Functional and performance requirements for the MIRA-SAR map-aided inertial navigation payload — a miniature Ku-band SAR sensor that geo-locates the host UAV by correlating in-flight SAR imagery with onboard satellite reference maps, with no GNSS.
","status":"","id":0},{"_id":"6a3835e70ef5990d7ae4fe93","id_module":"6a3835e70ef5990d7ae4fe91","type":"Text","level":1,"description":"The payload shall provide an absolute horizontal position fix without GNSS with an accuracy of CEP95 ≤ 10 m over correlatable terrain.
","status":"Accepted","priority":"Must","verification":"Test","id":2},{"_id":"6a3835e70ef5990d7ae4fe95","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-002","level":2,"description":"The payload shall bound the host inertial navigation horizontal drift to ≤ 15 m over any 60 s coasting interval between two valid fixes.
","status":"Accepted","priority":"Must","verification":"Test","id":3},{"_id":"6a3835e70ef5990d7ae4fe96","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-003","level":2,"description":"The payload shall deliver position fixes at a rate ≥ 0.1 Hz (one fix every 10 s) under nominal imaging conditions.
","status":"Accepted","priority":"Must","verification":"Test","id":4},{"_id":"6a3835e70ef5990d7ae4fe97","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-004","level":2,"description":"The payload shall sustain GNSS-denied navigation for ≥ 30 min continuous while remaining within the drift budget of REQ-002.
","status":"Accepted","priority":"Must","verification":"Test","id":5},{"_id":"6a3835e70ef5990d7ae4fe98","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-005","level":2,"description":"Time to first valid fix after entering imaging mode shall be ≤ 90 s.
","status":"Analysis","priority":"Should","verification":"Test","id":6},{"_id":"6a3835e70ef5990d7ae4fe99","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-006","level":2,"description":"The payload shall detect GNSS denial or spoofing and switch to SAR-aided navigation within 5 s of onset.
","status":"Accepted","priority":"Must","verification":"Test","id":7},{"_id":"6a3835e70ef5990d7ae4fe9a","id_module":"6a3835e70ef5990d7ae4fe91","type":"Text","level":1,"description":"The SAR sensor shall achieve a ground resolution ≤ 1.0 m (range) × 1.0 m (azimuth).
","status":"Accepted","priority":"Must","verification":"Test","id":9},{"_id":"6a3835e70ef5990d7ae4fe9c","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-008","level":2,"description":"The payload shall operate over a height-above-ground-level envelope of 150 m to 1500 m.
","status":"Accepted","priority":"Must","verification":"Test","id":10},{"_id":"6a3835e70ef5990d7ae4fe9d","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-009","level":2,"description":"The imaged swath width shall be ≥ 600 m at 1000 m AGL.
","status":"Accepted","priority":"Should","verification":"Test","id":11},{"_id":"6a3835e70ef5990d7ae4fe9e","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-010","level":2,"description":"The sensor shall operate in Ku-band centred at 16.7 GHz with a transmit bandwidth ≥ 300 MHz.
","status":"Accepted","priority":"Must","verification":"Test","id":12},{"_id":"6a3835e70ef5990d7ae4fe9f","id_module":"6a3835e70ef5990d7ae4fe91","type":"Text","level":1,"description":"The payload shall store on board ≥ 50 000 km² of geo-referenced reference imagery for scene matching.
","status":"Accepted","priority":"Must","verification":"Test","id":14},{"_id":"6a3835e70ef5990d7ae4fea1","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-012","level":2,"description":"The correlation of a formed SAR image against the reference map shall complete within ≤ 2 s (end-to-end latency).
","status":"Accepted","priority":"Must","verification":"Test","id":15},{"_id":"6a3835e70ef5990d7ae4fea2","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-013","level":2,"description":"The payload shall gate and reject ambiguous or false correlation fixes such that no position jump > 30 m is injected into the navigation solution.
","status":"Accepted","priority":"Must","verification":"Test","id":16},{"_id":"6a3835e70ef5990d7ae4fea3","id_module":"6a3835e70ef5990d7ae4fe91","type":"Text","level":1,"description":"The total payload mass shall be ≤ 2.5 kg.
","status":"Accepted","priority":"Must","verification":"Test","id":18},{"_id":"6a3835e70ef5990d7ae4fea5","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-015","level":2,"description":"The payload shall draw an average electrical power ≤ 80 W from the host 24 V DC bus.
","status":"Accepted","priority":"Must","verification":"Test","id":19},{"_id":"6a3835e70ef5990d7ae4fea6","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-016","level":2,"description":"The payload shall output a navigation correction to the host autopilot over CAN/serial at a rate ≥ 20 Hz.
","status":"Accepted","priority":"Must","verification":"Test","id":20},{"_id":"6a3835e70ef5990d7ae4fea7","id_module":"6a3835e70ef5990d7ae4fe91","type":"Req Title","rid":"REQ-017","level":2,"description":"The payload shall operate over a temperature range of −20 °C to +55 °C.
","status":"Accepted","priority":"Should","verification":"Test","id":21},{"_id":"6a3835e70ef5990d7ae4fea9","id_module":"6a3835e70ef5990d7ae4fea8","type":"Text","level":0,"description":"Regulatory, RF-spectrum, data-protection and fail-safe constraints applicable to a SAR emitter carrying potentially sensitive reference imagery on an uncrewed platform.
","status":"","id":0},{"_id":"6a3835e70ef5990d7ae4feaa","id_module":"6a3835e70ef5990d7ae4fea8","type":"Req Title","rid":"REQ-101","level":2,"description":"The payload shall operate only under a valid experimental frequency authorization for its Ku-band emission and shall not radiate outside the authorized band.
","status":"Accepted","priority":"Must","verification":"Inspection","id":1},{"_id":"6a3835e70ef5990d7ae4feab","id_module":"6a3835e70ef5990d7ae4fea8","type":"Req Title","rid":"REQ-102","level":2,"description":"The payload shall limit its radiated EIRP to the authorized maximum and shall inhibit RF transmission while on the ground (weight-on-wheels / safe interlock).
","status":"Accepted","priority":"Must","verification":"Test","id":2},{"_id":"6a3835e70ef5990d7ae4feac","id_module":"6a3835e70ef5990d7ae4fea8","type":"Req Title","rid":"REQ-103","level":2,"description":"Reference map data shall be encrypted at rest (AES-256) and shall be securely erased within 5 s upon a tamper or authenticated erase command.
","status":"Accepted","priority":"Must","verification":"Test","id":3},{"_id":"6a3835e70ef5990d7ae4fead","id_module":"6a3835e70ef5990d7ae4fea8","type":"Req Title","rid":"REQ-104","level":2,"description":"Stored imagery and correlation data shall be handled in accordance with applicable export-control rules (ITAR/EAR) for geospatial intelligence.
","status":"Accepted","priority":"Must","verification":"Inspection","id":4},{"_id":"6a3835e70ef5990d7ae4feae","id_module":"6a3835e70ef5990d7ae4fea8","type":"Req Title","rid":"REQ-105","level":2,"description":"On any detected internal fault the payload shall flag the navigation solution as invalid and shall never output a silent erroneous fix (fail-safe, no misleading information).
","status":"Accepted","priority":"Must","verification":"Test","id":5},{"_id":"6a3835e70ef5990d7ae4feaf","id_module":"6a3835e70ef5990d7ae4fea8","type":"Req Title","rid":"REQ-106","level":2,"description":"The payload shall be electromagnetically compatible with the host UAV avionics per RTCA DO-160 section 21 (emissions).
","status":"Analysis","priority":"Should","verification":"Test","id":6}],"ivv_items":[{"_id":"6a3835e70ef5990d7ae4ffb1","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-001","description":"SAR resolution measurement using corner reflectors.","procedure":"Image a calibrated array of trihedral corner reflectors; measure impulse response width in range and azimuth.","expected_result":"Resolution ≤ 1.0 m × 1.0 m.","actual_result":"Measured 0.85 m (range) × 0.92 m (azimuth).","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb2","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-002","description":"Absolute position fix accuracy against surveyed ground truth (captive/lab).","procedure":"Replay recorded SAR passes over surveyed scenes; compare correlation fix to truth (CEP95).","expected_result":"CEP95 ≤ 10 m.","actual_result":"CEP95 = 6.4 m over correlatable terrain.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb3","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-003","description":"INS coasting drift characterization between fixes.","procedure":"Disable fixes for controlled intervals on a motion table; record horizontal drift over 60 s.","expected_result":"Drift ≤ 15 m / 60 s.","actual_result":"Drift 12.1 m / 60 s at nominal temperature.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb4","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-004","description":"Time to first fix after entering imaging mode.","procedure":"Cold-start the payload in imaging mode; timestamp the first gated valid fix.","expected_result":"TTFF ≤ 90 s.","actual_result":"TTFF = 74 s.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb5","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-005","description":"Correlation latency benchmark.","procedure":"Measure end-to-end latency from formed image to gated fix over 100 frames.","expected_result":"Latency ≤ 2 s.","actual_result":"Median 1.3 s, 95th pct 1.8 s.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb6","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-006","description":"Reference map storage capacity load test.","procedure":"Load a tiled reference set and verify addressable coverage and integrity hashes.","expected_result":"≥ 50 000 km² stored and verifiable.","actual_result":"58 200 km² loaded, all tiles verified.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb7","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-007","description":"Average power consumption on 24 V bus.","procedure":"Run a representative imaging + correlation profile; integrate input power.","expected_result":"Average ≤ 80 W.","actual_result":"Average 71 W; transient peaks under review (see FT).","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb8","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-008","description":"Payload mass measurement.","procedure":"Weigh the flight-configuration payload including harness and radome.","expected_result":"Mass ≤ 2.5 kg.","actual_result":"Mass 2.38 kg.","method":"Inspection","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffb9","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-009","description":"Thermal operating range qualification.","procedure":"Thermal chamber soak −20 °C to +55 °C; verify functional fix output at extremes.","expected_result":"Functional across range.","actual_result":"Pass at cold; throttling observed near +50 °C (see FT).","method":"Test","verdict":"Conditional","passed":false},{"_id":"6a3835e70ef5990d7ae4ffba","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-010","description":"RF emission, EIRP limit and ground inhibit.","procedure":"Anechoic measurement of EIRP and out-of-band emission; verify RF inhibit on weight-on-wheels.","expected_result":"Within authorization; RF inhibited on ground.","actual_result":"EIRP compliant; ground inhibit verified.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffbb","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-011","description":"Map encryption at rest and secure erase.","procedure":"Verify AES-256 at rest; trigger tamper and authenticated erase; confirm wipe time and unrecoverability.","expected_result":"Encrypted; erase ≤ 5 s.","actual_result":"Erase completed in 3.1 s; storage unrecoverable.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffbc","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-012","description":"Built-in test and fault → invalid-fix flag.","procedure":"Inject internal faults; verify the nav solution is flagged invalid with no silent bad fix.","expected_result":"Fault flagged; no misleading fix.","actual_result":"All injected faults flagged correctly.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffbd","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-013","description":"EMC emissions per DO-160 section 21.","procedure":"Conducted and radiated emissions sweep in the avionics integration rig.","expected_result":"Within DO-160 §21 limits.","actual_result":"Pending integration-rig slot.","method":"Test","verdict":"Not run","passed":false},{"_id":"6a3835e70ef5990d7ae4ffbe","id_module":"6a3835e70ef5990d7ae4ffb0","type":"Test","rid":"VQ-014","description":"False-fix gating with injected ambiguous scenes.","procedure":"Replay repetitive-pattern scenes engineered to produce ambiguous peaks; verify gating.","expected_result":"No injected jump > 30 m.","actual_result":"After threshold fix, max injected jump 9 m.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffc0","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-001","description":"GNSS-denied endurance flight: 30 min navigation with GNSS off.","procedure":"Fly a 30 min route with GNSS receiver disabled; log SAR-aided position vs post-processed truth.","expected_result":"Within drift budget for full duration.","actual_result":"Held within budget 28 min; one over-water excursion (see FT).","method":"Test","verdict":"Conditional","passed":false},{"_id":"6a3835e70ef5990d7ae4ffc1","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-002","description":"In-flight fix rate under nominal terrain.","procedure":"Cruise over mixed rural terrain; record gated fix cadence.","expected_result":"Fix rate ≥ 0.1 Hz.","actual_result":"Mean 0.14 Hz over rural legs.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffc2","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-003","description":"Live GNSS denial detection latency.","procedure":"Activate a controlled jammer on a cleared range; measure time to switch to SAR-aided nav.","expected_result":"Switch within 5 s.","actual_result":"Switched in 3.6 s.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffc3","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-004","description":"Altitude & swath envelope flight check.","procedure":"Fly steps at 150 / 500 / 1000 / 1500 m AGL; verify imaging and swath at each.","expected_result":"Operational across envelope; swath ≥ 600 m at 1000 m.","actual_result":"Swath 680 m at 1000 m; degradation at 1500 m (see FT).","method":"Test","verdict":"Conditional","passed":false},{"_id":"6a3835e70ef5990d7ae4ffc4","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-005","description":"Correlation accuracy over varied terrain (urban vs rural).","procedure":"Fly matched urban and rural segments; compare fix error to surveyed truth.","expected_result":"CEP95 ≤ 10 m on correlatable terrain.","actual_result":"Rural 5.9 m; urban biased by layover (see FT).","method":"Test","verdict":"Conditional","passed":false},{"_id":"6a3835e70ef5990d7ae4ffc5","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-006","description":"Navigation correction output to autopilot in flight.","procedure":"Verify the host autopilot ingests the CAN correction at rate and follows the aided solution.","expected_result":"Correction at ≥ 20 Hz, accepted by autopilot.","actual_result":"Delivered at 25 Hz; autopilot lock confirmed.","method":"Test","verdict":"Pass","passed":true},{"_id":"6a3835e70ef5990d7ae4ffc6","id_module":"6a3835e70ef5990d7ae4ffbf","type":"Test","rid":"VF-007","description":"In-flight cold-start time to first fix.","procedure":"Enter imaging mode airborne over known terrain; time the first valid fix.","expected_result":"TTFF ≤ 90 s.","actual_result":"TTFF 81 s airborne.","method":"Test","verdict":"Pass","passed":true}],"diag_items":[{"_id":"6a3835e70ef5990d7ae4feb1","id_module":"6a3835e70ef5990d7ae4feb0","id_cell":2,"type":"SYS","description":"Mission planner","style":"op-actor","x":40,"y":20,"w":200,"h":56},{"_id":"6a3835e70ef5990d7ae4feb2","id_module":"6a3835e70ef5990d7ae4feb0","id_cell":3,"type":"SYS","description":"UAV operator","style":"op-actor","x":258,"y":20,"w":200,"h":56},{"_id":"6a3835e70ef5990d7ae4feb3","id_module":"6a3835e70ef5990d7ae4feb0","id_cell":4,"type":"SYS","description":"Geospatial imagery 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