ASTM F2595-06
(Guide)Standard Guide for Unmanned Undersea Vehicle (UUV) Sensor Data Formats
Standard Guide for Unmanned Undersea Vehicle (UUV) Sensor Data Formats
SCOPE
1.1 This guide establishes the basic sensor data format requirements for Unmanned Undersea Vehicles (UUVs). This guide is intended to influence the development process for the acquisition and integration of various sensor packages, but at the same time, not specify particular solutions or products. An additional intent of this guide is to address the data format standards specifically required for operation of the U.S. Navy's planned 21-in. Mission Reconfigurable UUV System (MRUUVS), which is representative of its heavy weight class of UUVs. Although this initial release of UUV sensor data formats standards primarily focuses on the U.S. Navy's UUV missions comprising intelligence, surveillance and reconnaissance (ISR), mine countermeasures (MCM), and oceanographic data collection, there is broad utility across the spectrum of commercial applications as well.
1.2 Readers of this guide will find utility in referencing Guides F 2541, F 2594, and WK11283. There is a clear relationship that exists in terms of data formats, external interfaces, and information/data exchange that can be applied in context with the standards invoked in these documents.
1.3 The main body of this guide, Section , provides general guidelines for sensor data, including water column and ocean bottom undersea search and survey (USS) measurements, and above-waterline data. It describes required records, but does not attempt to specify individual record formats, except as already established in existing documentation. Whenever possible, data formats are suggested to conform to existing convention to facilitate data processing and use. This guide generally notes where standard U.S. Department of Defense (DoD) formats are established or de facto commercial formats exist and are adequate, such as widely accepted World Meteorological Organization (WMO) or Intergovernmental Oceanographic Commission (IOC) standards.
1.4 Though the general guidelines established in this guide apply to most oceanographic sensor data, the data types specifically considered here are limited to: water column measurements (including temperature, salinity, currents, optical clarity, and bioluminescence), ocean bottom measurements (including bathymetry, acoustic images, and sub-bottom), ambient noise, and related geophysical parameters. Specific above-waterline ISR sensor data is addressed by reference to governing U.S. military standards for certain data types. Discussion of electromagnetic and electro-optical (EM/EO) data formats (including atmospheric refractivity) is also included.
1.5 Section covers related mission data formats such as timing. It also serves as a placeholder for future discussion of vehicle-specific mission data formats. Navigation, vehicle status, and related vehicle information data formats are expected to be addressed in subsequent versions of this guide. Also included in this section are brief discussions on external interface and command and control formats. Section introduces the topic of metadata formats. Amplification of this subject is warranted and will be incorporated into future versions of the guide. Section briefly identifies general data storage media concerns for UUVs, but does not attempt to mandate decisions best made by system developers based on mission needs. Onboard data storage decisions will be driven by power requirements, data volume, and media cost. Section presents an abbreviated summary of the currently recommended data format standards where they could be identified. Finally, Section exists primarily as a placeholder to address relevant technology forecasts that could impact future data formats.
1.6 The values stated in SI units are to be regarded as the standard. The values given in parentheses are for information only.
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Designation:F2595–06
Standard Guide for
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Unmanned Undersea Vehicle (UUV) Sensor Data Formats
This standard is issued under the fixed designation F 2595; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (e) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
ASTM has prepared this series of standards to guide the development of autonomous unmanned
underwater vehicles (UUVs). The standards address the key capabilities that a UUV system must
possess in order to be considered autonomous and reconfigurable:
Autonomous—Capable of operating without operator input for extended periods of time. Implicit in
this description is the requirement that the UUV’s sortie accomplishes its assigned goal and makes the
appropriate rendezvous for a successful recovery.
Reconfigurable—Capable of operating with multiple payloads. The top level requirement is
established that the UUV systems will consist of:
Payloads to complete specific system tasking such as environmental data collection, area
surveillance, mine hunting, mine countermeasures, intelligence/surveillance/reconnaissance (ISR), or
other scientific, military, or commercial objectives.
Vehicles that will transport the payloads to designated locations and be responsible for the launch
and recovery of the vehicle/payload combination.
While the payload will be specific to the objective, the vehicle is less likely to be so. Nevertheless,
commonality across all classes of UUV with respect to such features as planning, communications,
and post sortie analysis (PSA) is desirable. Commonality with regard to such features as launch and
recovery and a common control interface with the payload should be preserved within the UUVclass.
In accordance with this philosophy, ASTM identifies four standards to address UUV development
and to promote compatibility and interoperability among UUVs:
F 2541–Standard Guide for UUV Autonomy and Control,
WK11283–Standard Guide for UUV Physical Payload Interface,
F 2594–Standard Guide for UUV Communications, and
F 2595–Standard Guide for UUV Sensor Data Formats.
The relationships among these standards are illustrated in Fig. 1.The first two standards address the
UUV autonomy, command and control, and the physical interface between the UUV and its payload.
The last two ASTM standards address the handling of the most valuable artifacts created by UUV
systems, the data. Since there are many possibilities for communications links to exchange data, it is
expected that the UUV procurement agency will provide specific guidance relative to these links and
the appropriate use of the UUV communications standard. In a similar manner, specific guidance is
expected for the appropriate use of the UUV data formats.
F 2541–Standard Guide for UUV Autonomy and Control—The UUV autonomy and control guide
defines the characteristics of an autonomous UUV system. While much of this guide applies to the
vehicle and how the vehicle should perform in an autonomous state, the relationship of the payloads
within the UUV system is also characterized. A high level depiction of the functional subsystems
associatedwithagenericautonomousUUVsystemispresented.Theimportantfunctionalrelationship
established in this guide is the payload’s subordinate role relative to the vehicle in terms of system
safety. The payload is responsible for its own internal safety, but the vehicle is responsible for the
safety of the vehicle-payload system. Terminology is defined to provide a common framework for the
discussion of autonomous systems. System behaviors and capabilities are identified that tend to make
a system independent of human operator input and provide varying levels of assurance that the UUV
will perform its assigned task and successfully complete recovery. A three-axis sliding scale is
presented to illustrate the system’s level of autonomy (LOA) in terms of situational awareness,
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F2595–06
FIG. 1 Notional System Interfaces and Governing Standards
decision-making/planning/execution, and external interaction. The control interface (messages ex-
changed between the vehicle and the payload) is described and instantiations of this interface for the
various classes of UUV are presented in associated appendices.
WK11283–Standard Guide for UUV Physical Payload Interface—The UUV physical payload
interfaceguideisaphysicalandfunctionalinterfacestandardthatguidesthemechanicalandelectrical
interface between the vehicle and the payload, and the functional relationship bet
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