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A -- ADVANCED POINTER TRACKER SOL Reference-Number-F05604-00-RFI-9004 DUE 070500 POC Nicole Marrone, Contract Specialist, Phone 719-556-8351, Fax 719-556-4756, Email nicole.marrone@peterson.af.mil -- Karen Davis, Contract Specialist, Phone (719) 556-4944, Fax (719) 556-4756, Email WEB: Visit this URL for the latest information about this, http://www.eps.gov/cgi-bin/WebObjects/EPS?ACode=R&ProjID=Reference-Num ber-F05604-00-RFI-9004&LocID=532. E-MAIL: Nicole Marrone, nicole.marrone@peterson.af.mil. **DIRECT _ALL_ QUESTIONS TO RON UNRUH, KIRTLAND AIR FORCE BASE, (505)858-8727** DATTS APT Tracker Requirements I. Objective A. Scope The Advanced Pointer Tracker (APT) Tracker will acquire 256x256 pixel array digital imagery at up to 120Hz and compute the required track error signals necessary to drive the APT through a high speed digital parallel interface. Since the digital camera also maintains the ability to _window_ down, an option will be included for the acquisition and loop compensated computation of up to 1200Hz 64x64 pixel digital imagery to drive a fast tertiary mirror through an analog output port A second option will be included to allow concurrent operation for track transfer capability between the 120Hz _low_ bandwidth track error processor and the 1200Hz _high_ bandwidth track error processor. Tracker control and processed imagery will be made available to the system operator. Approximately thirty seconds of digital imagery and data will be stored on disk for posttest review/playback and transfer to permanent storage media (such as CD ROM). The tracker specified herein will be referred to as the APT Tracker. B. Overview The APT, located at the High Energy Laser Systems Test Facility (HELSTF) at White Sands Missile Range (WSMR), currently maintains the capacity to acquire and track a wide verity of targets at White Sands Missile Range. The APT hosts a 28 Hz 60cm diameter gimballed telescope accompanied by a 300 Hz tertiary mirror capable of providing stabilized images to a full aperture sensor (the 300 Hz mirror is currently used only in an auto alignment function). The system is also capable of laser beam illumination of the targets of interest. A typical acquisition scenario begins with a radar handoff of the target to the APT off axis wide field of view (WFOV) sensor (~8mrad FOV). The existing WFOV optical tracking system (DBA 606-4M) provides track error signals at a rate of 60 Hz to the APT servo control system through a digital parallel port. The APT then centers the target in the off axis sensor which concurrently places the target within the full aperture FOV in preparation for a second handover to the APT Tracker described herein. The baseline APT Tracker will generate track errors at a rate of 120 Hz to be provided to the APT servo control system over a high speed parallel port. An option to the baseline APT Tracker will provide _high bandwidth_ track errors up to 1200 Hz to the APT tertiary mirror over an analog port while providing the _low bandwidth_ APT servo control through the high speed serial digital port. The second APT Tracker option will allow concurrent acquisition and track transfer between the 120 Hz system and the 1200 Hz system. II. Performance Requirements A. Baseline The APT embodies the Raytheon Radiance HS high frame rate (120Hz) 256x256 pixel infrared cameras capable of providing the non-uniformity corrected fields necessary for the full aperture optical handover. The APT Tracker will interface to the Radiance camera through the Radiance HOTLINK high speed serial port or the Radiance High Speed Video Bus (HSVB) parallel port. The tracker will synchronize to the camera (or a master synchronization source) and be capable of operating at variable frame rates from 30 Hz to 120 Hz. The camera is equipped with some video preprocessing such as Normalization Correction Tables (NUC) and bad pixel replacement. Therefore, these functions are not part of the tracker requirements. The tracker must provide manual and automatic threshold, edge, centroid, and correlation track algorithms (FITTS acceptable) with sizeable, floating track gates. Outputs must be available to the servo control system not more than 100 microseconds following the bottom edge of the track gate (100 microseconds applies only to the baseline 120Hz tracker _ the compensation calculations required by the APT Tracker Options will be granted additional processing delay). This 16-bit track error will be provided to the servo control system over a high-speed parallel port. User interface for operator control of the tracker will be through a point and click architecture and a processed video graphical presentation. The APT Tracker will be a self-contained system comprising of its own chassis (rack mountable for a VME solution), disk storage system, Windows based user interface graphical display and processed video display. This system will be delivered as a user ready stand alone processor to include all necessary licensing, executable code, operator manuals and operator training as required (specific site licensing such as VXWorks exists at the HELSTF facility _ licensing options should be discussed to avoid unnecessary software expenses). The Radiance HS camera, cabling, manuals and the laptop controller will be provided to the tracker developer GFE upon request. B. Option 1 The APT Tracker Baseline system will support the Raytheon Radiance HS camera operating at the 256x256 pixel array up to 120Hz frame rates. An option will be provided within the scope of this requirements document for the APT Tracker to collect and process track error signals from the Radiance HS camera when the camera is operating not only in the 256x256 pixel array mode, but also in either of the two standard high frame rate window modes. Specifically, the two modes of interest are the 128x128 pixel array operating up to 480 Hz and the 64x64 pixel array operating up to 1200 Hz. For these modes, as with the APT Tracker Baseline, the APT Tracker will interface to the Radiance camera through the Radiance HOTLINK serial port or the HSVB parallel port. The high bandwidth track error signals generated in this mode of operation shall be bandpass filtered, compensated, de-rolled and provided through a two channel (Az, El) 16 bit analog output to drive the 300 Hz tertiary mirror. The low bandwidth component of the track error signal shall be provided by the high speed parallel port to the servo control system comprising the 28 Hz gimbal assembly, as in the baseline APT Tracker system. During these high frame rate operations, the APT Tracker will synchronize to the Radiance HS camera (or a master synchronization source) and be capable of operating at variable frame rates up to 480 Hz and 1200 Hz for the 128x128 pixel array and the 64x64 pixel array, respectively. The same thresholding, background subtraction, gate control, track algorithms and user interfaces will be applicable this optional high frame rate system as was applied to the APT Tracker Baseline. The optional system will be supplied with licensed source code and the development station to allow on site modifications and adjustments to the track error processing algorithms by the local in house government and site support contractors, as required by a specific test scenario. The loop gain, bandpass filtering and compensation matrices shall be user adjustable variables accessible through the user interface console. High bandwidth compensated analog outputs must be available to the tertiary mirror not more than 200 microseconds following the bottom edge of the track gate. C. Option 2 Option 2 provided withinthe scope of this requirements document will provide for the concurrent operation of the 120 Hz track error processor and the 480 Hz / 1200 Hz track error processor for the purpose of performing real time high bandwidth track handovers. This system shall be capable of acquiring digital data from two independent Radiance HS cameras (one operating up to 120 Hz and one operating up to 480Hz / 1200 Hz), applying two separate track algorithms and performing a track transfer between the two cameras. It is expected that in order maintain a smooth transition between the track system that a shared integrator will be required. All of the Option 1 requirements are applicable to each of the Option 2 systems, including frame rates, processing algorithms, user controls and output ports. **SEE ATTACHMENT FOR DIAGRAM** III. Operational Requirements Since this requirements document includes a _Baseline_ system as well as two options, it is important to note the _Fine Mode_ and all associated references to this mode are applicable only to the APT Tracker Options. All functions and requirements that refer to _Standby_, _Acquisition_, _Course Track_ and _Auto Coast_ modes are applicable to the APT Tracker Baseline requirements as well as the APT Tracker Options. A. Built in Test The Built in Test (BIT) will perform testing of functional modules within the tracker. The results of the BIT will indicate the location of the failure. B. Image Preprocessing An adaptive threshold will be used to differentiate the target from the background. The threshold for background removal will be calculated in two ways; fixed value user input through the GUI or dynamic computation to adapt to variations in target contrast. C. Track Modes 1. Standby: The Standby Mode is provided so that the user may change hardware or software parameters, cycle power to the cameras, run the Built In Test function, etc. In this mode, track error signals will not be provided to the gimbal nor (in the requirements options) to the tertiary mirror. 2. Acquisition: The Acquisition Mode automatically acquires targets within the pre-selected track gate. In acquisition mode, the target gate sizing, location and background threshold adjustments are performed in preparation for transition to course and fine track modes. Although no track errors are provided to the APT gimbal or the tertiary mirror in acquisition mode, all other Track Error Processing functions are operative. The APT Tracker shall inform the system operator (through the GUI) that the acquisition track quality has reached an operator adjustable preset level and that a track transfer into Course Track mode is recommended. The operator shall also have the ability to select manual or automatic transition from Acquisition to Course Track mode (again, the transition will be based on the track quality). 3. Coarse Track: Course Track refers to the operating mode in which the track errors are generated and provided to the APT gimbal over the high speed parallel port. Transitioning from acquisition to course track mode will make the track error signals available to the APT gimbal. The APT Tracker will allow operator selection of an automatic or manual transition from Course Track to the Fine Track mode. 4. Fine Track: The Fine Track mode is applicable only to the APT Tracker Requirements Options 1&2. Fine Track refers to the operating mode in which the track errors are generated, filtered, compensated and provided to the APT gimbal through the high speed parallel port and to the tertiary mirror through the 16 bit analog output port. Transitioning from the Course Track mode to the Fine Track mode will initiate high bandwidth tracking through the high frame rate Radiance HS camera viewing off of the tertiary mirror. Low bandwidth track errors will be provided to the APT servo through the phigh speed parallel port, as in the Course track operating mode. 5. Auto Coast Mode: During intermittent target threshold loss (e.g., tracking through severe scintillation, clouds or rocket motor burnout), the APT Tracker will hold its present track error value or calculate a track error trajectory and present this value to the APT gimbal. The APT Tracker will remain in Auto Coast mode for a user pre-selected time interval before reverting back to Acquisition Mode. D. Track Error Processing 1. Track Modes: The APT Tracker will be capable of operating using at least three different user selectable track algorithms on the track gate. These algorithms include the Centroid, Edge, and Correlation Modes. The centroid mode calculates the center of mass of the gated pixels over threshold. The edge mode will be left, right, top and bottom user selectable. The correlation mode shall allow the user to select and observe the reference image to be used during correlation track operations. All three primary track modes and track mode configuration options (e.g., top edge, left edge) will be user selectable and changeable in real time through the GUI within Acquisition, Course and Fine Track operating modes. Resolution of the track errors shall be dependent on the selected tracking algorithm. When using the centroid or edge tracking algorithm, track errors will have a 0.5 pixel resolution. Track errors computed with the correlation algorithm will be resolved to within one tenth of a pixel. While in correlation mode, long term drift will be addressed through the application of an appropriate algorithm (such as an additive calculation of the centroid of a correlation map). 2. Track Gate Size: The track gate size will be user configurable to a fixed gate size through the GUI in Standby Mode. In Acquisition, Course Track and Fine Track Modes, the track gate size shall be user selectable between the pre-set manual (as in the Standby Mode) and automatic, allowing the track gate to automatically expand or shrink as the size of the target changes. The track gate shall have a minimum size of not greater than 16x16 pixels and a maximum size approaching the camera_s full field of view. 3. Track Gate Position: The Track Gate Position will be user configurable to a fixed gate position through the GUI in Standby. In Acquisition, Course Track and Fine Track Modes, the track gate position shall be user selectable between pre-set manual and automatic, allowing the track gate to automatically follow the target within the field of view. 4. Track Offset: The Track Offset provides the operator (through the GUI) with the ability to designate an Az/El null point without repositioning the system reticle. The Track Offset feature is useful for boresight alignment, lead ahead and aimpoint designation. When a non-zero value, the Track Offset will be uniquely identified within the processed video. E. Gimbal/Mirror Control Calculation 1. Gimbal Control Signal Processing: The track error provided to the APT gimbal through the high speed parallel port do not require filtering in the baseline APT Tracker. The track errors provided to the APT gimbal in the APT Tracker options will require low pass filtering. 2. Tertiary Mirror Control Signal Processing: The track error provided to the APT Tertiary Mirror required by the APT Tracker Options will be filtered. A biquadratic filter whose coefficients are user adjustable through the GUI shall be implemented for each mirror axis. For proper full aperture operation of the tertiary mirror, APT Tracker will also need to acquire the gimbal position and apply a de-roll to the track error control signals. The de-roll information can be acquired by the APT Tracker through the acquisition of the course gimbal analog position potentiometers (+/- 10 volts), although 12 bit digitized resolver data is also available. F. GUI The graphical user interface will provide a Windows based platform (alternate platforms will be considered, however the general DATTS thrust is toward PC based platforms) for the system operator to monitor and control the APT Tracker during all set-up and operations functions. An alternate VGA screen or RS-170 port will provide the user with processed video including the correlation track mode reference image. G. Data Storage A limited memory buffer (~1GB) will provide the operator with the ability to acquire approximately 30 seconds of data and processed digital imagery from the APT Tracker. The operator will then have the ability to replay, analyze or store the data to disk or CD ROM for later anaylsis. The maximum number of frames of the data set will be dependent upon the array size used during a specific test scenario. An IRIG interface will be provided for time-stamping of these data-sets. Data to be stored with the processed imagery will include but not be limited to operating mode, track errors, track quality, etc. IV. Support and Maintenance The tracker will be designed in such a manner as to maximize the ease of integration of the potential options. These optional systems will be supplied with licensed source code and the development station to allow on site modifications and adjustments to the track error processing algorithms by the in house government staff or local site support contractors, as required by a specific test scenario. V. Interfacing/Schedule Within two weeks of contract award, it is desired that the vendor host an APT Tracker kickoff meeting. This meeting, along with an interim development review and a system acceptance test/operator training, will be fashioned to flush out and resolve potential interface or functional design issues. These discussions will ensure all control, process, monitoring and data recording/playback/transfer and interfacing components are properly coordinated with the receiving activity. The Baseline System acceptance testing should be performed within 6 months of the contract award. Options (1) and (2) acceptance testing will be required within 8 months following the later of the Baseline acceptance testing or Options (1) and/or (2) contract award/modification. The acceptance testing will address all functional items specified within this requirements document. The vendor will provide telephonic support as necessary to the receiving activity during the integration of the tracker with the APT servo controller (a scheduled two-month activity). **DIRECT _ALL_ QUESTIONS TO RON UNRUH, KIRTLAND AIR FORCE BASE, (505)858-8727** Posted 06/20/00 (D-SN466764). (0172)

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