ULS-Heli-G2

• 1: ULS-Heli-G2 Datasheet
• 2: ULS-Heli-G2 Interface Control Document
• 3: ULS-Heli-G2 Operation Manual
• 4: ULS-Heli-G2 Precision Landing System
• 5: ULS-Heli-G2 Precision Landing System

1 - ULS-Heli-G2 Datasheet

ULSDC-PBDS210925 · version 0.2.0 · issued September 21, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this datasheet is to provide comprehensive technical information about the ULS-Heli-G2 System family. This includes specifications, performance characteristics, and detailed descriptions of system components, such as transmitters and receivers. By outlining the interfaces between these components, the datasheet aims to facilitate seamless integration and operation for system engineers, integrators, and developers working system.

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-Heli-G2 systems. It provides detailed information on the system.

System Base Components

Transmitter (Ground Unit)

Figure: ULS-Heli-G2 Transmitter A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing. The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the system, such as positional data, commands, and status.

Receiver (Onboard Unit)

Figure: ULS-Heli-G2 Receiver A receiver is a device that is placed on board an aircraft. The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Part Numbering

Table: Part Numbering

System specification.

Table: Common Specification

Table: Receiver (Slave) Specifications

Table: Receiver (Master) Specifications

Table: Transmitter (Ground) Specifications

Pinout Information

Table: 4 Pin Connector Pinout

Table: 8 Pin Connector Pinout

Table: Transmitter 10 Pin Connector Pinout

Mechanical dimensions

Figure: Slave receiver Mechanical Dimensions

Figure: Master receiver Mechanical Dimensions

Figure: Transmitter Mechanical Dimensions

Packaging information

The device is shipped in a protective case.

Figure: Protective Packaging Case

Environmental Conditions

Environmental Conditions - Industrial Grade

Equipment is designed to operate reliably in demanding environmental conditions typical of aerospace, industrial automation, and outdoor applications.

Operating Temperature Range

• Standard operating range: -20°C to +55°C
• Covers most industrial and outdoor applications
• Reliable performance across temperature extremes
• No performance degradation within specified range

Humidity Tolerance

• Relative humidity: Up to 70% (non-condensing)
• Protected against moisture in typical operating conditions
• Suitable for outdoor and semi-protected installations
• Condensation prevention through sealed design

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Suitable for harsh industrial environments
• Protected against rain, splashing, and temporary submersion
• Dust-tight sealing for contaminated environments

Storage Conditions

• Storage temperature: -40°C to +70°C
• Relative humidity: Up to 95% (non-condensing)
• Long-term storage in industrial facilities

Operational Environment Standards

• Designed to meet industrial equipment requirements
• Suitable for UAV/drone applications
• Outdoor installation capable
• Protected against:
  • Dust and particulate matter
  • Water spray and rain
  • Temporary water immersion
  • Temperature fluctuations
  • High humidity

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

2 - ULS-Heli-G2 Interface Control Document

ULSDC-PBICD210925 · version 1.0.1 · issued September 22, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document outlines the interfaces between the ULS-Heli-G2 system components, including the transmitter, receiver, and autopilot systems (Ardupilot and PX4 and similar).

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-Heli-G2 systems. It provides detailed information on the interfaces between the system components, ensuring seamless integration and operation.

System Components

Transmitter (Ground Unit)

Figure: ULS-Heli-G2 Transmitter A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing. The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the system, such as positional data, commands, and status.

Receiver (Onboard Unit)

Figure: ULS-Heli-G2 Receiver A receiver is a device that is placed on board an aircraft. The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Interface Overview

Figure: ULS-Heli-G2 System Interfaces Overview

Transmitter to Control PC Interface (External Sensors)

The transmitter can be connected to a control PC or external equipment for configuration, status monitoring, and data exchange.

Data Types

• Status information
• Control signals
• Transmitter configuration
• External IMU/COMPASS data

Connection Types

• CAN Bus - For network communication
• USB - For configuration and firmware updates
• RS422 - For serial communication with external sensors

Transmitter Pinout

Table: Transmitter 10 Pin Connector Pinout

Transmitter to Receiver Interface

The transmitter and receiver use an optical interface to exchange data. Transmission uses IR emission at 940 nanometers. Data transmission is only in the direction from the transmitter to the receiver.

Data Types

• Position encoded
• Status encoded data (Transmitter orientation and instructions)

Connection Type

• Optical IR 940nm - Infrared optical link

Receiver to Autopilot and Receiver to PC Interfaces

Data Types

• MAVLink messages
• ULS-Blitz frames
• ASCII protocol

Connection Types

• UART - Serial communication with autopilot
• CAN - Network communication
• USB - Direct PC connection

Receiver Pinout

Table: 4 Pin Connector Pinout

Table: 8 Pin Connector Pinout

Powering Interfaces

Figure: Power Distribution and Connections

Transmitter Electrical Characteristics

Table: Transmitter Electrical Specifications

Receiver Electrical Characteristics

Table: Receiver Electrical Specifications

Functional Interfaces

Figure: Data Flow and Functional Interfaces

Data Exchange

The ULS-Heli-G2 system implements several data exchange mechanisms:

Control PC Functions:

• Configure and view status of transmitter
• Set configuration of receivers
• Send control signals (On/off, compass override information)

External Equipment:

• External IMU/Compass equipment can be used to override internal IMU/compass information

Receiver Functions:

• Accept data from transmitter over IR signal (position field information and ground unit IMU data)
• Accept NED and Attitude information from autopilot to convert coordinate system
• Multiple receivers can communicate to calculate vehicle orientation (YAW)
• Send position offset data to autopilot

Mechanical Interfaces

Figure: Slave receiver Mechanical Dimensions

Figure: Master receiver Mechanical Dimensions

Figure: Transmitter Mechanical Dimensions

Transmitter Mounting

Use 16 mounting holes to mount transmitter to panel. 3D model of the transmitter can be provided upon request.

Receiver Mounting

Both master and slave receivers have mounting provisions for secure installation. 3D models of the receivers can be provided upon request.

Communication Protocols

Overview

The protocol used by devices for configuration is proprietary and is described in other documents. However, the protocol implements the possibility of transmitting messages (Blitz messages) that can be used by the user to control the device and obtain information. These messages are universal, and the format describes the data that is transmitted by various devices in our system connected to a single network.

Use CMD=6 to send Blitz messages.

In this document, the CAN protocol is specified. RS485 is used to implement custom protocols that can be defined in the future.

CAN Bus Protocol Frame Format

flowchart LR
  A[Sender Device] --> B[GLOBAL]
  B --> C[CMD = 6]
  C --> D[ID]
  D --> E[dsn_lid]
  E --> F[msg_id]
  F --> G[Blitz Payload data <= 8 bytes]
  G --> H[Receiver Device]

The CAN protocol uses the following frame structure:

Table: CAN Protocol Frame Fields

Status Bit Definitions

Most messages include a status byte with the following bit definitions:

Table: Status Bit Definitions

Common Data Structure

Blitz Common Data Structure

Structure: __blitz_common_data_struct

Table: Blitz Common Data Structure The union contains all possible message structures:

• xcg1_rx_raw_measurmet
• rx_raw_measurmet
• rx_pos_in_tx_frame
• rx_mrx
• rx_dacs

Usage: Universal container for all ULS Blitz message types.

Implementation Notes

1. Packed Structures: All structures use __attribute__((packed)) to ensure no padding bytes are added by the compiler.
2. Endianness: The protocol assumes little-endian byte order for multi-byte fields.
3. Angular Precision: Angular measurements use 16-bit signed integers with specific scaling factors for different ranges.
4. Distance Units: Distance measurements may use different units (cm, 10cm increments) depending on the message type.

Message Types

XCG1 Raw Measurement (0x0010)

Message ID: ULS_BLITZ_MSG_ID_XCG1_RX_RAW_MEASURMENT (0x0010)

Structure: __uls_blitz_xcg1_rx_raw_measurmet

Table: XCG1 Raw Measurement Message Format Purpose: Legacy raw measurement data for XCG1 systems with limited angular range.

Raw Measurement (0x0011)

Message ID: ULS_BLITZ_MSG_ID_RX_RAW_MEASURMENT (0x0011)

Structure: __uls_blitz_msg_rx_raw_measurmet

Table: Raw Measurement Message Format Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Standard raw measurement data with full angular range.

Position in TX Frame (0x0012)

Message ID: ULS_BLITZ_MSG_ID_RX_POS_IN_TX_FRAME (0x0012)

Structure: __uls_blitz_msg_rx_pos_in_tx_frame

Table: Position in TX Frame Message Format Purpose: 3D position data relative to the transmitter coordinate system.

MRX Information (0x0013)

Message ID: ULS_BLITZ_MSG_ID_RX_MRX (0x0013)

Structure: __uls_blitz_msg_rx_mrx

Table: MRX Information Message Format Purpose: Multi-receiver (MRX) information for secondary receiver data.

DACS Information (0x0014)

Message ID: ULS_BLITZ_MSG_ID_RX_DACS (0x0014)

Structure: __uls_blitz_msg_rx_dacs

Table: DACS Information Message Format Purpose: DACS (Distance and Azimuth Correction System) data with continuous yaw tracking. Available on VTOL systems only.

Ground IMU Measurement (0x0020)

Message ID: ULS_BLITZ_MSG_ID_GIMU_MEASUREMENT (0x0020)

Structure: __uls_blitz_msg_gimu_data

Table: Ground IMU Measurement Message Format Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Ground unit IMU (Inertial Measurement Unit) orientation data.

IMU Override (0x0030)

Message ID: ULS_BLITZ_MSG_ID_XX_TXC_IMU_OVERRIDE (0x0030)

Structure: __uls_blitz_msg_xx_txc_imu_override

Table: IMU Override Message Format Control Bits:

Table: IMU Override Control Bits Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Override IMU data on ground unit for external orientation control.

Magnetometer Override (0x0031)

Message ID: ULS_BLITZ_MSG_ID_XX_TXC_MAG_OVERRIDE (0x0031)

Structure: __uls_blitz_msg_xx_txc_mag_override

Table: Magnetometer Override Message Format Control Bits:

Table: Magnetometer Override Control Bits Magnetic Field Conversion Formula:

mag_value = (value_int16 * 1.0f) / 32767.0f

Purpose: Override magnetometer data on ground unit for external compass control.

Environmental Conditions

For the Receiver Unit

• Operating temperature range: -40°C to +85°C
• Humidity range: Less than 70%
• Dust and moisture protection: IP67
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)

For the Transmitter Unit

• Operating temperature range: -40°C to +85°C
• Humidity range: Less than 70%
• Dust and moisture protection: IP67
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)

Storage Conditions

• Storage temperature: -40°C to +85°C
• Relative humidity: Up to 70% (non-condensing)

Part Numbering

Table: Part Numbering

Specifications

Table: Common Specification

Table: Receiver (Slave) Specifications

Table: Receiver (Master) Specifications

Table: Transmitter (Ground) Specifications

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

3 - ULS-Heli-G2 Operation Manual

ULSDC-PBOM210925 · version 1.0.0 · issued January 26, 2026
The numbered PDF is the controlled copy: download it from the portal.

ULS-Heli-G2 Operation Manual

Table of Contents

1. Introduction
2. Safety Information
3. Getting Started
4. Installation
5. Basic Operation
6. Advanced Features
7. Troubleshooting
8. Maintenance
9. Specifications
10. Support

Introduction

Purpose

The ULS-Heli-G2 is a professional-grade optical positioning system designed to enable precision approach and landing for helicopters and heavy-lift rotary-wing UAVs. It provides reliable short-range positioning in GPS-denied or degraded environments, including maritime and industrial operations.

Scope

This manual covers safe operation, installation, configuration, and routine maintenance of the ULS-Heli-G2 system, including aircraft receivers (Master/Slave) and the ground transmitter (Beacon).

Intended Audience

Pilots, flight technicians, and integration engineers responsible for installing and operating the system on helicopters or heavy-lift rotary UAV platforms.

Safety Information

Important Safety Guidelines

• WARNING: Rotary-wing aircraft operations are inherently hazardous. Only qualified personnel should install and operate this system.
• WARNING: Avoid direct eye exposure to high-intensity optical emitters. Do not stare into the Beacon emission aperture.
• CAUTION: Ensure secure mounting and vibration isolation compliant with airworthiness requirements for your platform.
• CAUTION: Verify electromagnetic compatibility and power budgets when integrating with aircraft systems.
• NOTE: Maintain clear line-of-sight between aircraft receivers and ground Beacon during approach and landing.

Regulatory Compliance

• System components should be installed per applicable aviation regulations and local maritime/industrial standards.
• Environmental considerations: the system is qualified for all-weather operation; verify local restrictions for optical emissions.

Getting Started

What’s in the Box

• 1× Ground Transmitter (Beacon) — heavy-duty IP-rated enclosure
• 1× Master Receiver — aircraft unit with enhanced features
• 2× Slave Receivers — compact aircraft units for redundancy
• Connection cables — USB, CAN, UART interface options
• Mounting hardware — aircraft and ground mounting kits
• Documentation — datasheet and operation manual

System Requirements

• Aircraft power for receivers: 5 V DC, ~3 W per receiver
• Ground power for Beacon: 22–26 V DC, ~10 W
• Supported autopilots: ArduPilot Helicopter (native), PX4 compatible; or custom AP via USB/UART/CAN
• Clear approach corridor ensuring line-of-sight to Beacon

Installation

1. Preparation

• Review aircraft electrical and mechanical integration constraints (space, power, EMI/EMC).
• Identify mounting locations for receivers with unobstructed forward field of view (~90°).
• Select Beacon site providing 60° emission coverage and safe standoff from rotor/obstacles.

2. Ground Transmitter (Beacon) Mounting

• Mount the Beacon on a stable platform (deck/helipad) within the planned landing area.
• Ensure emission aperture faces the approach path; verify no occlusion within 60° working angle.
• Connect 22–26 V DC supply; confirm IP-rated sealing and strain relief on cables.

3. Aircraft Receiver Installation

• Install Master and Slave receivers per platform layout, oriented to maximize forward line-of-sight.
• Provide vibration isolation per aircraft standards; route cables securely away from moving parts.
• Connect power (5 V DC) and chosen data interface (USB, UART, or CAN) to the flight computer/AP.

4. Initial Setup

• Power Beacon and receivers; confirm device enumerations and link status on AP.
• Configure AP integration (ArduPilot/PX4) to accept ULS-Heli-G2 positioning input.
• Perform alignment check: validate that receiver FOVs cover the approach corridor; adjust mounts if needed.

Basic Operation

Power-On Sequence

1. Power Beacon and verify status indicator.
2. Power aircraft receivers; confirm data link availability.
3. Verify AP integration: positioning data visible and updating at 20 Hz.

Approach and Landing

• Establish approach with direct line-of-sight to Beacon within 50 m range.
• Maintain alignment within the 60° working angle.
• Monitor horizontal/vertical offsets on AP/HMI; use cues to correct approach.
• Execute landing per SOPs; system supports <5 cm horizontal and <10 cm vertical accuracy at 1 m (linearly scaling).

Operating Notes

• System operates day/night and in adverse weather (rain, fog, snow, dust) within qualified limits.
• If dual receivers are installed, Master manages fusion and automatic failover.

Advanced Features

Dual Receiver Configuration (Master/Slave)

• Redundancy with automatic failover for critical operations.
• Cross-checking and sensor fusion for enhanced accuracy.
• Independent power supplies recommended.

Interfaces

• USB, UART, CAN for integration to flight computers or custom APs.
• ArduPilot Helicopter: native support; PX4: full compatibility.

Update Rate and FOV

• 20 Hz update rate for smooth positioning.
• Receiver FOV ~90°; Beacon emission angle ~60°.

Troubleshooting

Maintenance

Regular Maintenance

• Clean receiver optics and Beacon aperture; remove salt spray/dust.
• Inspect mounts, fasteners, and cable strain relief.
• Verify firmware/software compatibility with AP after updates.

Preventive Maintenance

• Quarterly alignment verification and functional tests.
• Replace worn vibration isolators per aircraft maintenance schedule.

Specifications

System Performance

• Horizontal Accuracy: <5 cm at 1 m (linear scaling)
• Vertical Accuracy: <10 cm
• Operating Range: up to 50 m
• Update Rate: 20 Hz
• Working Angle (Beacon): 60°

Receiver (Slave)

• Weight: 40 g
• Dimensions: 46 × 26 × 12 mm
• Field of View: 90°
• Power Consumption: 3 W
• Supply Voltage: 5 V DC
• Interfaces: USB, CAN, UART

Receiver (Master)

• Weight: 60 g
• Dimensions: 50 × 50 × 14 mm
• Field of View: 90°
• Power Consumption: 3 W
• Supply Voltage: 5 V DC
• Interfaces: USB, CAN, UART

Beacon (Ground)

• Weight: 4100 g
• Dimensions: 290 × 215 × 48 mm
• Emission Angle: 60°
• Power Consumption: 10 W
• Supply Voltage: 22–26 V DC
• Interfaces: USB, CAN, UART

Support

• Technical Support and Services available via the website contact page.
• For integration assistance (ArduPilot/PX4/custom AP), engage engineering support.

Contact for more information

4 - ULS-Heli-G2 Precision Landing System

ULSDC-PBFL210925-L · version 1.0.0 · issued 2025-11-10
The numbered PDF is the controlled copy: download it from the portal.

ULS-Heli-G2 Precision Landing System

Infrared-Based UAV Autonomous Landing Solution | 50m Range | IP67 | -20°C to +55°C

Why Choose ULS-Heli-G2?

✓ 50m Operating Range | ✓ Work in GNSS denied environment | ✓ No Radio Connection required | ✓ 20Hz Update Rate | ✓ Plug & Play Integration| ✓ IP67 Protection

Precision landing technology for UAVs requiring accurate positioning and safe autonomous landing on stationary or moving platforms. The ULS-Heli-G2 system enables precise autonomous UAV landing through infrared positioning technology. The system consists of a ground-based transmitter that emits coded infrared signals, and onboard receivers that calculate real-time position and orientation data.

How It Works

1. Ground Transmitter (TX) - Infrared beacon continuously emits coded positioning signals in a 60° cone
2. Onboard Receivers (RX) - Master + 2 Slave units mounted on UAV decode signals and calculate 6DOF position (X, Y, Z, Roll, Pitch, Yaw)

System Components

Communication: USB, CAN, UART (115200 baud) | Autopilot Support: Ardupilot, PX4, Custom integration
Data Output: Position (X/Y/Z), Orientation (Roll/Pitch/Yaw), Signal quality, System status

Technical Specifications

Performance

Applications & Use Cases

Primary Applications

🚁 UAV Autonomous Landing - Precise landing on stationary or moving platforms with real-time position feedback
🚢 Marine Operations - Ship deck landing systems for maritime surveillance and logistics
⚡ Emergency Services - Reliable landing assistance in challenging conditions and low-visibility environments

Key Benefits

• All-Weather Operation - IR technology unaffected by lighting conditions, works day and night
• Moving Platform Capability - Real-time 6DOF tracking enables landing on ships, vehicles, or dynamic surfaces
• No GPS Required - Operates in GPS-denied environments (indoors, urban canyons)
• Plug & Play Integration - Compatible with major autopilot systems, minimal configuration

Contact Us

UAVLAS sp. z o.o. | 📧 info@uavlas.com | 🌐 www.uavlas.com |

ULS-Heli-G2 - Precision Landing Made Simple

5 - ULS-Heli-G2 Precision Landing System

ULSDC-PBFL210925 · version 1.0.0 · issued 2025-11-10
The numbered PDF is the controlled copy: download it from the portal.

ULS-Heli-G2 Precision Landing System

Infrared-Based UAV Autonomous Landing Solution | 50m Range | IP67 | -20°C to +55°C

Why Choose ULS-Heli-G2?

✓ 50m Operating Range | ✓ Work in GNSS denied environment | ✓ No Radio Connection required | ✓ 20Hz Update Rate | ✓ Plug & Play Integration| ✓ IP67 Protection

Precision landing technology for UAVs requiring accurate positioning and safe autonomous landing on stationary or moving platforms. The ULS-Heli-G2 system enables precise autonomous UAV landing through infrared positioning technology. The system consists of a ground-based transmitter that emits coded infrared signals, and onboard receivers that calculate real-time position and orientation data.

How It Works

1. Ground Transmitter (TX) - Infrared beacon continuously emits coded positioning signals in a 60° cone
2. Onboard Receivers (RX) - Master + 2 Slave units mounted on UAV decode signals and calculate 6DOF position (X, Y, Z, Roll, Pitch, Yaw)

System Components

Communication: USB, CAN, UART (115200 baud) | Autopilot Support: Ardupilot, PX4, Custom integration
Data Output: Position (X/Y/Z), Orientation (Roll/Pitch/Yaw), Signal quality, System status

Technical Specifications

Performance

Applications & Use Cases

Primary Applications

🚁 UAV Autonomous Landing - Precise landing on stationary or moving platforms with real-time position feedback
🚢 Marine Operations - Ship deck landing systems for maritime surveillance and logistics
⚡ Emergency Services - Reliable landing assistance in challenging conditions and low-visibility environments

Key Benefits

• All-Weather Operation - IR technology unaffected by lighting conditions, works day and night
• Moving Platform Capability - Real-time 6DOF tracking enables landing on ships, vehicles, or dynamic surfaces
• No GPS Required - Operates in GPS-denied environments (indoors, urban canyons)
• Plug & Play Integration - Compatible with major autopilot systems, minimal configuration

Contact Us

UAVLAS sp. z o.o. | 📧 info@uavlas.com | 🌐 www.uavlas.com |

ULS-Heli-G2 - Precision Landing Made Simple