_resource DomainRes 229+ - requestingResource is a
the identifier of the resource
requesting control to the air system
for the
VehicleHandoverObjectiveType
AirSystemType
The AirSystemType is an Element which specifies the type of components needed to provide the set of
capabilities required for a flight Mission.
h
air_vehicle VehicleTyp 290 - airVehicle is a AirVehicleType which
e specifies the dynamic physical
properties for the AirSystemType.
comms_system CommsSyst 312 - commsSystem is a
emType CommsSystemType which specifies
the properties of all communication
systems for AirSystemType.
electrical_system ElectricalSy 36 - electricalSystem is an
stemType ElectricalSystemType which specifies
the characteristics of the vehicle's
electrical power subsystem.
flight_hours double 8 s flightHours is a
specifies the accumulated flight time
in hours for AirSystemType.
flight_phase byte 1 Enumerat flightPhase is a FlightPhaseType
ed which describes the phase of flight
for the air system.
FlightPhaseEnumTypeLDM:
ABORT = 0,
LAUNCH = 1,
NO_PHASE = 2,
POWER_UP = 3,
PRE_FLIGHT = 4,
PRE_LAUNCH = 5
flight_termination_mod byte 1 Enumerat flightTerminationMode is a
e ed FlightTerminationModeType which
specifies the operational mode for
flight termination for AirSystemType
FlightTerminationModeEnumTypeLD
M:
FLAT_SPIN = 0,
KILL_ENGINE = 1,

CAMELOT
NON_TERMINAL = 2,
ORDNANCE = 3,
PARACHUTE = 4,
POWERED_DRIVE = 5
flight_termination_statu byte 1 Enumerat flightTerminationStatus is a
s ed FlightTerminationStatusType which
specifies the flight termination state
for AirSystemType.
FlightTerminationStatusEnumTypeLD
M:
ARM = 0,
EXECUTE = 1,
RESET = 2
fueling_system FuelingSyst 389 - fuelingSystem is a
emType FuelingSystemType which specifies
the characteristics of the vehicle's
fuel replenishment subsystem.
fuel_system FuelSystem 88 - fuelSystem is a FuelSystemType
Type which specifies the characteristics of
the vehicle's fuel storage and
distribution subsystem.
hydraulic_system HydraulicSy 76 - hydraulicSystem is a
stemType HydraulicSystemType which specifies
the characteristics of the vehicle
hydraulics subsystem.
iff_system IFFSystemT 44 - IFFSystem is an IFFSystemType which
ype specifies the mode and state of each
operational mode of the IFF
subsystem for AirSystemType.
landing_gear LandingGea 1 - landingGear is a LandingGearType
rType which specifies the state of all
landing gears for AirSystemType. The
landingGear elements are ordered
with respect to a physical location on
this AirSystem.
lightning_system LightingSyst 7 - lightingSystem is a
emType LightingSystemType which specifies
the state of all external lighting
systems for AirSystemType.
maintenance_status Maintenanc 59 - maintenanceStatus is a
eStatusTyp MaintenanceStatusType which
e specifies the current and
maintenance status of the AirSystem.
payload PayloadTyp 378 - Payload is a PayloadType which
e specifies all information collection
subsystem payloads, weapon
subsystem payloads, and cargo
payloads for AirSystemType. Note
that information collection
subsystems deal with visible,
infrared, electromagnetic, magnetic,
acoustic or other data signatures for
the purpose of exploitation and
dissemination.
payload_doors PayloadDoo 1 - payloadDoors is a PayloadDoorsType

CAMELOT
rsType which specifies the state of the

payload station doors for all payloads
for AirSystemType.
pedestals PedestalTy 51 - Pedestal is a PedestalType which
pe specifies the physical characteristics
associated with all payload mounts
for AirSystemType. The pedestals
elements are ordered with respect to
a physical location on this AirSystem.
propulsion PropulsionS 414 - propulsion is a
ystemType PropulsionSystemType which
specifies the propulsion system
properties for AirSystemType.
radar_signature RadarSigna 50 - radarSignature is a
tureType RadarSignatureType which specifies
the signature of the AirSystem with
payloads installed for AirSystemType.
uav_configuration_reso UAVConfig 50 - UAVConfigurationResource is a
urce urationReso UAVConfigurationResourceType
urceType which specifies the current payload
configuration of the AirSystemType
CommsSystemType
CommsSystemType is an Element which specifies the type of mechanism that transmits and receives information.
h
antenna CommsAnt 4 - antenna is a CommsAntennaType
ennaType which specifies the communication
system antenna for the aircraft for
CommsSystemType.
the status of the built in test for
CommsSystemType. The status is
{off_abort, running_bit, bit_passed,
bit_failed, bit_suspended}
BIT_FAILED = 0,
BIT_PASSED = 1,
BIT_SUSPENDED = 2,
OFF_ABORT = 3,
RUNNING_BIT = 4
comms_report Subsystem 153 - commsReport is a
specifies a subsystem report for
CommsSystemType.
comms_system_kind byte 1 Enumerat commsSystemKind is a
ed CommsSystemKindType which
specifies the communication system
for CommsSystemType. The comms
system is specified through an
enumeration: {TCDL, MADL, …}

CAMELOT
CommsSystemKindEnumTypeLDM:
MADL = 0,
TCDL = 1
communications_devic byte 1 Enumerat communicationsDeviceRole is a
es_role ed CommDeviceKindType which
describes the role of this Comms
System in the UCS Control System.
CommsDeviceEnumTypeLDM:
CLIENT = 0,
PROVIDER = 1
data_rate float 4 Mbit/s dataRate is a
which specifies the aggregate
communication rate for
CommsSystemType.
emissions_control_acti bool 1 None emissionsControlActive is a
ve BooleanType which specifies the
state of communication system
transmissions for
CommsSystemType.
ed which specifies the power status for
CommsSystemType. The power
emergency_power}
POWER_OFF = 1,
POWER_ON = 2,
POWER_STANDBY = 3
radio RadioType 134 - radio is a RadioType which specifies
the characteristics of the wireless
device used for the transmission of
electric impulses into which sound is
converted for CommsSystemType.
satellite CommsSat 4 - satellite is a CommsSatelliteType
elliteType which specifies the communications
satellite for CommsSystemType.
time_to_emission_cont double 8 s timeToEmissionControlStop is a
rol_stop DurationCapabilityType which
specifies the allowable duration of
communication transmission before
stop for CommsSystemType.
CommsAntennaType
CommsAntennaType is an Element which specifies the communication system antenna for the aircraft Data Link.
h
kind byte 1 Enumerat kind is an AntennaKindType which
ed specifies the kind of antenna for
CommsAntennaType. The antenna
kind is specified through an

CAMELOT
enumeration: {omni, directional,

auto}
AntennaKindEnumTypeLDM:
AUTO = 0,
DIRECTIONAL = 1,
LOCATION = 2,
OMNI = 3
pedestal AntennaPe 2 - pedestal is an AntennaPedestalType
destalType which specifies the pedestal
characteristics for
CommsAntennaType.
pointing_mode byte 1 Enumerat pointingMode is an
ed AntennaPointingModeType which
specifies the pointing mode of the
antenna for CommsAntennaType.
The mode is specified through an
enumeration: {manual_position,
manual_rate, auto_rf_tracking,
auto_location, search_pattern_1,
search_pattern_2, search_pattern_3,
search_pattern_4}
AntennaPointingModeEnumTypeLD
M:
AUTO_LOCATION = 0,
AUTO_RF_TRACKING = 1,
MANUAL_POSITION = 2,
MANUAL_RATE = 3,
SEARCH_PATTERN_4 = 7
AntennaPedestalType
AntennaPedestalType is an Element which specifies the attachment point for a communications antenna.
h
location_source byte 1 Enumerat locationSource is an
ed AntennaPedestalLocationSourceType
which specifies the pedestal location
for AntennaPedestalType. The
location is specified by an
enumeration: {external, internal}.
AntennaPedestalLocationSourceEnu
mTypeLDM:
EXTERNAL = 0,
INTERNAL = 1
state byte 1 Enumerat state is an
ed AntennaPedestalStateType which
specifies the state of the pedestal for
AntennaPedestalType. The state for
the pedestal is specified through an
enumeration: {deployed_off,
deployed_on, deployed_standby,
stowed_off}
AntennaPedestalStateEnumTypeLD

CAMELOT
M:
DEPLOYED_OFF = 0,
DEPLOYED_ON = 1,
DEPLOYED_STANDBY = 2,
STOWED_OFF = 3
SubsystemReportType
SubsystemReportType is an Element which specifies the URI describing the location of the report on the UAV
subsystem.
h
is_detailed bool 1 None isDetailed is a BooleanType which
specifies the state of the details of
mission_communicatio byte 1 Enumerat missionCommunicationsState is a
n_state ed MissionCommunicationStateType
that specifies the state of
communications between a system
and its controlling system for the
SubsystemReportType.
MissionCommsStateEnumTypeLDM:
ACTIVE = 0,
EMCON = 1,
LOST = 2,
PLANNED_LOST = 3
report_text string 50 None reportText is a DescriptionType
which specifies the text describing
report_text_uri string 50 None reportTextURI is a DescriptionType
which specifies the URI context for
the location of subsystem status
report for SubsystemStatusReport.
Source byte 1 Enumerat source is a SystemSourceType that
ed specifies whether the source for the
SubsystemReportType is an actual
system data or an estimation service.
SystemSourceEnumTypeLDM:
ACTUAL = 0,
ESTIMATED = 1
vehicle_specific_uri string 50 None vehicleSpecificReportURI is a
DescriptionType which specifies the
URI context for the location of the
vehicle specific report for
SubsystemStatusReport
RadioType
RadioType is an Element which specifies the type of a wireless device used for the transmission of electric
impulses into which sound is converted.
h

CAMELOT
the test status for RadioType. Test

enumeration: {off_abort,
bit_suspended}
BIT_FAILED = 0,
BIT_PASSED = 1,
BIT_SUSPENDED = 2,
OFF_ABORT = 3,
RNNING_BIT = 4
which specifies the encryption state
for RadioType
encryption_key string 50 None encryptionKey is a
the encryption key used for
RadioType.
frequency FrequencyR 52 - frequency is a FrequencyRangeType
angeType which specifies a frequency range or
a center frequency and a bandwidth
at which transmission and reception
may occur for a RadioType.
output_power float 4 % outputPower is a
the output power level for
RadioType
ed which specifies the status of the
exerted power for RadioType.
POWER_OFF = 1,
POWER_ON = 2,
POWER_STANDBY = 3
preset_channels RadioChan 19 - presetChannels is a
nelPresetTy RadioChannelPresetType which
pe specifies the type of values for a
radio channel set in advance for
RadioType.
preset_enabled UInt32 4 None presetEnabled is a
specifies which preset channel is
enabled for the RadioType.
transmitter_status byte 1 None transmitterStatus is a
TransmitterStatusType which
specifies the state of transmission
(on or off) for RadioType.
OFF = 0,
ON = 1,
STANDBY = 2,

CAMELOT
RadioType. The waveform is

AM = 0,
BPSK = 1,
FM = 3,
FSK = 4,
LSSB = 5,
OQPSK = 6,
OTHER = 7,
QPSK = 8,
USSB = 9
RadioChannelPresetType
RadioChannelPresetType is an Element which specifies the type of values for a radio channel set in advance of its
use.
h
frequency float 4 Hz frequency is a FrequencyType which
specifies the wave rate (frequency)
preset for RadioChannelPresetType
output_power float 4 % outputPower is a PowerType which
specifies the output power preset for
preset_id string 10 None presetID is a UniqueIDType which
specifies the preset identification
RadioChannelPresetType. The
waveform is specified through an
AM = 0,
BPSK = 1,
FM = 3,
FSK = 4,
LSSB = 5,
OQPSK = 6,
OTHER = 7,
QPSK = 8,
USSB = 9
ElectricalSystemType
ElectricalSystemType is a ResourceType which specifies the characteristics of a system which stores and/or
distributes electricity to attached components.
h
battery BatteryType 20 - battery is a set of BatteryTypes
which are components of the

CAMELOT
ElectricalSystemType used to store

energy. The multiplicity indicates the
number of reservoirs which are
controllable and/or which provide
state information.
energy_load float 4 J energyLoad is an
EnergyCapabilityType which defines
the aggregate available energy for
the ElectricalSystemType.
energy_usage_rate float 4 W energyUsageRate is a
PowerCapabilityType which
describes the aggregate rate of
energy usage for the
ElectricalSystemType.
power_bus PowerBusT 8 - powerBus is a set of PowerBusTypes
ype which are components of the
ElectricalSystemType used to
distribute electrical current. The
multiplicity indicates the number of
reservoirs which are controllable
and/or which provide state
information.
BatteryType
A BatteryType is a Resource that describes a device that stores chemical energy and makes it available in an
electrical form.
h
connected_power_bus PowerBusT 8 - connectedPowerBus is a
ype PowerBusType which defines the set
of Power Buses to which this
BatteryType is connected. The
currently connected PowerBusTypes.
energy_available float 4 J energyAvailable is an
EnergyCapabilityType which defines
the available energy from the
BatteryType.
energy_usage_rate float 4 W energyUsageRate is a
PowerCapabilityType which
describes the rate of energy being
used by the BatteryType.
temperature float 4 m/s temperature is a
describes the temperature of the
BatteryType.
PowerBusType
A PowerBusType is a ResourceType that describes a collection of connected conductors used to distribute
electrical power to attached devices.
h
current float 4 A current is a CurrentCapabilityType
which describes the amount of

CAMELOT
electrical current flowing on the

PowerBusType.
voltage float 4 V voltage is a VoltageCapabilityType
which describes the amount of
electrical potential energy available
on the PowerBusType.
FuelingSystemType
RefuelingSystemType is a ResourceType which specifies the type of system that replenishes fuel required by the
AirSystem.
h
breakaway_active bool 1 None breakawayActive is a BooleanType
which indicates whether a
breakaway from fueling source is in
progress.
breakaway_clearance bool 1 None breakawayClearance is a
BooleanType which indicates
whether clearance to breakaway is
granted.
comms_system CommsSyst 376 commsSystem is a
emType CommsSystemType which refers to
the communications system used in
the process of vehicle refueling.
connection_active bool 1 None connectionActive is a BooleanType
which indicates whether a fuel
replenishment connection allowing
the transfer of fuel is in place.
connection_failed bool 1 None connectionFailed is a BooleanType
which indicates whether the last
attempt to make fuel replenishment
connection allowing the transfer of
fuel has failed.
exit_clearance bool 1 None exitClearance is a BooleanType
which indicates whether clearance to
exit the refueling area is granted.
fuel_amount float 4 kg fuelAmount is a MassCapabilityType
which indicates the amount of fuel
which has been transferred over the
current connection.
fueling_active bool 1 None fuelingActive is a BooleanType which
indicates whether fuel is being
transferred over the current
connection.
fueling_operation byte 1 Enumerat fuelingOperation is a
ed FuelingOperationType which
describes the type of refueling
operation being executed.
FuelingOperationEnumTypeLDM:
CONSOLIDATION = 0,
HAWK = 1,
NORMAL_TANKING = 2,
PACKAGE_CHECK = 3
fueling_operation_activ bool 1 None fuelingOperation is a BooleanType

CAMELOT
e which indicates whether a fuel

replenishment operation is being
conducted.
overrun_active bool 1 None overrunActive is a BooleanType
which indicates whether an overrun
condition from fueling source is in
progress.
FuelSystemType
FuelSystemType is a ResourceType which specifies the characteristics of a system which stores and distributes
fuel to attached components.
h
fuel_density float 4 kg/m3 fuelDensity is a DensityType which
specifies the density of the fuel used
in the FuelSystemType.
fuel_load float 4 kg fuelLoad is a MassCapabilityType
which specifies the amount of fuel
remaining in aggregate for the
FuelSystemType.
fuel_load_usage_rate float 4 kg/s fuelLoadUsageRate is a
MassRateCapabilityType which
specifies the rate of consumption of
fuel in aggregate for the
FuelSystemType.
tank ReservoirTy 76 - tank is a set of ReservoirTypes which
pe are components of the
FuelSystemType used to contain fuel.
The multiplicity indicates the number
of reservoirs which are controllable
information.
ReservoirType
A ReservoirType is a Resource that describes a receptacle or chamber for holding fluid or air. For example, it may
describe a tank or bladder for fuel storage.
h
content_available float 4 kg contentAvailable is a
MassCapabilityType which specifies
the amount of material available in
the ReservoirType.
content_density float 4 kg/m3 contentDensity is a DensityType
which specifies the density of the
contents of the ReservoirType.
content_description string 50 None contentDescription is a
DescriptionType which specifies the
textual name of the contents of the
ReservoirType.
content_usage_rate float 4 kg/s contentUsageRate is a
MassRateCapabilityType which
specifies the rate of consumption of
the contained material in the
ReservoirType.

CAMELOT
heater_status byte 1 Enumerat heaterStatus is an OnOffStatusType

ed which describes the on/off state of a
heater for the reservoir contents.
OFF = 0,
ON = 1
pressure double 8 kPa fluidPressure is a
PressureCapabilityType which
specifies the pressure in the
ReservoirType.
Temperature float 4 m/s temperature is a
specifies the temperature in the
ReservoirType.
valve ValveType 1 - valve is a set of ValveTypes which
control the flow of material in and
out of the ReservoirType. The
valves which are controllable and/or
which provide state information.
ValveType
ValveType is a ResourceType which describes the state of a device which controls the flow of fluid or air in or out
of a containment system.
h
valve_activation_status byte 1 Enumerat valveActivationStatus is a
ed ValveActivationStatusType which
specifies the state of the ValveType
(e.g. Open or Closed).
OpenCloseEnumTypeLDM:
CLOSED = 0,
OPEN = 1
HydraulicSystemType
HydraulicSystemType is a ResourceType which specifies the characteristics of a system which uses fluid under
pressure to effect movement of components.
h
reservoir ReservoirTy 76 - reservoir is a set of ReservoirTypes
pe which are components of the
HydraulicSystemType used to
contain hydraulic fluid. The
reservoirs which are controllable
information.
IFFSystemType
IFFSystemType is an Element which specifies the type of system used to identify a friendly or enemy asset.
h
comms_configuration_ byte 1 Enumerat commsConfigurationStatus is a

CAMELOT
status ed CommsConfigurationStatusType
which specifies the status of the data
link configuration for IFFSystemType.
The configuration status is specified
through an enumeration: {normal,
linkloss, fallback}
CommsConfigurationStatusEnumTyp
eLDM:
FALLBACK = 0,
LINKLOSS = 1,
NORMAL = 2
which specifies the state of
encryption utilization for
IFFSystemType.
encryption_key string 50 None encryptionKey is an
the key parameter used in the
cryptographic algorithm for
IFFSystemType.
mode_c_enabled bool 1 None modeCEnabled is a BooleanType
which specifies the state of mode C
for IFFSystemType.
mode_five_code string 10 None modeFiveCode is a UniqueIDType
that specifies the 2 digit code
assigned by ATC (mission code).
mode_five_enable bool 1 None modeFiveEnable is a BooleanType
that specifies whether Mode 5 is
enabled or disabled for the
mode_four_ab_status byte 1 Enumerat modeFourABStatus is an
ed IFFModeFourABStatusType which
specifies the Mode 4 status for
IFFSystemType. Mode 4 status is
{a, b}
IFFModeFourABStatusEnumTypeLD
M:
A = 0,
B=1
mode_four_enabled bool 1 None modeFourEnabled is a BooleanType
which specifies the Mode 4 state for
IFFSystemType.
mode_four_hold bool 1 None modeFourHold is a BooleanType
which specifies the state of crypto
information held for IFFSystemType.
The normal Mode 4 IFF crypto switch
in the Hold position maintains crypto
codes when system is powered off.
mode_four_indicator byte 1 Enumerat modeFourIndicator is a
ed IFFModeFourIndicatorType
specifying the enumerated values for
IFF Mode 4 indicator.
M:

CAMELOT
= 0,
2,
mode_four_zeroize bool 1 None modeFourZeroize is a BooleanType
which specifies the state of zeroize
activation of crypto information for
IFFSystemType.
mode_one_code string 10 None modeOneCode is a UniqueIDType
which specifies the Mode 1 code
IFFSystemType.
mode_one _enabled bool 1 None modeOneEnabled is a BooleanType
IFFSystemType.
mode_s_address int 4 None modeSAddress is a UniqueIDType
which specifies the Mode S address
IFFSystemType.
mode_s_enabled bool 1 None modeSEnabled is a BooleanType
which specifies the Mode S state for
IFFSystemType.
mode_three_a_code string 10 None modeThreeACode is an
UniqueIDType which specifies the
Mode 3/A code description, value
and type for IFFSystemType.
mode_three_a_enable bool 1 None modeThreeAEnabled is a
d BooleanType which specifies the
Mode 3/A state for IFFSystemType.
mode_three_a_indent bool 1 None modeThreeAIdent is a BooleanType
which specifies the Mode 3/A
IDENTstate for IFFSystemType.
mode_two_code string 10 None modeTwoCode is an UniqueIDType
which specifies the Mode 2 code
IFFSystemType.
mode_two_enabled bool 1 None modeTwoEnabled is a BooleanType
IFFSystemType.
position_identification_ bool 1 None positionIdentificationActive is a
active BooleanType which specified
whether or not the identification of
position IFF function is activated.
LandingGearType
LandingGearType is an Element which specifies the type of an air vehicle part that supports the weight of the
vehicle when in contact with the land or water.
h
status byte 1 Enumerat status is a LandingGearStatusType
ed which specifies the enumeration
value for the state of the landing

CAMELOT
gear for LandingGearType.

LandingGearStatusEnumTypeLDM:
CYCLING_DOWN = 0,
CYCLING_UP = 1,
DOWN = 2,
DOWN_AND_LOCKED = 3,
INOPERATIVE = 4,
UP_AND_STOWED = 5
LightingSystemType
LightingSystemType is an Element which specifies the type of device that makes vision or visibility possible.
h
lighting_system_status LightingSyst 7 - lightingSystemStatus is a
emStatusTy LightingSystemStatusType which
pe specifies the status of the lighting
system for LightingSystemStatusType
LightingSystemStatusType
LightingSystemStatusType is an Element which specifies the type of state of the lighting system of the UAV.
h
landing_ir_on bool 1 None landingIROn is a BooleanType which
specifies the state of the infrared
landing light for
LightingSystemStatusType.
landing_on bool 1 None landingOn is a BooleanType which
specifies the state of the landing light
for LightingSystemStatusType
navigation_ir_on bool 1 None navigationIROn is a BooleanType
which specifies the state of the
infrared navigation light for
navigation_on bool 1 None navigationOn is a BooleanType which
specifies the state of the navigation
light for LightingSystemStatusType.
nvd_on bool 1 None NVDOn is a BooleanType which
specifies the state of the night vision
devices for
strobe_ir_on bool 1 None strobeIROn is a BooleanType which
specifies the state of the infrared
strobe light for
strobe_on bool 1 None strobeOn is a BooleanType which
specifies the state of the strobe light
for LightingSystemStatusType.
MaintenanceStatusType
MaintenanceStatusType is an element that contains the data that indicates the maintenance status of a system.
h
availability_time double 8 s availabilityTime is a TimeType that

CAMELOT
specifies when the resource will

become for the
MaintenanceStatusType.
operational_status byte 1 Enumerat operationalStatus is a
ed MaintenanceConditionType that
specifies the current availability of
the system to be included in a
mission for the
MaintenanceConditionEnumTypeLD
M:
DEGRADED = 0,
IN_MAINTENANCE = 1,
IN_USE = 2,
LACKING_OPERATOR = 3,
MISSING_PARTS = 4,
NON_OPERATIONAL = 5,
OPERATIONAL = 6
reason string 50 None reason is a DescriptionType that
specifies the reason for a non-
operational state for the
PayloadDoorsType
PayloadDoorsType is an Element which specifies the type of doors for a Payload.
h
door_state byte 1 Enumerat doorState is an OpenCloseType
ed which specifies the enumeration
value for the state of the payload
doors for PayloadDoorsType.
OpenCloseEnumTypeLDM:
CLOSED = 0,
OPEN = 1
PropulsionSystemType
PropulsionSystemType is a ResourceType which specifies the type of system that drives forward or onward by
means of a force that imparts motion.
h
aggregate_energy_ava float 4 J aggregateEnergyAvailable is an
ilable EnergyCapabilityType which defines
the total energy available from
electrical and/or fuel systems to the
PropulsionSystemType.
aggregate_energy_usa float 4 W aggregateEnergyUsageRate is a
ge_rate PowerCapabilityType which defines
the total energy usage rate from
electrical and/or fuel systems for the
PropulsionSystemType.
electrical_system ElectricalSy 36 - electricalSystem is an
stemType ElectricalSystemType which specifies
the characteristics of the propulsion
system's electrical power subsystem.

CAMELOT
fuel_system FuelSystem 88 - fuelSystem is a FuelSystemType

Type which specifies the characteristics of
the propulsion system's fuel storage
and distribution subsystem.
output_power float 4 W outputPower is a
the aggregate engine power output
for PropulsionSystemType.
unit PropulsionU 278 - unit is a PropulsionUnitType which
nitType specifies the propulsion units which
comprise the propulsion system. The
multiplicity indicates each unit which
is part of the propulsion system.
PropulsionUnitType
PropulsionUnitType is a ResourceType which specifies the characteristics of a Propulsion Unit, one or more of
which are part of a PropulsionSystem.
h
air_outlet_temperature float 4 m/s airOutletTemperature is a
specifies the air outlet temperature
for the PropulsionUnitType.
coolant_reservoir ReservoirTy 76 - coolantReservoir is a set of
pe ReservoirTypes which are
components of the
PropulsionUnitType used to contain
cooling agents. The multiplicity
indicates the number of reservoirs
which are controllable and/or which
provide state information.
engine_body_temperat float 4 m/s engineBodyTemperature is a
ure TemperatureCapabilityType which
specifies the engine body
temperature for the
PropulsionUnitType.
engine_fan_speed float 4 Hz engineFanSpeed is a
FrequencyCapabilityType which
specifies the rate of rotation of the
engine fan for PropulsionUnitType.
engine_lubricant_reser ReservoirTy 76 - engineLubricantReservoir is a
voir pe ReservoirType which is a component
of the PropulsionUnitType used to
contain lubricating agents for the
engine. The multiplicity indicates the
number of reservoirs which are
controllable and/or which provide
state information.
engine_power_level float 4 rad enginePowerLevel is an
the power level of the engine for
PropulsionUnitType.
exhaust_gas_temperat float 4 m/s exhaustGasTemperature is a
ure TemperatureCapabilityType which

CAMELOT
specifies the engine exhaust gas

temperature for the
PropulsionUnitType.
fire_detection_status byte 1 Enumerat fireDetectionStatus is a
ed FireDetectionStatusType which
specifies the status of the fire
detection for PropulsionUnitType.
FireDetectionStatusEnumTypeLDM:
AGENT_DISCHARGED = 0,
ALARM = 1,
NO_STATUS = 2,
NORMAL = 3,
TROUBLE = 4
ignition_activation_stat byte 1 Enumerat ignitionActivationStatus is an
us ed OnOffStatusType which describes
the whether engine ignition is
activated for this
PropulsionUnitType.
OFF = 0,
ON = 1
ignition_power_status byte 1 Enumerat ignitionPowerStatus is an
ed OnOffStatusType which describes
the status of power application to
the ignition circuit for this
PropulsionUnitType.
OFF = 0,
ON = 1
inlet_gas_temperature float 4 m/s inletGasTemperature is a
specifies the inlet gas temperature
value for the PropulsionUnitType.
manifold_pressure double 8 kPa manifoldPressure is a
PressureCapabilityType which
specifies the air pressure in the
induction system of a
PropulsionUnit.
output_power float 4 W outputPower is a
the engine shaft torque output for
PropulsionUnitType.
pre_induction_tempera float 4 m/s preInductionTemperature is a
ture TemperatureCapabilityType which
specifies temperature of a gas prior
to induction heating for the
PropulsionUnitType.
reverse_thrust_activati byte 1 Enumerat reverseThrustActivationStatus is a
on_status ed ReverseThrustActivationStatusType
which specifies the activation state
of the thrust reverser (or propeller
pitch equivalent) for the
PropulsionUnitType.
ThrustReverseActivationStatusEnum
TypeLDM:

CAMELOT
AUTO = 0,
OFF =1,
ON =2
reverse_thrust_power_ byte 1 Enumerat reverseThrustPowerStatus is an
status ed OnOffStatusType which describes
whether power is applied to the
Thrust Reverser for this
PropulsionUnitType.
OFF = 0,
ON = 1
run_status byte 1 Enumerat runStatus is a RunStatusType which
ed specifies the enumeration value
indicating the state of the engine for
PropulsionUnitType.
RunStatusEnumTypeLDM:
RUN = 0,
START = 1,
STOP = 2
speed int 4 None speed is a FrequencyCapabilityType
which specifies the rate of rotation
of the engine for
PropulsionUnitType.
transmission_lubricant ReservoirTy 76 - transmissionLubricantReservoir is a
_reservoir pe ReservoirType which is a component
of the PropulsionUnitType used to
contain lubricating agents for the
transmission. The multiplicity
indicates the number of reservoirs
which are controllable and/or which
provide state information.
RadarSignatureType
RadarSignatureType is an element that is defined as the radar signature of an object. It can be a UAV, Tank or any
other such item.
h
radar_signature_file string 50 None radarSignatureFile is a
DescriptionType that defines a file
that contains data the describes the
radar signature of the object.
UAVConfigurationResourceType
UAVConfigurationResourceType is an Element which specifies a container with resources relating to the UAV
configurations.
h
uav_hardware_configur UAVHardw 100 None UAVHardwareConfiguration is an
ation areConfigur UAVHardwareConfigurationType
ationType which specifies the hardware list for
this UAV for
UAVConfigurationResourceType. Th
e list of "parts" (hardware) on the

CAMELOT
UAV is by part number for the

hardware configuration ID.
uav_software_configur UAVSoftwar 100 None UAVSoftwareConfiguration is an
ation eConfigurati UAVSoftwareConfigurationType
onType which specifies the list of software
components currently installed on
this UAV for
UAVConfigurationResourceType. Thi
s list defines the current software
configuration and is used to
determine the need for software
updates and related S/W CM
activities.
UAVHardwareConfigurationType
UAVHardwareConfigurationType is a DomainResourceType which specifies a UAV hardware configuration.
h
configuration_id string 50 - configurationID is an UniqueIDType
which specifies the unique identifier
for the configuration for
UAVHardwareConfigurationType.
part_number string 50 - partNumber is an UniqueIDType
for each part on the UAV for
UAVHardwareConfigurationType.
UAVSoftwareConfigurationType
UAVSoftwareConfigurationType is a DomainResourceType which specifies a UAV software configuration.
h
configuration_id string 50 - configurationID is an UniqueIDType
for the software configuration for
UAVSoftwareConfigurationType.
part_number string 50 - partNumber is an UniqueIDType
for each software component on the
UAV for
UAVSoftwareConfigurationType. Not
e that things like the revision number
and/or revision date are PSM
defined.
WaypointObjectiveType
WaypointObjectiveType is an element that describes a clearly defined goal specifying the action(s) required in
planning the movement of resources from one destination to another. When RouteObjectives are decomposed,
they may contain waypoint objectives that are allocated to waypoint missions.
h
altitude_requirement AltitudeMSL 16 - altitudeRequirement is an

CAMELOT
air vehicle along the flight path to

WaypointObjectiveType.
bank_angle_limit RollAngleC 16 - bankAngleLimit is an
onstraintTy AngleConstraintType that specifies
pe the maximum bank angle allowed
while performing a turn maneuver
for the WaypointObjectiveType.
egress_angle_constrai CourseTrue 16 - egressAngleConstraintRange is an
nt_range NorthConstr AngleConstraintType that specifies
aintType the sector angle that defines the
range of egress courses allowed
when departing the waypoint for the
egress_angle_require CourseTrue 16 - egressAngleRequirement is an
ment NorthRequir AngleRequirementType that specifies
ementType the preferred course of the air
vehicle along the flight path
departing the waypoint for the
ingress_angle_constrai CourseTrue 16 - ingressAngleConstraintRange is an
nt_range NorthConstr AngleConstraintType that specifies
aintType the sector angle that defines the
range of ingress courses allowed
when approaching the waypoint for
the WaypointObjectiveType.
ingress_angle_require CourseTrue 16 - ingressAngleRequirement is an
ment NorthRequir AngleRequirementType that specifies
ementType the preferred course of the air
vehicle along the flight path
approaching the waypoint for the
must_fly_point Position3DT 20 - mustFlyPoint is a
specifies the geographic location of
speed_requirement IndicatedAir 32 - speedRequirement is a
speedRequi SpeedRequirementType that
rementType specifies the speed of the air vehicle
along the flight path to the waypoint
for the WaypointObjectiveType.
time_of_arrival_require DateTimeR 32 - timeOfArrivalRequirement is a
ment equirement TimeRequirementType that specifies
the air vehicle's required arrival time
at the waypoint for the
turn_radius_requireme DistanceRe 16 - turnRadiusRequirement is a
nt quirementT DistanceRequirementType that
ype specifies the radial distance required
to maintain a constant circular arc
path flown by air vehicle during a
course change for the
turn_type_requirement byte 1 Enumerat turnTypeRequirement is a

CAMELOT
ed TurnKindType that specifies the type

of coordinated turn performed by
the air vehicle during a course
change for the
Coordinated turns can include types
such as fly-by, fly-over, etc.
TurnKindEnumTypeLDM:
CAPTURE_OUTBOUND_COURSE = 0,
END_TURN = 1,
FLY_BY = 2,
START_TURN = 3
RollAngleConstraintType
h
angle float 4 rad
angle_tolerance RollAngleTo 12 -
leranceTyp
e
RollAngleToleranceType
attribute.
h
VehicleActionDataType
Specifies the data used to define vehicle actions.
h
action byte 1 Enumerat Defines vehicle actions that can be
ed done along a path segment of a
route.
VehicleActionStatusEnumType
LDM:
ANTENNAS_EXTEND = 0,
ANTENNAS_RETRACT = 1,
COLLISION_LIGHTS_OFF =
2,
COLLISION_LIGHTS_ON = 3,
LANDING_GEAR_EXTEND =
4,
LANDING_GEAR_RETRACT
= 5,
LANDING_LIGHTS_OFF = 6,
LANDING_LIGHTS_ON = 7,
NAV_LIGHTS_OFF = 8,

CAMELOT
NAV_LIGHTS_ON = 9,
RADIO_CHANNEL_ONE = 10,
RADIO_CHANNEL_THREE = 11,
RADIO_CHANNEL_TWO = 12,
RF_TRANSMIT_OFF = 13,
RF_TRANSMIT_ON = 14,
SPOILERS_DISABLE = 15,
SPOILERS_ENABLE = 16,
TRANSPONDER_OFF = 17,
TRANSPONDER_ON = 18
iff_settings IFFType 43 - If present the IFF settings for this
vehicle will be changed along this
path segment.
los bool 1 None Use Line Of Sight (LOS)
communication as backup
contingency.
loss_of_link_processin bool 1 None Specifies whether the vehicle should

g invoke special Loss of Link
processing. This could be turned off
if the vehicle is going to be in a
known and accepted lost comm
situation.
lost_comm_timeout double 8 s Defines the lost comm contingency
timeout. When this timeout value is
exceeded, the AV considers that lost
comm has occurred and begins to
perform contingency measures.
survivability_mode byte 1 Enumerat Specifies that the vehicle should put
ed itself into a more survivable mode.
Different vehicles will have specific
behaviors that reduce the signature
of the vehicle (doors closed, minimal
use of flaps, etc.) If this element is
not present then it is assumed that
the aircraft being configured has no
survivability mode.
OFF = 0,
ON= 1
ActionTriggerType
ActionTriggerType is an element that specifies either the trigger distance or time from the Endpoint where the
action occurs.
h
distance_to_endpoint float 4 m distanceToEndpoint is a
DistanceType indicating the inbound
distance at which the Event will
make the specified transition.
transition_time double 8 s transitionTime is a TimeType that
indicates the time at which this
event will make the specified Event
Transition.

CAMELOT
SpeedType
Indicates the speed or speed optimization of the System along the Path Segment at the EndPoint.
h
speed_optimization byte 1 Enumerat Indicates that the System will vary its
ed speed autonomously according to
the specified optimization algorithm.
AirVehicleFlightModeEnumTyp
eLDM:
BEA = 0,
LRC = 1,
MEC = 2,
MRC = 3,
speed_value SpeedValue 5 - Speed value type.
Type
SpeedValueType
Contains the parameters used to define the speed value of a path segment.
h
reference byte 1 Enumerat Specifies the frame of reference of
ed speed.
AirVehicleSpeedModeEnumTy
peLDM:
CALIBRATED_AIRSPEED =
0,
GROUND_SPEED = 1,
MACH = 3,
TRUE_AIRSPEED = 4
value float 4 m/s Indicates the speed along the Path
Segment at the EndPoint.

Attachment 0

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Attachment 0

Uploaded by

Copyright:

Available Formats

Ref.

Disclosure Statement: The information contained in this document is the property of

740736-CAMELOT-CAMELOT_Specifications Page 2 of 291

Afterwards, the work performed by the consortium in the definition of an appropriate

Finally, lessons learnt and forthcoming steps are presented in Chapter 4.

740736-CAMELOT-CAMELOT_Specifications Page 3 of 291

740736-CAMELOT-CAMELOT_Specifications Page 4 of 291

Vehicle Telemetry (UCS 3.4) .........................................................................................63

740736-CAMELOT-CAMELOT_Specifications Page 5 of 291

740736-CAMELOT-CAMELOT_Specifications Page 6 of 291

740736-CAMELOT-CAMELOT_Specifications Page 7 of 291

740736-CAMELOT-CAMELOT_Specifications Page 8 of 291

740736-CAMELOT-CAMELOT_Specifications Page 9 of 291

The Open Systems Interconnection (OSI) model is a conceptual framework for

Table 2 – OSI Model layers

740736-CAMELOT-CAMELOT_Specifications Page 10 of 291

740736-CAMELOT-CAMELOT_Specifications Page 11 of 291

2 STANAG 4817 and CAMELOT Architectures

2.1 STANAG 4817 current status

740736-CAMELOT-CAMELOT_Specifications Page 12 of 291

Other Interface MDCS

Figure 1 – Multi-Domain Control Station (STANAG 4817) architecture (Mayer, 2018)

2.2 CAMELOT proposed architecture

740736-CAMELOT-CAMELOT_Specifications Page 13 of 291

AATC Automatic Asset Tasking & Control

DMA Data Manager and analytics

CCL CAMELOT Core Layer

C2-1 Command & Controll Applications

SERVICES (API REST)

 PLATFORM CONFIG. Web Application (Firefox)

Figure 2 – CAMELOT proposed architecture

Additionally, the platform will expose different interoperability services accessible by a

740736-CAMELOT-CAMELOT_Specifications Page 14 of 291

3 CAMELOT Architecture Specifications

3.1 User Interface (UI)

740736-CAMELOT-CAMELOT_Specifications Page 15 of 291

740736-CAMELOT-CAMELOT_Specifications Page 16 of 291

740736-CAMELOT-CAMELOT_Specifications Page 17 of 291

Figure 7 – Video screen of the videos collected by the assets

Figure 8 – Status screen of the operational assets

740736-CAMELOT-CAMELOT_Specifications Page 18 of 291

740736-CAMELOT-CAMELOT_Specifications Page 19 of 291

Figure 11 – Example of the creation of a target within the UI

Figure 12 – Example of the target information window of the UI

740736-CAMELOT-CAMELOT_Specifications Page 20 of 291

3.2 Information exchange requirements

The Information Exchange Requirements can be found in the next page.

740736-CAMELOT-CAMELOT_Specifications Page 21 of 291

Table 3 – Information exchange requirements

740736-CAMELOT-CAMELOT_Specifications Page 22 of 291

740736-CAMELOT-CAMELOT_Specifications Page 23 of 291

740736-CAMELOT-CAMELOT_Specifications Page 24 of 291

740736-CAMELOT-CAMELOT_Specifications Page 25 of 291

3.3 Principles and best practices

It is known to experienced developers that it is not possible to simply give experience to

Figure 13 - Best practices high level overview

740736-CAMELOT-CAMELOT_Specifications Page 26 of 291

3.4 Operating system

Docker is a computer development platform that leverages operating-system-level

740736-CAMELOT-CAMELOT_Specifications Page 27 of 291

Figure 14: Comparison between Containers and Virtual Machines

A container is launched by running a container image that is a lightweight, standalone,

Dockerfile Image Container

740736-CAMELOT-CAMELOT_Specifications Page 28 of 291