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Appendix G. Sample MATLAB Program to Read Data Files

% Initialize look-up vector for gain factors as read from packet header
% Gain values range from 0 to 7 and map as follows:

-% 9=16;1=100;2=100,3=1000,4=1600;5=10000,6=10000,7=100000

gain -vector=[1;10; 10; 100;100;1000;1000;10000];
file_name="2000_09 28 18-40-66-Sen2_Grp0.dat',

number_of seconds = 7;

% Alt data-are-I6 bit unsigned int store-in-Little Indian Format

input-fd = fopen(file_name,'r’,1');

% Eactrdata block preceded by a packet header

[Header,count] = fread(input “fd,20,'ushort');

sample-rate= Header(11); -

update _rate = Header(12);

%toop through file extracting the data and stripping of packet headers
data=[},

for j=t-:mumber--of_seconds-

% Extract current gain values for packet. ‘The gains are stored in the low byte
% wittrthe top nibble containing the gain value for the low channel group (1-4)
% and the ‘low nibble used for the high channels. The gain values stored are
% fonverted to real values via the gain lookup vector

eqin_ channel_1to4 = gain_vector(bitshift(bitand(Header(13),hex2dec('000000f0')),-4)+1);
gain_channel 5to8 = gain” vector(bitand(Header(13),hex2dec('0000000f))+1);
% Atl of the data ‘is read in as‘atwo dimensional array with the row
% count set to-the- number of channels (8) and duration of 1 packet = sample rate/
% update Tate
cleartemp~
[temmp,count] = fread(input_fd,[8,sample_rate/update_rate],'short');
temp(t4;:)= temp(1:4,:)./gain-channel- 1to4;
temp(5:8,:) = temp(5:8,:)./gain_channel_5to8;
data = [data,temp];
% Grab next header
[Header,count] = fread(input_fd,20,'ushort’);
end
Yecpnvert to voltage full scall is +/- 5 volts
data = (data .*5.0)/2%15;
fclose(input_fd)

This appendix appears in its original form without editorial change.

35



Figure E-7. VAB: Armored personnel carrier.

Configuration: 6 x 6

Combat weight: 14,200 Kg with limited amphibious capabilities
Unloaded weight: 11,400 Kg

Track: 2.035 m

Wheelbase: 3 m

Engine: Renault MIDS 06-20-45 in-line water-cooled turbocharged 6-cylinder diesel developing
220 bhp at 2200 rpm. Original engine was a MAN D.2356 HM 72 in-line water-cooled 6-
cylinder diesel developing 220 hp at 2200 rpm

Transmission: Transfluide with five forward and three reverse gears

31



Distribution (cont’d)

US Army Tank-Automtv Cmnd RDEC
ATTN AMSTA-TR J Chapin
Warren ME 48397-5000

Nav Air Warfare Ctr -

ATTN O Allen

22347 Cedar Point Rd B2185 S100 Unit 6
Patuxent River MD 20670-1161

NavRsrchLab
ATIN-Code5712 C Bovais
4555 Overlook Ave Bldg 210
Washington DC 20375

NavalRsrchLab

ATIN T Barock

4555 Overlook Ave NRL 5603"
, Washington DC 20375

Naval Surf Warfare Ctr
ATIN T Clem

6703 W Hwy 98°
Panama City FL32407

NAWEAD

ATTN G Mersten
48150Shaw Rd Unit 5
Patuxent River MD 20670-1907

Ofc of Naval Rsrch
ATTN L Green
800N Qunicy St

. Arlington VA 22217

AFRL/SNRT

ATIN G Bustos
26ElectronicPkwy
‘Rome NY 13341-4514

AFRL/SNZC

ATTN R Pearson

2241 Avionics Cir Bldg 620RmN1A12
- WPAFB OH 45433

AFTAC/TAP

ATTN P Sincebaugh

1030 S Hwy A1A AFTAC/TAP
Patrick AFB FL 32925

BAE Systems

ATTN J Sledge

PO Box 1898

Eglin AFB FL 32542

Central MASINT Org
ATTN S Hatt
1030SHwy AtA
Patrick AFB FL 32925

NatAssessment Grp
ATTN SJ Higbie

225t Wyoming Blvd SE
Kirtland AFB NM 87117

SPAWARSYSCEN
ATTN S Jarrett

PO Box 190022

North Charleston SC 29405

SPAWARSYSCEN
ATIN T Jones

53470 Hull Stret

San Diego CA 92152-5001

US Air Force

ATTN 46OG/OGMLS W Terrell
410 Wicker Circle
Eglin AFB FL 32542

CommandingGeneral

Marine Corps Sys Command
ATTN IWS/UAV LtCol Bruce
2033 Barnett Ave Ste 315
Quantico VA 22134-5010

Sandia Natl Lab

ATTN D Craft

PO Box 5800 0844
Albuquerque NM 87185

Univ of Mississippi NCPA.
ATTN HE Bass

1 Coliseum Dr
University MS 38677

40



Group 0 used junction box SN: (C-1 and B-5 temp label)

Channel 1: Mic SN 85
Channel 2: Mic SN 32
Channel.3: Mic SN 107 °
Channel 4: Mic SN (no label)
Channel 5: Mic SN 24-
Channel 6: Mic SN 38
Channel 7: Mic SN 6 -
Channel 8: No Connection

Group 1: 3 channels of seismic data from a tri-axis seismometer

Group 1 used junction box SN:.(Not Recorded)
Channel 1: North

Channel 2: East

Channel 3: Vertical

Channels 4-8: No Connections

2.7 Sensor Data Aequisition Parameters

The settings for Sensors 6 and 8 were identical and are as follows:

Group 0 Sample Rate: 2048 Hz

Group 1 Sample Rate: 1024 Hz

Group 0 Gain 100x (33 in hardware setting): 10x in junction box 10x in mic preamp
Group 1 Gain 100x (44 in hardware setting): 100x in junction box no preamp on seismic
Group 0 Cutoff 625 Hz (66 in hardware setting)

Group 1 Cutoff 312 Hz (77 in hardware setting)

2.8 Sensor 6 Failure During Test

General Notes: On the evening of October 21, 2002 and into the morning of October 22, 2002, a
severe thunderstorm went through the test area. The CPU in Sensor 6 was damaged. The sensor
was replaced with the development system that was on site as a backup. All of the sensors
remained in order so the data sets will have the same calibration files. There should be no
noticeable difference in the data, but the change in sensors is noted for completeness.



INTENTIONALLY LEFT BLANK

18



INTENTIONALLY LEFT BLANK

36



Contents

List of Figures iv

List of Tables iv

1. Background 1
1.1. Field Experiment Purpose and Goals

1.2 Raw Data Collection Hardware 2

1.3. Acoustic Sensors

1.4 Seismic Sensor ....eecsesssssesssessesseessesseessssssecsneesecssecsnecseecaecnsecsnseneesuesseesuessnessnsssssssesaesnesen 3

1.5 Infrared (IR) Sensot........esssessesssessssssssssesssecsessssecsessesssessacsssceseesnecnsceaeenscessscseeaneqseesnessneean 3
2. Sensor Installations and Configurations 4

2.1 Z1: Sensor 6 (ARL Hardware Number).

2.2 Site Z1 Surroundings.

2.3 Z3: Sensor 8 (ARL Hardware Number).......ssssscssssscsseecsnsessneecsneeesneeesneessarensseeessrssnsesnsved 4

2.4 Site Z3 SurroundingS..........csecsessesssssecesssesessecsessseeesesseseeneeneeneeaeenseenseaceneeaeesssesesseeeaeeaeeee 5

2.5 IR Camera: (Located at Z3)

2.6 Sensor Microphone Configurations and Seismic Configuration........sssssssssssssssessesesee 6

2.7 Sensor Data Acquisition Parameters

2.8 Sensor 6 Failure During Test.
3. Vehicle Test Matrix 9
4. Description of Raw Data 9
5. Field Calibration Files 15
6. Contact Information for Data Requests 15
Appendix A. Test Site Locations and Vehicle Trajectories 17
Appendix B. BL-1994 Sensitivity Specifications 19
Appendix C. GS-11D Sensitivity Specifications 21
Appendix D. ALPHA Infrared (IR) Camera Specifications 23

iii



Figure E-5. TRM 10000: 10,000-Kg truck.

Configuration: 6 x 6

Loaded weight: 29,000 Kg
Unloaded weight: 13,520 Kg
Track: 2.015 m

Wheelbase: 4.3 m+ 1.4m

Engine: Renault MIDR 06-20-45 9.839 liters 6-cylinder supercharged exhaust diesel developing
326 hp at 2000 rpm

Gearbox: Model B.9.150, nine forward and one reverse gears
Suspension:

(front) semi-elliptical leaf springs (auxiliary and main springs), mechanical stops, and
telescopic shock-absorbers

(rear) semi-elliptical leaf springs, mechanical stops

29



A key fietd in the header file is the gain specified for the associated data packet. The gain table
values-are specified in Appendix H and require some additional interpretation for between the
acgustic channels and the seismic-channels.- The gain table shows a box gain and:a mic-gain.
For the acoustic channels, the totat gain is the product of the two. For the seismic groups; only
the-box gain has significance because there is no preamplifier (Mic gain stage) to be concerned
“with. This impties that the totat gain on the seismic groups is just the box gain ancis not
affected-by any-setting on the mic-gain. For this test, the mic-gain on the seismic-groups-was set
to pnity so the box gain equals the total gain shown in the chart.

5. Field Calibration Files

Calibration files were collected for both sensor arrays in the field on 23 October 2002. A 1-KHz
calibration tone was injected into the microphones for ~10 s/channel. The calibrator used was a
94-dBSPL unit. A single calibration file was collected for each sensor; therefore, the tones must
be searched for in the data files to extract the time window in which a specific microphone was
being stimulated. The two files are-2002_10_23 12 _06_Sen6_Grp0.dat and

2002_10_23_12 16 Sen8_Grp0.dat. The units were reconfigured to have the following data
acquisition parameters for the calibration files:

Sample Rate = 4096 Hz
Gain = 10x
Cutoff Frequency = 1.25 KHz

Note that the meteorological conditions during the calibration collection were windy (gusts 20-
25 mph and sustained winds of 15 mph).

6. Contact Information for Data Requests

Requests for the raw sensor data described in this report and information on any restrictions in its
distribution, should be sent to the following address:

U.S. Army Research Laboratory
Attn: AMSRL-SE-SA

2800 Powder Mill Rd

Adelphi, MD 20783

15



Appendix C. GS-11D Sensitivity Specifications

020)

‘SHUNT DAMPING|
A. OPEN 8%

B 475000 50%
©. 182000 e,

>

Geo Space, LP
HOUSTON TEXAS, U.S.A.

DETECTOR RESPONSE CURVE
‘OUTPUT VS FREQUENCY

[TYPR_.Q5.11D'__ DETECTOR, ‘MODEL,_VERT.

0.23

030]

[NATURAL UNDAMPED FREQUENCY__450_ #0
‘D.C. RESISTANCE__ 4000 RATISC

02s]

INTENSE SENSITIVE 2.600 WANE
OPEN CIRCUIT DAMPING_35.0_9 OF CKITICAL

|

SHT 30F 3/8 - 92903 lla

s+

v

ar a a a

FREQUENCY (2)

Figure C-1. GS-11D sensitivity specifications.

21



Appendix A. Test Site Locations and Vehicle Trajectories

igst

Figure A-1. Test site locations and vehicle trajectories.

17



Figure E-6. TRM 200: Truck.

Configuration: 4 4
Loaded weight: 13,500 Kg
Unloaded weight: 5490 Kg
Track: 1.96 m

Wheelbase: 3.85 m
Engine: MIDR 06-02-26 W

30



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12



640-(pixels), width 480 (pixels), 24-bit color-stored as true color RGB. Even though the color
format is true color, the actual data are gray scale.

2. -Sensor Installations and Configurations

Two ARL DFT sensors were installed to support the field experiment. The first sensor is sensor
number 6 and was located at Bourges site Z1 (see map in Appendix A). The second sensor was
sensor number 8 and was located at Bourges site Z3. The locations and network address follow:

2.1 Zi: Sensor 6 (ARL Hardware Number)
Location N 47.00484°
E 2.68050°
Alt: 191m
Position estimated with Garmin Receiver (accuracy 4 m)
IP Address: 192.168.10.40
Sensor ID number used in NATO Messages : 120

Geodetic survey location:
N 47° 0.29145 min
E 02° 40.8274 min
Alt: 238.2-m ellipsoid

Seismic sensor is 170 cm from the center of acoustic array. Acoustic array and seismic sensor
are both aligned to True North.

2.2 Site Z1 Surroundings

Sensor location 6, site Z1, had only one reflective source and that was the electronics hut. The
hut was approximately the same separation as the array from site Z3, but at an angle of ~265°.

Sensor 6 at Z1 site is not operational on the last day of the field test, October 24, 2002. Sensor 8
at Z3 site remained operational for the entire series of tests on that same day.

2.3. Z3: Sensor 8 (ARL Hardware Number)

Location N 47.00293°
E 02.68576°
Alt: 183 m



Figure E-3. AMX-30 MBT: Medium battle tank.
Combat weight: 36,000 Kg

Unloaded weight: 34,000 Kg
Track: 2.53 m

Track width: 570 mm

Length of track on ground: 4.12 m

Engine: Hispano-Suiza HS 110 12-cylinder, water-cooled supercharged multifuel developing
720 hp at 2000 rpm

Transmission: mechanical with five gears in both directions

Suspension: torsion bar

27



INTENTIONALLY LEFT BLANK

24



1. Background

1.1 Field Experiment Purpose and Goals

The North American Treaty Organization (NATO) research group SET-08/Task Group (TG)-25
on “Advanced Concepts of Acoustic and Seismic Technology” is involved in emphasizing
acoustic and seismic concepts within Unattended Ground Sensors (UGS). The main objective of
the group is to assess the potential technologies that can be cooperatively developed and assessed
within NATO to provide low-cost battlefield sensors based on acoustic and seismic technology.

The approach adopted by TG-25 is as follows:
1. Evaluate emerging technologies for applicability to battlefield needs.
2. Develop cooperative efforts aimed at reducing costs to each participating country.
3. Evaluate potential of UGS to meet battlefield requirements.
4. Cooperate in known areas of overlap.
5. Cooperate on sensor environmental modelling.

The TG-25 has acquired participation from nine nations to include Canada, France, Germany,
Italy, the Netherlands, Norway, Poland, the United Kingdom, and the United States. The group
has worked on tasks with the primary objective of establishing quantitatively the military
benefits that Acoustic and Seismic sensor systems offer. Although these technologies cover a
wide range of applications, a few of these proposed topics will be selected for cooperation to
include the following:

a. Propagation Modeling,

b. Signature Collection and Storage,

c. Standards,

d. Simulation and Modeling of Sensors,
e. Sensor Fusion,

f. Joint Field Experiments,

g. Unattended Ground Sensors, and

h. Sniper Detection.



Appendix E. Vehicle Descriptions 25
Appendix F. Data Format Specifications 33
Appendix G. Sample MATLAB Program to Read Data Files 35

Appendix H. Gain Table for Signal Conditioning Boxes 37

List of Figures

Figure 1. ALPHA uncooled IR camera.
Figure 2. Locations of local Z3 surroundings.
Figure 3. IR camera position at Z3. ..........
Figure 4. Array topology and signal connections.
Figure A-1. Test site locations and vehicle trajectorie:
Figure B-1. BL-1994 sensitivity specifications. ......
Figure C-1. GS-11D sensitivity specifications.
Figure D-1. ALPHA IR camera specifications.
Figure E-1. AMX-10P: Infantry combat vehicle.
Figure E-2. AMX-10RC: Reconnaissance vehicl
Figure E-3. AMX-30 MBT: Medium battle tank.
Figure E-4. CBH P4: Armored personnel carrier.
Figure E-5. TRM 10000: 10,000-Kg truck.
Figure E-6. TRM 200: Truck. .........0000
Figure E-7. VAB: Armored personnel carrier.

List of Tables

Table 1. Test matrix
Table F-1. Packet header format.
Table H-1. Gain table............+
Table H-2. Cutoff frequency table.

iv



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13



sensor data. The algorithms can operate independently or fuze data locally prior to sending
processed results to additional assets-in-the field. A final feature of the DFT allows remote
clients to receive real-time sensor data. This allows high-level clients such as MATLAB or
Labview clients to process field data and inject results into the network as if they were operating
locallyon the DFT. This feature avoids the costly step of porting software from a high level
language for evaluation purposes. By using several DFTs, the backbone of a generic UGS field
can be formed.

1.3. Acoustic Sensors

The acoustics sensors used were instrumentation-grade piezo-ceramic microphones. The
specific microphones used were model number BL-1994 manufactured by Emkay Innovative
Products. Emkay is a subsidiary company to Knowles, which is the common term used for the
microphones. The sensitivity-vs.-frequency curve for the BL-1994 is shown in Appendix B.

1.4 Seismic Sensor

The seismic sensor used was a commercial tri-axial geophone. The specific unit is produced by
Geo Space, LP, Inc. and contains three GS11D, 4.5-Hz, 4000-ohm coil resistance sensors
packaged in a GSC-3C land case. The output sensitivity as a function of frequency is shown in
Appendix C. Note curve C should be used due to the specific shunt resistor selected.

1.5 Infrared (IR) Sensor

IR images were collected for all of the vehicles used during the test. The images have various
pass bye orientation to the camera and include both left and right turns in both approaching and
receding directions. The IR sensor used for still image collection was the ALPHA uncooled IR
camera; manufactured by Indego, Inc. The picture of the camera is shown in Figure 1. The
specifications for the camera are shown in Appendix D.

Figure 1. ALPHA uncooled
IR camera.
The images were collected using a commercial frame grabber card, associated software, and
laptop. The frame grabber catd was manufactured by Video Capture Esséntials. The captured
images are stored ds Microsoft Windows Bitmap files and had the following ptoptities: height



Appendix B. BL-1994 Sensitivity Specifications

Noming! Sensitivity at dkKHr=

4000

-€9d0B below 4 volt.por 0.4 Pa (Nm2) in S.F.M.

+t0
415

+10

+

o
+

10

5

to

=
E
a
c
o
z
4
z
=
FA
£
ec
2
2
=
3
Z

20

100 1000
Frequeng in Hertr

10000

=) BL-1785-"

/ WITH 38"
"CABLE
UASSEMBLY_

Figure B-1. BL-1994 sensitivity specifications.

19



Army RESEARCH LABORATORY

The NATO TG-25 Unattended Ground Sensors Field
Experiment 2002

by Brian Mays, Hao Vu, and Nino Srour

ARL-TR-3010 September 2003

‘orvanenoncncnsermmenres 220031103 120 |



INTENTIONALLY LEFT BLANK

42



2.5 IR Camera: (Located at Z3)

€amera Location - N 47.00269°
E 02.68582°
Alt: 172m

Distance from camera perpendicular to middle of the track: 5.2 m
Distance from camera to center of intersection: 27.8 m
Angle from camera to intersection: 135° from magnetic north.

Figure 3 shows the IR camera position relative to the road.

IR Camera

Figure 3. IR camera position at Z3.

2.6 Sensor Microphone Configurations and Seismic Configuration
The sensor configurations for Sensor 8 site Z3 are as follows:

Group-@: Array of Microphones. The microphones were configured as a 7-element 4-ft circular
array with topology shown in Figure 4.

Group 0 used junction box serial number (SN): 213(3 temp label)
Channel 1: Mic SN 101
Channel 2: Mic SN 117
Channel 3: Mig SN 48
Channel 4: Mic SN 63
Channel 5: Mic SN 19



Position estimated with Garmin Receiver (accuracy 4 m)
IP Address: 192.168.10.60
Sensor ID number used in NATO Messages : 370

Geodetic survey location:
N 47° 0.1768 min
E 02° 41.14357 min
Alt: 232.7-m ellipsoid

Sejsmic sensor is 193 cm from the center of acoustic array. Acoustic array and seismic sensor
are both aligned to True North.

© Locations in WGS-84 coordinates

¢ NATO Sensor ID numbers were unique for all participants

2.4 Site Z3 Surroundings

Site Z3 has an old farm building ~100 m from the array. The walls were intact and created an
efficient reflective source. Fhe wall facing the array was parallel to the road between Z1 and Z3.
The distances and locations of the surroundings at Z3 are mapped out in Figure 2.

Wall
N47.00216 | Angle From Array Relative
£26852 | to true north 205°
a |
N 47.00293
N 47.0026 Elect. E 2.68576
E 2.68576 Hut
“Arra
‘Angle From Array Relative y
to True North 175° NN

‘True North

Figure 2. Locations of local Z3 surroundings.
Controlling Computer “Magenta” was configured with IP Address 192.168.10.90.

Both sensors were configured to connect to the “Spider” socket server at IP Address
192.168.10.31 and port 1000.



INTENTIONALLY LEFT BLANK

38



Figure E-2. AMX-10RC: Reconnaissance vehicle.

Configuration: 6 x 6

Combat weight: 15,880 Kg

Unloaded weight: 14,900 Kg

Track: 2.425 m

Wheelbase: 1.55 + 1.55m .
Engine: Baudouin Model 6F 11 SRX diesel engine developing 280 hp at 3000 rpm
Transmission: preselective with four forward and four reverse gears

Suspension: hydropneumatic

26



Appendix E. Vehicle Descriptions

Figure E-1. AMX-10P: Infantry combat vehicle.
Combat weight: 14,500 Kg

Unloaded weight: 12,700 Kg

Track width: 425 mm

Length of track on ground: 2.93 m

Engine: Hispano-Suiza HS 115 V8 water-cooled supercharged diesel developing 260 hp at
3000 rpm

Transmission: preselective with four forward and one reverse gears

Suspension: torsion bar

25



In support-of these tasks, a decision was made to further investigate the benefits of networking
UGS systems and to demonstrate interoperability among participating nations. It was deemed
necessary to organize a field-campaign in-which each participant will collect data and provide
real-time-UGS system output to anetwork. Via the network, the UGS system output would be
collected and visualized in real-time-on a-central-server. Analysis of the collected data (i.e., data-
fusjon) would be carried out after the field-campaign.

In October 2002, under the auspices of the SET-08/TG-25 NATO research group, France hosted
the Joint UGS field experiment campaign at the “Les Ormeaux” testing facility in Bourges.
Appendix A shows the test site locations and the vehicle trajectories.

Apart from each team's own objectives concerning the field-campaign, the following collective
goals have been defined:

© Centralized UGS system output. During the field-campaign, output data from each
participant’s UGS system(s) would be collected and displayed in real-time on a central
server. This would demonstrate the potential of networked UGS systems, enabling the
centralized and uniform collection of UGS systems' output.

e Exchange of sensor data. After the field-campaign, each TG-25 member would provide
sensor data recorded during the field-campaign to other TG-25 members upon request.

e Analysis of networked UGS systems. After the field-campaign, the centrally collected
UGS systems’ output data would be made available to TG-25 members to determine the
benefits of networking UGS systems.

e Field-campaign report. A report would be written to provide participants and others with
information about the field-campaign.

-e Demonstration for VIPs. During the field-campaign, a number of invitees were given the
opportunity to attend the field-campaign. The purpose was to demonstrate current
developments and to gain support for the funding of research in networked UGS systems.

1.2. Raw Data Collection Hardware

The data collection hardware that was used by the U.S. Army Research Laboratory (ARL) is
referred to as the Data Fusion Testbed (DFT).! The DFT was developed by ARL to allow rapid
in-field testing of various sensors and-algorithms. The field-rugged, self-contained DFT can
operate on battery or alternating current (AC) power, is remotely operated via wireless or RJ-45
network connection, and provides on-board recording of up to 56 channels of raw sensor data.
The DFT can also host eight concurrent signal processing algorithms operating on the real-time

'Mays, B. Electrical and Software Design Report for the Data Fusion Testbed. ARL-MR-536; U.S. Army Research
Laboratory. Adelphi, MD, July 2002.



INTENTIONALLY LEFT BLANK
|
|

16



Appendix F.. Data Format Specifications

F.1 Introduction

Every data packet will contain a header section and a data section. The header section comes
-with a fixed length of 40 bytes long. Depending on the sampling rate, the length of the data

section is varied.

HEADER: Each field is a 16-bit unsigned integer in Little Endian Format (LSB) first.

Table F-1. Packet header format.

Fields Name Description Value
1 Header ID Distinguish different kind of data 2000 = acoustic data
O=NULL data
2 Data type ID Distinguish different type of data 0=RAW data
1=FFT data
3 Year Years since 1900 99-
4 Month = 1-12
5 Day — 1-31
6 Hour Hours after midnight 0-23
7 Minute Minutes after hour 0-59
8 ~Second Seconds after minute 0-59
9 Millisecond Milliseconds after second 0-999
10 Sensor/group ID Sensor ID/“signal condition” box ID Sensor ID or w/ group ID
11 Sampling rate Number of samples per second 2048 = Maximum sampling rate
12 Update rate ‘How often data are being transfer to —
host in hertz

B Gain ‘Amplifier gain setting for “signal Refer to Appendix C for gain

condition” box table
Ta Cutoff Cutoff frequency setting for “signal Refer to Appendix C for cutoff

condition” box table
5 Full scale voltage = £5 volts
16 Number of channels A/D channels 64 A/D channels that split into 8

per group: channels per group
17 ‘Days since sunday Number of days from sunday 06
18 Board sampling rate | Used for calculating mux delays across —
groups

19 ‘Active group mask Bit 0-7 set indicates corresponding =

Group Active
20 Frame counter Rolling counter used to detect lost 1-65535

frames

Note: The size of each data packet can be calculated as follows:

RAW data packet (in bytes):

((Geader.Sampling Rate * Header. Number of Channels) / Header Update Rate) * 2) + 40
NULL data = Contains only the header data

data = Unprocessed data
FFT data = Fast Fourier data

33



F.2. Mux Delay Calculation

“In applications using multigroup data, the mux-delay-between-groups is calculated-using Header

Fields-t8 and-t9: Fhe groups are scanned-at the board sample-rate making the base mux delay
1/bpard-sample rate. The total-delay is the base delay *the number of active groups- between
groups of interest; which is showrr in-field 19: Note-that only active groups add to delay
caleulations. For example, an-active-group mask of -0x-@B-groups 0; 1, and-3-is-active. The
delay between Oand 3 is a2*base mux delay and the delay is 1*base mux delay between

O and 1 and 1 and 3.

F.3. Data Block Specifications
Raw Data:

The raw data sent to the host is in individual blocks for each-group. Within the block; the eight
channels-are-stored-as signed-16-bit integers (Little Endian)- in an-interleaved-fashion: The
interleave pattern is ({[channel'1, 2,3, 4,5; 6, 7,-8][channel1, 2....]). Note that within a sub-block
(channels 1-8), the samples are simultaneous and each sub-block represents one sample event.

34



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4. TITLE AND SUBTITLE 5a, CONTRACT NUMBER

The NATO TG-25 Unattended Ground Sensors Field Experiment 2002

Sb. GRANT NUMBER

Se. PROGRAM ELEMENT NUMBER

62120A.
6. AUTHOR(S) $4, PROJECT NUMBER
Brian Mays, Hao Vu, and Nino Srour 3NE4RT
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‘Sf. WORK UNIT NUMBER
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12. DISTRIBUTION/AVAILABILITY STATEMENT
Approved for public release; distribution unlimited.

13, SUPPLEMENTARY NOTES

14, ABSTRACT
In October 2002, the U.S. Army Research Laboratory (ARL) participated in the NATO TG-25 unattended ground sensors
experiment held in Bourges, France. The field experiment was a joint international signature collection and vehicle tracking
exercise with nine participating NATO countries. The experiment consisted of nine different ground vehicles that covered the
heavy-tracked, light-tracked, heavy-wheeled, and light-wheeled class of ground vehicles. The vehicles were run in single
vehicle and convoy formations. This report describes the raw signature data that was collected by the ARL during the TG25
field experiment. The raw signature data collected include acoustic array data at two geographic locations, three-axis seismic
data at two geographic locations, and still infrared images of the vehicles at one location.

15. SUBJECT TERMS
unattended ground sensors (UGS), acoustics, seismics, ground vehicles (heavy-tracked, light-tracked, heavy-wheeled, light-
wheeled), NATO

17. LIMITATION | 18.NUMBER | 19a. NAME OF RESPONSIBLE PERSON
16, SECURITY CLASSIFICATION OF: OF

OFPAGES | Brian Mays
ABSTRACT

a, REPORT b. ABSTRACT ¢. THIS PAGE 37 19. TELEPHONE NUMBER (Include area code)
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3. Vehicle Test Matrix

Table-t is the test matrix that provides a detailed record of the actual vehicle (Appendix E) runs
during the field test. It records the number of runs that had taken place during the field test, the
date wher the runs occurred, the time'when the vehicle(s) started their runs, the time when the
vehicle(s)-ended their runs, what type of target(s), the speed of the target(s), and how many
targets were involved during the runs. It also provides the footnote that documents additional
information that occurred during the runs.

4, Description of Raw Data

‘Fhe raw acoustic and seismic data that were collected at the TG-25 field experiment have the
same fundamental format specification. The data are organized into one file per eight analog
signal channels. For each site, the-first group (group 0) of channels contained the acoustic array
data on channels 1-7 and the second-group-(group 1) contained the three-axis seismic data. The
seismic group-had three channels 1-3, containing the North, East, and Vertical components,
respectively. Channels 8 on group-0 and channels 4-8 on group 1 had no sensor elements
connected-and-should be ignored: During the tests, each vehicle run produced two data files per
site location. The filenames have the basic format of year_month_day_hour_min_sec_
“SensorNumber_GroupNumber. The-Sensor number indicates the site where the data were
colfected,-and the group number indicates which set of eight analog channels are contained in the
file.

The-data within each file are stored-in a binary file that is specified in Appendix F. The
fundamental-structure is a 40-byte-header followed by a packet of raw data. The size of the raw
data packet is calculated from the header information but is in this case 1 s of analog data for the
eight channels specified by the-group-number. The blocks of headers followed by data repeat
throughout the entire data file, which spans the entire vehicle run. The binary files are easily
read into application by calculating the size parameters from the header fields, and an example
MATLAB (Matrix Laboratory) program is included in Appendix G, which demonstrates the
reading of the raw data files.



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11



Army Research Laboratory
Adelphi, MD 20783-1197

ARL-TR-3010 September 2003

The NATO TG-25 Unattended Ground Sensors Field
Experiment 2002

Brian Mays, Hao Vu, and Nino Srour
Sensors and Electron Devices Directorate, ARL

‘Approved for public release; distribution unlimited.



INTENTIONALLY LEFT BLANK

32



INTENTIONALLY LEFT BLANK

20



NOTICES
Disclaimers

The findings in this report are not to be construed as an official Department of the Army position unless
so designated by other authorized documents.

Citation of manufacturer’s or trade names does not constitute an official endorsement or approval of the
use thereof.

Destroy this report when it is no longer needed. Do not return it to the originator.



Figure E-4, CBH P4: Armored personnel cartier.
Configuration: 4 x 4
Combat weight:
Petrol engine: 3300 Kg
Diesel engine: 3380 Kg
Max load: 1100 Kg
Track: 1.4m
Wheelbase: 2.4 m
Engine: 4-cylinder diesel developing 76 hp or 4-cylinder intercooled diesel developing 110 hp
Suspension:
(front) coil springs, antisway bar and double-acting
telescopic hydraulic shock absorbers
(rear) coil springs and double-acting telescopic

hydraulic shock absorbers

7%



Appendix H. Gain Table for Signal Conditioning Boxes

H.1 Gain Table for Signal Conditioning Boxes

Gain value selects the gain used in the signal conditioning boxes. It is a hex pair with the top
nibble effecting the low four channels and the low nibble effecting the high four channels. The
nibble values map to gains as in Table H-1.

Fable H-1.-Gain-table.

Constant Box Gain Mic Gain
0. L 1
1 1 10
2. 10 1
3 10 10
4 100 1
5 100 10
6 1000 1
7 1000 10
A AGC cho AGC ch0
B AGC ch4 AGC ch4

Notes: AGC= Automatic gain control

The A or B options enable AGC

on respective group of Channels with the
reference channel indicated above. Any other
valid gain sent to the group will disable AGC.

H.2 Cutoff Values for Signal Conditioning Boxes

Cutoff value-selects the cutoff frequency used in the signal conditioning boxes. It is a hex pair
with the top nibble effecting the low four channels and the low nibble effecting the high four
channels. The nibble values map to frequencies as in Table H-2.

Table H-2.- Cutoff frequency table.

‘No Change
20. kHz
10 kHz
5 kHz
2.5 kHz
1.25 kHz
625 Hz
312Hz
156 Hz
78 Hz
39 Hz

19 Hz

10 Hz

a]t8]> fro foe] sorter] afes|iol elo

37



Appendix D.. ALPHA Infrared (IR).Camera Specifications

ALPHA Specifications

Detector type Uncooled-Microbolometer
Detector spectratrange- 7.5—-13.5 microns

Array format~ 160 Hx 128 V pixels
Field of view (degrees) 25Hx19V

Figure D-1. ALPHA IR camera specifications.

23



ARL Data Fusion Testbed

Figure 4. Array topology and signal connections.
Channel 6: Mic SN 122
Channel 7: Mic SN 26

Channel 8: No Connection
Group 1: 3 channels of seismic data from tri-axis seismometer with ARL SN 6.

Group 1 used junction box SN: 2-15
Channel 1: North

Channel 2: East

Channel 3: Vertical

Channels 4-8: No Connections

The sensor configurations for Sensor 6 site Z1 are as follows:

Group 0: Array of Microphones. The microphones were configured as a 7-element 4-ft circular
array with topology shown in Figure 4.



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