ARCH
OFF-WORLD INTELLIGENCE ARCHITECTURE
THE DUAL-BRAIN SYSTEM
Separation of Concerns: High-Level AI (Jetson) vs Real-Time Control (Cube Orange+)
THE BRAIN
NVIDIA JETSON ORIN NANO
- • V-SLAM Mapping (Octomap)
- • YOLOv8 Object Detection
- • Mission Planning
THE BODY
CUBE ORANGE+ (ADS-B)
- • Triple-Redundant IMU
- • Motor Mixing (Coaxial)
- • EKF3 State Estimation
SYSTEM DATA FLOW
LIVE VIEW // MISSION PHASESDETAILED ARCHITECTURE
SYSTEM ARCHITECTURE FLOW
MISSION LIFECYCLE LOOP
[PHASE A]SEEDING: Base Station initializes map & charges UAV.
[PHASE B]SEARCH: UAV executes localized V-SLAM sortie.
[PHASE C]INTERFACE: Docking, Data Offload, Recharge.
INTERFACE DEFINITION
| INTERFACE | TYPE | PROTOCOL |
|---|---|---|
| UAV ↔ Base | Telemetry | MAVLink / 915MHz LoRa |
| Imager → Jetson | Data Stream | MIPI CSI-2 |
| Jetson → FCU | Control | UART / ROS 2 |
EMERGENCY FAILSAFE
TRIGGER: V-SLAM LOST
Degrade to Optical Flow (330Hz) + Barometer hold.
ACTION: EXECUTE RETURN_TO_HOME
TRIGGER: LINK TIMEOUT
If heartbeat < 0.5Hz for 5000ms.
ACTION: ASCEND TO 50M (RELAY MODE)