The Language of Drones May 17

The language of DRONES Enabling dialogue between Surveyors and Pilots Updated May 2017

Introduction GRACE is the business engagement unit within the Nottingham Geospatial Institute (NGI), a specialist research group for positioning and Earth observation at The University of Nottingham. This guide was created to allow a better two-way communication between those with a background in geospatial sciences like navigation, positioning and Earth observation, and the operators of Small Unmanned Aircraft (SUA). Training courses and technology awareness events are run by GRACE on behalf of the NGI. Traditionally, the language used in each event is familiar the majority of the delegates, and new ideas build on existing acronyms, processes and regulatory frameworks. Introducing a wholly new technology can cause confusion, so this guide has been produced to bridge the language gap for SUA, and the positioning and engineering sectors. Descriptions and explanations within the guide are designed to relate to the sector, be easily understood by all, and try to minimise complex or technical language. Therefore, they are for guidance only, and should not be considered authoritative, or exhaustive. Users of this guide should not assume that it is error-free or that it will be suitable for the particular purpose which they have in mind. Links are given to many of the organisations who can give complete and authoritative advice if necessary.

Naming: Most people have now bowed to the generic term drone for any unmanned robotic vehicle. This term covers everything from small toys to large military weapons systems; it can also cover any land vehicle, boat or submarine.

When appropriate drone will be used in the guide, unless there is a need for greater clarity. In which case, the following terms or their abbreviation will generally be used: Unmanned Aircraft (UA), Small Unmanned Aircraft (SUA) or Small Unmanned Surveillance Aircraft (SUSA) when referring to the aircraft only; and Unmanned Aircraft System (UAS) to include the aircraft, remote control unit, and any other equipment or people required for the flight.

Drone or Model Aircraft – what is the difference? The two can often appear to be very similar, and we have found no satisfactory, definitions of where the boundary lies between a drone and a model aircraft. However, most national aviation authorities treat the two very differently.

In practice, model aircraft are scaled replica of an actual (or fantasy) aircraft. They may be capable of remote controlled flight, launched with limited controllability, or flightless display models. On the other hand, a drone is a flying robot whose form (construction, shape, size, propulsion, payload, weight etc.) is governed by its function. Drones may be controlled in flight by a remote pilot or pre-programmed.

Updates: new equipment is constantly being developed and applications are growing exponentially, so regular updates and amendments to the guide are necessary in response to feedback from users, changes in regulations or new technology.

Steve Fuller GRACE

Table of Contents

Part 1 A quick guide to names 1 Part 1 Explanation of Terms 2 Appendix 1 Components of a Typical Multi-Rotor SUA / SUSA 23 Appendix 2 ANO 2016 Article 94 – small unmanned aircraft 24 Appendix 3 ANO 2016 Article 95 – small unmanned surveillance aircraft 25

Latest document update May 2017

Part 1 | A quick guide to names

The list below contains most of the more common terms used to describe a drone. You will find some others and more full descriptions of some of the terms in Part 2 Explanation of Terms.

1 Drone Originally a US Air Force term, it refers to a military unmanned aircraft, it has now become the popular term for any unmanned aerial vehicle, regardless of size. Although it still has very negative connotations for many. Drone2 Any unmanned vehicle (aerial, ground or marine) capable of autonomy. Eco-Drone Colloquial term for an SUA used for environmental monitoring. Fixed Wing An aircraft that achieves lift using the flow of air across a wing. LUA Large Unmanned Aircraft There are two classes of LUA: 20 kg to 150 kg and over 150 kg. Multi-Rotor The generic term for any UA able to achieve lift and hover using two or more horizontal rotors. Nano Drone or Nano Aerial Vehicle A very small UA, typically less than 7.5 cm. Methods of flight are NAV often inspired by insect or bird flight. Parcelcopter Colloquial term for an SUA used for postal deliveries. RPA Remotely Piloted Aircraft An aircraft without a human pilot on board, but requires a remote human pilot to operate. NB remotely piloted planes could potentially carry passengers, and therefore the term unmanned would not apply. RPAS Remotely Piloted Aircraft The RPA and all the associated systems and operators required System for the mission. SUA Small Unmanned Aircraft Any UA weighing 20 kg or less. The weight does not include fuel, but does include all other equipment including its payload at take-off. There are two categories of SUA: up to 7 kg and 7 kg to 20 kg. SUSA Small unmanned Any SUA fitted with a camera, or any other sensor. Restrictions Surveillance Aircraft on use are covered by CAA Article 95 (see App 2) Tethered UAV A cable is used to supply power and control information, and to transmit sensor data from the UAV. This allows longer flight times. In some airspace authorities they are not subject to the same level of regulation. UA Unmanned Aircraft An aircraft capable of being operated without a pilot on board, usually controlled by a remote pilot via a radio link. Some UA can be pre-programmed for both flight and payload operations. In the future, it is expected that UA will be capable of fully autonomous flight operations. UAS Unmanned Aircraft System The generic term for any unmanned or remotely piloted system. An Unmanned Aircraft System includes both the aircraft and any supporting activities, e.g. the remote control station. UAV Unmanned Aerial Vehicle Use of UAV is becoming less popular because: 1. The aerial vehicle is more correctly an aircraft. 2. It is an ambiguous term with at least ten possible alternatives, all with similar meanings.

Part 2 | Explanation of Terms

3 axis A system that allows the the three rotational motions of pitch, stabilisation roll and yaw to be stabilised by gyro sensors. See also: pitch, roll, yaw 6 axis In addition to the gyros sensing pitch, roll and yaw, three stabilisation accelerometers sense and compensate for unexpected movements. This reduces the risk of the aircraft being flipped over by gusts of wind and improves the ability to complete sharply banked turns. See also: pitch, roll, yaw and 3 axis stabilisation o 360 flip Making the aircraft complete a full roll in any of the three rotational axes. See pitch, roll and yaw. 808 Camera A small light-weight camera able to take low quality video. ACAS Airborne Collision Avoidance An independent warning system that indicates avoidance System manoeuvres to the pilot to reduce the risk of aerial collision. Accelerometer A chip-based sensor that is able to measure acceleration in a single axis. Usually used in a set of three to measure the x, y and z motion. See also: axis AFR Autonomous Flight Rules For manned aviation - aircraft are free to choose their own flight paths and have responsibility for maintaining separation from all other aircraft. Take-off and landing would be under visual or instrumental flight rules. See also: VFR and IFR AGL Above Ground Level A local height reference for aircraft, not to be confused with AMSL – Above Mean Sea Level AHRS Attitude and Heading Provides information about the orientation of aircraft with Reference System reference to the horizon - that is the amount of pitch, roll and yaw affecting the aircraft. This is done in real time and is computed on-board, and then communicated to the pilot. Associated topic: Thermopile AIC Aeronautical Information Part of the Integrated Aeronautical Information Package (IAIP). Circulars Circulars provide information on: § Safety § Navigation § Technical matters § Legal matters § Administration Available through the AIS: www.ais.org.uk Aileron A hinged control surface on a fixed wing that controls roll. See also: Roll AIP Aeronautical Information Part of the Integrated Aeronautical Information Package (IAIP). Publication Contains information considered to be long-term, for example: charts of public aerodromes. See also: IAIP, NATS Aircraft Any machine capable of flight Airframe The structure of an aircraft, excluding the propulsion system, flight controller, payload, etc.

Airspace The area between the ground and outer space that is governed through national or international law. See also: controlled airspace AirspaceAVOID An app that provides information about controlled airspace and NOTAMS See also: Drone Assist, NOTAMS, SkyDemon AIS Aeronautical Information A free service from NATS that provides online access to the latest Service information for flying. www.ais.org.uk See also: NATS ASAS Airborne Separation Assistance Provides the pilot with information about other aircraft that System might affect navigation decisions. 1 AMS Airspace Management System Communicates to the pilot where it is safe and permitted to fly. 2 AMS Aeronautical Mobile Service A mobile radio service between stations based on land (or ships) and aircraft. AMSS Aeronautical Mobile Satellite A mobile radio service between stations based on land (or ships) Service and aircraft where communication is via a satellite link. AMSL Above Mean Sea Level A common reference datum, not to be confused with AGL – Above Ground Level, which will alter with the terrain directly below the aircraft. ANO Air Navigation Order The ANO 2016 came into force on 25 August 2016. It details the the legal basis of commercial flights in the UK. This edition contains no significant changes to the body of the text relating to drones, but it does re-numbers the articles, so users should be aware of the changes. This Document is published as CAP 393 by the CAA The CAA will continue to make ANO 2009 available, to assist users that have documentation that refers to articles in ANO 2009. The following sections are of particular importance to SUA users: Part 5 - Chapter 4 Article 94. Small Unmanned Aircraft Article 95. Small Unmanned Surveillance Aircraft Part 10 - Chapter 1 Article 241. Endangering the safety of any person or property The full text of the ANO 2016 can be viewed at: caa.co.uk/cap393 See also: CAP 393, Article 94, Article 95, Article 166, Article 167 and Article 241 ANP Actual Navigational The current navigational performance of a navigation system, Performance regardless of the required navigational performance (RNP) of the aircraft. See also: PBN, RNAV and RNP ANSP Air Navigation Service Provider A provider of air traffic control services. See also: NAA (National Aviation Authority). AP Aerial Photography Providing still or video images from an aerial platform, e.g. drone, kite, helicopter, plane etc. Arduino board An open source computer design system for building digital interactive devices. Arduino boards can be bought preassembled, or in kit form. ARF Almost Ready to Fly When purchased, the drone will require either assembling or additional equipment (e.g. a transmitter) before it can be flown. See also: RTF

ARGUS Aerial Robotics Group for A forum for universities with an interest in UAS to promote Universities and Scientists collective interests ARNS Aeronautical Radio Navigation Navigation information carried on radio wavebands protected Service from interference because they have safety-of-life applications. ARPAS-UK Association of Remotely Piloted An industry association for UAS pilots and operators in the UK. Aircraft Systems UK Arrival Checklist Part of the procedures in the Flight Reference Card, it confirms the findings of the Pre-Mission Survey. See also: flight reference card Article 94 Refers to ANO 2016, Article 94. Small Unmanned Aircraft the section of the ANO that outlines the regulations for SUA. Supercedes ANO 2009 Article 166 For full text see: Appendix 3 Article 95 Refers to ANO 2016, Article 95. Small Unmanned Surveillance Aircraft the section of the ANO that outlines the regulations for SUSA. Supercedes ANO 2009 Article 166 For full text see: Appendix 4 Article 166 The regulations relating to small unmanned aircraft in ANO 2009 this has now been superceded by Article 94 of ANO 2016 Article 167 The regulations relating to small unmanned aircraft in ANO 2009 this has now been superceded by Article 95 of ANO 2016 Article 241 Refers to ANO 2016, Article 241. Endangering the safety of any person or property It states: A person must not recklessly or negligently cause or permit an aircraft to endanger any person or property. ATC Air Traffic Control The safe separation of aircraft in flight and during take-off and landing by staff at ATC centres, or airport control towers. ATFM Air Traffic Flow Management Assessing the proposed flight plans of all aircraft using Air Traffic Control to ensure that all traffic can operate safely; e.g. at busy periods ensuring that aircraft wait on the ground until it is safe to proceed. ATM Air Traffic Management The combination of Air Traffic Flow Management, Air Traffic Control activities and Aeronautical Information Services. ATS Air Traffic Services Management and assistance information, in real time, for safe and efficient flight. Includes Air Traffic Control services and publication of NOTAMS ATEX Directives Two EU directives designed to prevent equipment causing fires or explosions in areas that may have explosive gasses or dust present. In the UK, DSEAR (2002) regulates activities in explosive environments. ATTI mode Attitude mode The UAV will hold altitude, but the GPS will be disengaged and so the pilot will need to compensate to hold the aircraft in position against the effect of wind drift. See also: Manual mode, GPS mode and fly away. ATZ Aerodrome Traffic Zone An area, around the main airstrip of an airfield, that requires the permission of the air traffic controller to enter. Typically this has a radius of 2 to 2.5 nm, and extends to 2,000 ft AGL. AR Augmented Reality Adding computer generated information to a view of the real- world. e.g. video, 3D images, audio or positional information. See also: VR (Virtual Reality)

Automated A system that can carry out an action or process following human input or authorisation, this includes pre-programmed routines. Autonomous An unmanned aircraft that does not require pilot intervention Aircraft during the flight. Its systems will enable the aircraft to perform as if it was being controlled by a human pilot. At the moment there are no UAS that are capable of providing safe and reliable fully autonomous flight. See also: Autonomy, sense and avoid, and detect and avoid. Autonomy Capable of sensing the environment and operating without human input, especially where this includes being able to correct or compensate for uncertainties or external influences. See also: sense and avoid, and detect and avoid. Avionics The electrical systems on an aircraft. Axis With reference to drones, a line of rotation in flight. There are three axes, referred to as x, y and z; or, pitch, roll and yaw. See also: pitch, roll, yaw Balanced Battery A system used in batteries with multile cells to ensure even Charger charging. Barometric An electronic sensor that measures air pressure to deteremine Pressure Sensor altitude. BEC Battery Eliminator Circuit Allows a single battery to provide power to multiple circuits. BeiDou The Chinese Global Navigation Satellite System See also: Galileo, Glonass, GNSS and GPS Binding Linking a transmitter and receiver. BLOS Beyond Line of Sight Radio signals to the aircraft’s receiver are obscured. See also: BLOS, ELOS, EVLOS, FPV, LOS, NLOS and VLOS Bluetooth A wireless technology for exchanging data over short distances, typically less than 10m. See also: Zigbee BMFA British Model Flying Association The national governing body for the sport of model flying. Membership will ensure that pilots are given sufficient instruction to ensure safe and competent operation as hobby users. BNF Bind ‘N’ Fly A drone that is not already to bound to a reciever, so it requires binding before it is ready for flight. BNUC-S Basic National UAS Certificate - A national competency qualification for UAS pilots, this or an Small Unmanned Aircraft equivalent is required by the CAA for commercial flights. Brushless Motor A very efficient,lightweight, and robust electric motor that does not produce sparks. This makes them ideal for drones, especially when they are to be used in the presence of flammable or explosive gasses. See also: ATEX and DSEAR Build Term for a home-built drone, or a drone that has been significantly modified. See also: Mod BVLOS Beyond Visual Line of Sight Unable to see the UA directly, due to the UA being hidden behind another object or it is beyond normal vision, and therefore requires visual aids, such as a telescope, an intermediary observer or first person view(FPV). See also: BLOS, EVLOS, FPV, LOS, NLOS and VLOS C2 Command and Control The systems that manage a flight

C3 Command, Control and Generally a military term for the collection, processing and Communications dissemination of information for tactical or strategic purposes. CAA Civil Aviation Authority The Authority that regulates UK airspace. ¾ www.caa.co.uk CAP Civil Aviation Publication Printed copies of each CAP are available from the Stationary Office. Free pdf copies of the latest version can be downloaded from the CAA website. ¾ For a specific CAP use the following format: www.caa.co.uk/capxxxx CAP032 UK Aeronautical Information Also known as the AIP, it contains long-term information Publication essential to air navigation. Updated every 28 days. Available through the AIS website: www.ais.org.uk CAP393 Air Navigation Order (ANO) The publication reference for the ANO - a description of the regulatory requirements for aerial work. See also: ANO ¾ www.caa.co.uk/cap393 CAP722 Unmanned Aircraft System The CAA publication that guides all aspects of developing and Operations in UK Airspace - operating unmanned aircraft legally and safely in the UK. Guidance ¾ www.caa.co.uk/cap722 CAP1361 CAA approved commercial Alphabetical listing of CAA-approved commercial operators of Small Unmanned Aircraft (SUA) Small Unmanned operators Aircraft (SUA) operating sub-7 kg SUA and/or 7-20 kg SUA. Updated at least monthly, available as a pdf download from the CAA at: ¾ www.caa.co.uk/cap1361 CAOSC Congested Areas Operating Any operator wishing to fly a SUA or SUSA of greater than 7 kg Safety Case over a congested area must gain permission from the CAA by completing a CAOSC. This allows the CAA to assess all elements of the work and the aircraft to be used. It is generally valid for 12 months. An information notice (IN-2014/184) is available through the CAA website that gives information about obtaining a CAOSC The CAA guidelines generally allow SUAs under 7 kg to operate without further permission. See also: congested area CATOBAR Catapult-assisted take-off but A method of launching and recovering fixed wing aircraft where it arrested recovery is necessary to use a short runway, for example on an aircraft carrier. Fixed wing UAS can use a scaled-down variation of this technique. See also: CTOL, STOL, STOBAR and VTOL Certified Within EASA Concept of Operation categories this refers to Category operations with highest level of risk, requiring the highest level of regulation. See Concept of Operations, Open, and Specific Categories CG (CoG) Centre of Gravity The single point of balance. This will alter if alterations are made to the drone, by adding equipment or a payload. See also: Payload Command and The data link between the UA and the pilot to control the flight. control link

Commercial Any activity other than public transport, where there is a benefit Operations to someone other than the operator. Anyone operating commercially should check with the National Aviation Authority before commencing work. In the UK operators must have permission from the CAA. See also: PFCO and Valuable Consideration. ¾ A list of CAA approved operators can be found at: www.caa.co.uk/uas ¾ if you would like advice about whether or not you need permisssion, email the CAA: [email protected] CONOPS Concept of Operation EASA has introduced a three category regulatory regime for UAV operations that address the level of risk and user objectives for each type of operation. § Open Category operations do not require authorisation, but should observe national safety regulations. § Specific Category operations require permission (PfAW), the permission will have limits on the type of operation to be carried out. § Certified Category operations are associated with high risk flying; which could include flying in congested areas, BVLOS, or detect and avoid, or use of experimental equipment. Congested area In article 255 of the ANO 2009, the CAA defines a congested area as: "In relation to a city, town or settlement, means any area which is substantially used for residential, industrial, commercial or recreational purposes." CAP 722 App A contains information about the operational factors to be taken into consideration when flying in a congested area. See also: CAOSC, CAP 722 and ANO Conspicuity Visible to others - this could be: by naked eye, by radar or electronically. Control Point The point from which a UAV is controlled by the Pilot in Command, this may be remote from the Take-off and landing site(s). Controlled Defined airspace (horizontally and vertically) under the control of Airspace Air Traffic Control (ATC). The space is divided into Classes A-G dependent on the level of control and interaction required with ATC within that airspace. The free mobile app UK AirspaceAVOID and free desktop app Sky Demon or Sky Demon Light show controlled airspace for the UK. SUA flights are carried out in uncontrolled airspace, below 400 ft. See also: AirspaceAVOID, Sky Demon COTS Commercial, Off-The-Shelf Refers to ready-made and ready-to-use hardware or software, for public use. Course Lock Forward direction of the UA is the same as the direction that the nose of the aircraft. See also: Home lock, CPDLC Controller-Pilot Data Link Rather than use a voice link, the air traffic controller and pilot use Communications text messaging for exchanging navigation and authorisation information. CTOL Conventional take-off and Use of a standard runway to take off and land. landing See also: CATOBAR, STOL, STOBAR and VTOL,

DA Danger Area Any airspace where activities are taking place that might cause danger to other users. In the UK these are usually associated with defence-related activities. Information about danger areas are circulated in the Aeronautical Information Publication (AIP) See also: AIP and IAIP Data Protection Anyone using a camera that could capture an identifiable image Act of an individual should be familiar with their responsibilities under the Data Protection Act. ¾ For more information, visit the Information Commissioner’s Office website: https://ico.org.uk DEM Digital Elevation Model A 3-D representation of a "bare earth" surface created using only unmodified elevation data (i.e. without additional height information). It is often used as the generic term for any digital representation of the earth's surface. See also DSM and DTM. Detect and Avoid A system that is able to detect hazards, which could interfere with or block the flight path, and take the appropriate actions to comply with the applicable rules of flight. The term detect and avoid is preferred in aviation over sense and avoid. See also Sense and Avoid DGAC Direction Generale de l'Aviation The controlling body for civil aviation in France Civile Drone1 Originally a US Air Force term, it refers to a military unmanned aircraft, it has now become the popular term for any unmanned aerial vehicle, regardless of size. Drone2 Any robotic unmanned vehicle (aerial, ground or marine) usually capable of some degree of automatic or autonomous action. Drone Assist An interactive drone safety app from NATS that gives information about the level of risk posed by aerial and ground hazards for drone users, and allows information sharing between users. ¾ For more information visit: http://dronesafe.uk/drone-assist See also: AirspaceAVOID, NATS, SkyDemon Dronecode The CAA has put together a simple code to ensure that pilots in the UK can fly safely and legally, based on the information in articles 94 and 95 of the Air Navigation Order. When you fly a drone in the UK it is your responsibility to be aware of the rules that are in place to keep everyone safe. A simple mnemonic of the code Don’t fly near airports and airfields Remember to stay below 400ft (120m) Observe your drone at all times – stay 50m away from people and property Never fly nea aircraft Enjoy responsibly ¾ For more information visit: http://dronesafe.uk See also: Article 94 and Article 95 Drone Wrangling Controlling multiple drones (often referred to as a swarm) simultaneously. DSEAR Dangerous Substances and UK regulations that apply to any workplace where there is a risk Explosive Atmospheres of explosion. Regulations (2002) See also: ATEX for EU regulations. DSM Digital Surface Model A 3-D representation of an area including all vegetation and buildings etc. See also: DEM and DTM.

DTM Digital Terrain Model A 3-D representation of terrain, without vegetation or buildings etc. See also: DEM and DSM. Dull, Dirty or The standard expression for the conditions where it is argued Dangerous that using an unmanned vehicle is preferable to using a human (or animal). EASA European Aviation Safety Set up by the EU to regulate European civil aviation safety and Agency environmental protection. ¾ www.easa.europa.eu Eco-Drone Any UA used for environmental monitoring EGNOS European Geostationary A system of satellites and ground stations that provide GNSS Navigation Overlay Service signal corrections, giving up to five times better positional accuracy than uncorrected GNSS. ELOS1 Extended Line Of Sight Increasing the flying range beyond direct radio or visual line o sight. See also: BLOS, BVLOS, ELOS, FPV, LOS, NLOS and VLOS ELOS2 Equivalent Level Of Safety Embarkation Part of the procedures in the Flight Reference Card, it ensures Checklist that the PIC has all the equipment needed to complete the flight in safety. Emergency Following an emergency incident, the National Air Traffic Services Restriction of (NATS) may establish restrictions on flights in the area. Flying Regulations ESC Electronic Speed Control Allows individual control of the speed of each motor EUROCAE European Organisation for Civil A non-profit organisation, with a membership drawn from all Aviation Equipment areas of the aviation industry, working to ensure aviation standardisation. ¾ www.eurocae.net EUROCONTROL European Organisation for The A European inter-governmental organisation working to Safety of Air Navigation harmonise air traffic control across Europe. ¾ www.eurocontrol.int EVLOS Extended Visual Line of Sight The pilot in command relies on one or more remote observers to maintain visual contact with the UAS. See also: BLOS, BVLOS, ELOS, FPV, LOS, NLOS and VLOS FAA Federal Aviation Administration The controlling body for civil aviation in the US See also: NAA Fixed Wing Any aircraft relying on the passage of air across a wing to maintain flight. It includes gliders, turbo-propelled and jet powered planes. FL Flight Level A standardised vertical height system that assumes a standard pressure at sea-level. Height is expressed in 100’s of feet, so FL 95 is 9,500 ft. Flight Checklist Part of the procedures in the Flight Reference Card, it confirms that the pilot in command has checked all equipment and procedures are in place and operational. Also known as the Pre- flight Checklist. See also: flight reference card Flight Person in charge of the survey team with responsibility for the Commander flight and operating the camera. Flight Controller The computer hardware and software that controls the UAS. Flight recorder Equipment on the aircraft or the ground station that records flight data.

Flight Reference A document that covers the technical specifications, and Card operational checks to be made for every flight. See also: arrival checklist, flight checklist and pre-mission survey Flight Time The time between the start of taxiing and the plane coming to a (aeroplanes) final standstill after landing. Flight Time The time between the rotors starting and stopping at the (helicopters) beginning and end of a flight. Fly-away Any situation where the pilot does not have control of the aircraft. FPV First-Person View Using an on-board video camera to create the equivalent of a cockpit view for the pilot in command. This does not constitute visual line of sight for commercial work, where it should only be used to monitor data collection. See also: BLOS, BVLOS, ELOS, EVLOS, LOS, NLOS and VLOS FRC Flight Reference Card A document that covers the technical specifications, and operational checks to be made for every flight. See also: arrival checklist, and flight checklist GA General Aviation All private (civilian) manned flights, not available for commercial services. This includes corporate jets, small aircraft used for agriculture, training and by flying clubs, microlites and gliders. It does not include scheduled passenger or non-scheduled freight services. Galileo The European Global Navigation Satellite System See also: GNSS, Beidou, Glonass and GPS GCS Ground Control Station The equipment required by the pilot in command to remotely operate a UAS. The preferred term is the generic, Remote Pilot Station (RPS), which covers control points on board ships, other aircraft etc. See also: RPS and PIC Geo-fencing Creating a virtual barrier, within the navigation software to define the limits of the area accessible by a GNSS controlled navigation system. See also: GNSS Geospatial Information (data) that has a geographic location, or can be defined by referring to the surface of the Earth, for example using coordinates or height above/below the Earth’s surface. Gesture Control Using sensors that pick up body movements, or electrical signals from the muscles to control the movement of a robotic device, for instance an SUA. Gimbal A pivoted support for sensors or equipment. Usually made up of a set of three orthogonally (set at 90o to each other) mounted pivots, allowing an object to move independently of the rotation of its support. GIS Geographic Information System A form of geospatial technology that is able to capture, combine, manipulate, analyse data and visualise the data as a digital map. GLONASS The Russian Global Navigation Satellite System See also: GNSS, Beidou, Galileo and GPS GNC Guidance, Navigation and An electonic system to control vehicle movement Control GNSS Global Navigation Satellite The generic term for any system that gives position anywhere in System the world using information from satellites. See also: Beidou, Galileo, Glonass and GPS GoPro A brand of small video cameras.

GPS Global Positioning System The American Global Navigation Satellite System See also: Beidou, Galileo, Glonass and GNSS GPS mode Typically, GPS can position a UA to approximately 1 m. In GPS mode the aircraft will be held automatically against wind drift and maintain altitude. See also: ATTI mode, manual mode and fly-away Ground Control An accurately fixed point on the ground that allow aerial Point photographs to be positioned and any distortions caused by scale (due to camera height or terrain) or rotations of the aircraft. Not to be confused with Ground Control Station (GCS). See also: orthophoto, pitch, roll and yaw. GSD Ground Sample Distance The size of an individual pixel within a digital picture, measured by the distance between the centres of adjoining pixels on the ground. Gyroscope (Gyro) An instrument to measure changes in angle. Unlike a compass/magnetometer, it cannot give a bearing (an angle based on external reference systems e.g. magnetic North), only the change in angular direction. HALE High Altitude – Long Endurance A lightweight unmanned aerial vehicle capable of extended sub- orbital flight 20-50 km above a fixed point. They are used for military surveillance / command and control, environmental monitoring, and telecommunications hubs capable of providing broadband access networks. See also: HAPS, MALE Handover The point, at which one remote pilot hands over to another, this refers to the long distance (usually military) RPAS where long distances are flown and long flying times are common. HAPS High Altitude Pseudo-Satellite A lightweight unmanned aerial vehicle capable of extended sub- or orbital flight 20-50 km above a fixed point. They are used for High Altitude Platform Station military surveillance / command and control, environmental monitoring, and telecommunications hubs capable of providing broadband access networks. See also: HALE, MALE Heptacopter A non-fixed-wing aircraft with seven main rotors. Hexacopter A non-fixed-wing aircraft with six main rotors. HF High Frequency The radio frequency between 3 and 30 MHz, the wave length is between 10 cm and 1 m. High Authority A system/systems that is able to implement its own actions based in the evaluation of data rather than human input. Highly A system/systems that require human authority to complete an Automated action, but not Home Lock Forward direction is away from the home point, irrespective of the nose direction of the aircraft. See also: Course lock Home Point The take-off point of a flight. This is where the GNSS first obtained its fix, and where the UAS will go when return to home (RTH) is activated. IAA Irish Aviation Authority The NAA for the Irish Republic IAIP Integrated Aeronautical A collection of aeronautical information that includes: Information Package § Aeronautical Information Publications (AIP) § Aeronautical Information Circulars (AIC) § Notice to Airmen (NOTAM) § Pre-flight Information Bulletins (PIB) ¾ In the UK, this information is published by NATS www.nats-uk.ead-it.com 11

ICAO International Civil Aviation The United Nations Agency to promote the growth of Organisation international air transport in a safe and orderly manner. Also known as OACI: Organisation de l'Aviation Civile Internationale ¾ www.icao.int IFR Instrument Flight Rules One of two sets of civil aviation regulations for flight, that indicates the flight will be made by reference to instruments. See also: SVFR, VFR and VMC IFSAR Interferometric Synthetic Radar remote sensing technology capable of producing high Aperture Radar resolution Digital Elevation Models even through cloud cover. Also known as INSAR. IMU Inertial Measurement Unit An integral part of an INS, it measures acceleration and rotation in 3D space. Usually consists of three accelerometers (measuring the gravity vector in the x, y and z dimensions) and two gyros (measuring rotation around the tilt and pitch axis). An IMU may also include a magnetometer for direction and barometer for height. The rapid decay in accuracy due to the unit compounding small errors in each of the sensor readings makes it unsuitable for long distance navigation. See also: INS IOC Intelligent Orientation Control IOC allows the pilot to operate a camera or sensor, independent of the direction of flight. INS Inertial Navigation System An independent navigation technique that uses the information from an IMU to track the position of a moving object (e.g. a UA), following an initial positional fix which is normally provided by GNSS. Useful when the GNSS receiver is unable obtain information from enough satellites to compute its position during the flight. The rapid decay in accuracy of an INS makes it unsuitable for long distance navigation without GNSS. This type of navigation, relying only on time, distance and course from a fixed point, rather than using external landmarks is also known as Dead-Reckoning. See also: IMU and GNSS INSAR Interferometric Synthetic Radar remote sensing technology capable of producing high Aperture Radar resolution Digital Elevation Models even through cloud cover. Also known as IFSAR. Insurance Commercial operators must comply with article 2 of Regulation (EC) 785/2004 on insurance requirements for Air Carriers and Air Operators. Interferometric IFSAR or INSAR Radar remote sensing technology capable of producing high Synthetic resolution Digital Elevation Models - even through cloud cover. Aperture Radar iOSD Intelligent On-Screen Display Integration of real-time flight data onto the video signal from the UA. ISTAR Intelligence, Surveillance, A battlefield support system to provide situational awareness for Target Acquisition and decision making. Reconnaissance ITU International A United Nations agency, responsible for information and Telecommunications Union communication technologies. ¾ www.itu.int

JARUS Joint Authorities for JARUS provides guidance material to support individual National Rulemaking on Unmanned Aviation Authorities (NAAs) to create their own safety, Systems operational and certification procedures and standards for UAS that are interoperable. Its members are drawn from the NAAs. ¾ http://jarus-rpas.org JPEG (jpeg) A type of digital file that compresses an image for storage. See also: RAW JST A type of battery connector, commonly used on drones. See also: Walkera Connector kt knot A unit of speed equivalent to 1.151 mph (1.852 km/h). LiDAR Light Detection and Ranging A method of creating a 3-D model (DEM) using reflected laser beams. UA-based LiDAR are a cost effective way of creating topographic models of small targets such as archaeological sites. Lighter than air Using either hot air or light gases such as helium as buoyancy for flight balloons and airships. LIPO (LiPo) Lithium Ion Polymer (battery) The main battery technology used on drones LOCUST Low-Cost UAV Swarming The US Navy’s technology for controlling a large number of Technology drones simultaneously. LOS Line of Sight Having direct sight between the observer and the object (specifically known as VLOS), or between a radio transmitter and receiver. See also: BLOS, BVLOS, ELOS, EVLOS, FPV, NLOS and VLOS Lost Link The loss of the command and control link, making the pilot unable to control the aircraft. See also: command and control link LUA Large Unmanned Aircraft Any unmanned aircraft over 20 kg. There are two classes of LUA: 20 kg to 150 kg, and over 150 kg. mAh milliAmpere-hour The measure of the amount of power stored in a battery. MALE Medium Altitude Long A drone designed to fly at heights of between 3,000 and 9,000 m, Endurance for periods of up to 48 hours. See also: HALE, HAPS Manual Mode The pilot is in full control of the aircraft, with no on-board systems activated to help maintain altitude or position See also: ATTI mode, GPS mode and fly-away MATZ Military Air Traffic Zone A circular zone of 5 nm extending to 3,000 ft AGL. Similar to an ATZ (Air Traffic Zone), however it is only advised (not compulsory) for civilian pilots to contact the local air traffic control when entering an MATZ. MAV Micro Air Vehicle A class of SUA. Wingspan can be as small as 15 cm, with a maximum take-off weight of 100 grams, although they can be as little as 8 grams. Novel flight and propulsion systems imitating birds and insects are being incorporated into MAV design. METAR Meteorological Terminal A format for transmitting hourly updates of weather conditions; Aviation Routine Weather used by pilots for their pre-flight weather briefing. Report See also: TAF

Mod Slang term for a modified drone. See also: Build Model Aircraft A scaled replica of an actual aircraft (or a fantasy aircraft), which may be capable of flight or for display. MOR Mandatory Occurrence Reports In order to improve air safety, all actual or potential safety deficiencies should be reported – usually to the NAA. Motion planning Creation of the optimal navigation path, also known as path planning.

MTOM Maximum Take-Off Mass The maximum weight for which the aircraft is airworthy. It includes the payload and fuel. Multi-Rotor or The generic term for any drone able to hover using two or more Multicopter horizontal rotors. NAA National Aviation Authority A government body to regulate civil aviation in that country or state. Nano Drone A very small SUA, typically less than 7.5 cm. Methods of flight are often inspired by insect or bird flight. See also: NAV and MAV NATS NATS Holdings Formerly National Air Traffic Services. The licenced provider of air navigation services in the UK. ¾ www.nats-uk.ead-it.com See also: AirspaceAVOID, Drone Assist, SkyDemon NAV Nano Air Vehicle A very small SUA, typically less than 7.5 cm. Methods of flight are often inspired by insect or bird flight. See also: Nano Drone, NAV and MAV NLOS Non-Line of Sight Operations where there is no direct visual and/or radio contact. See also: BLOS, BVLOS, ELOS, EVLOS, FPV, LOS and VLOS nm Nautical Mile Unit of distance for aviation 1 nm = 1,852 m 1 statute mile = 1,609 m NOTAM Notice to Airmen Part of the Integrated Information Service (IAIS). A notice filed with the CAA to alert pilots of a potential hazard. Not required for aircraft less than 7 kg. NQE National Qualified Entity A CAA approved training provider for unmanned flying in the UK. They are able to carry out pilot assessments and submit reports and recommendations to the CAA. NSF Non-Standard Flight Any unusual aerial activity, such as flying displays, trials or aerial surveys, that take place within controlled airspace, and therefore might interfere with other airspace users. The majority of SUA flights take place below controlled airspace and do not need to inform the CAA for approval of NSF. See also: controlled airspace, OACI Organisation de l'Aviation Civile The United Nations Agency to promote the growth of Internationale international air transport in a safe and orderly manner. Also known as ICAO: the International Civil Aviation Organisation ¾ www.icao.int Observer Provides support to the Pilot in Command to ensure safe operation of the UA, and inform people of overhead work in progress. Octocopter A non-fixed-wing aircraft with eight main rotors. Open Category of Within the EASA Concept of Operation categories this refers to Operation operations with lowest level of risk, requiring no specific regulation. Open operations include hobby flying and other non- commercial work. See also: concept of operations, certified category and specific categories Operational The maximum flying height for an activity or class of aircraft. For Ceiling SUA in the UK this is 400 ft AGL. Operational The maximum flying time of an aircraft. Endurance

Operations Organisations and individual pilots using UAS for commercial Manual work need to compile and maintain an Operations Manual that outlines how they operate in a safe and effective manner. This forms part of the evidence to the CAA that an operator can carry out aerial work safely and responsibly. A template for an Operations Manual can be found in CAP 722 App B Operator An individual, organisation or enterprise who provides UAS services. Orthogonal At 90o (perpendicular) Orthophoto A composite photographic image that has been corrected for distortions resulting from camera position and varying scale across individual photographs. See also: photogrammetry OSC Operating Safety Case An annual exemption that allows commercial operators in the UK to operate outside the limitations of their standard Permission for Aerial Work (PfAW), rather than apply on a case by case basis. This may be granted by the CAA when they are satisfied that the additional procedures put in place by the operator will allow the flights(s) to be completed in safety. CAP 722 App D has a template for creating an OSC See also: CAP 722 OSD On-Screen Display Integration of telemetry data (altitude, direction, battery life…) onto the controller's video control screen. PANS Procedures for Air Navigation Published by ICAO, PANS are a series of documents designed to Services make international air navigation services consistent and interoperable. Parcelcopter Multi-rotor SUA used for postal deliveries. Path planning Creation of the optimal navigation path, also known as motion planning. Payload Anything carried by a vehicle that is not part of the operating systems or airframe. See also: airframe PBN Performance Based Navigation A definition and guide to the specifications of a system’s navigational performance with respect to its accuracy, availability, continuity, functionality and integrity. See also: ANP, RNAV and RNP PfAW Permission for Aerial Work This term has been replaced by PFCO See also: PFCO PFCO Permission For Commercial Permission is granted by the CAA upon recommendation by an operations National Qualified Entity for an organisation or individual to carry out commercial aerial work using a UAS. Phantom The brand name of the most popular off-the-shelf quadcopter, suitable for commercial and hobby use. Photogrammetry The use of multiple photographs to create accurate measurements of objects. See also: orthophoto PIB Pre-flight Information Bulletin Part of the Integrated Information Package (IAIP). Contains urgent information including meteorological information, and should be consulted before each flight. See also: IAIP PIC Pilot-in-command The person designated by the operator to control the flight. See also: Pilot (n), Pilot in Command, Remote Pilot

Pilot (n) The person controlling a flight. See also: PIC, Pilot in Command, Remote Pilot pilot (v) To control an plane. Pilot-in- See PIC command See also: PIC, Pilot (n), Remote Pilot Pitch One of three rotational motions: on a fixed wing aircraft the axis passes from wing tip to wing tip (i.e. the Latitudinal axis) and is seen by an up and down movement of the nose and tail. See also: roll and yaw. POI Point of Of Interest An object or precise point to be monitored by a drone. Usually this will See also: ROI, POI Mode POI Mode A setting on some multicopters that allows the drone to circle a point of interest. See also: POI Post-flight Part of the procedures in the Flight Reference Card, it ensures Checklist that all data has been collected, equipment is turned off and safe. See also: flight reference card PPM Pulse Position Modulation A method of modulating the transmitted signal for radio controlled devices. See also: PWM Pre-flight Part of the procedures in the Flight Reference Card, it confirms Checklist that the PIC has checked all equipment and procedures are in place and operational. Also known as the Flight Checklist. See also: flight reference card Pre-Mission Part of the procedures in the Flight Reference Card, it is carried Survey out prior to a mission to identify risks, gather permissions and identify the requirements of the mission. See also: flight reference card PWM Pulse Width Modulation A method of modulating the transmitted signal for radio controlled devices. See also: PPM Quadcopter A non-fixed-wing aircraft with four main rotors. RA Restricted Area Any airspace where there are flight restrictions in place, these may be permanent or temporary. See also: RA(T) and controlled airspace RADAR RAdio Detection And Ranging A detection system that uses reflected radio waves to determine: the size, distance, and course of objects. RAeS Royal Aeronautical Society The professional institution for the Aerospace community. It supports and maintains standards, allows information sharing and lobbies for the industry. ¾ aerosociety.com RA (T) Restricted Area (Temporary) Any airspace where there are temporary flight restrictions in place. See also: RA and controlled airspace RAW An uncompressed and unprocessed digital file format for images. See also: JPEG Real Time Receiving information at the same rate (i.e. not compressed into bursts) and usually at the same time as it is collected. Remote Separate from a central control point. Remote Pilot The person controlling an unmanned flight. See also: PIC, pilot (N), Pilot in Command

Remote Sensing A method of collecting data without a ground visit, usually this is done using aerial or satellite sensors. RF Radio Frequency The number of cycles per second that a radio wave completes. Ranges from Extremely Low Frequency (ELF): 3-30 Hz to Tremendously High Frequency (THF): 300-300 GHz. Risk Assessment A process of identifying potential hazards, assessing the impact they may have and ensuring that the hazard is managed to reduce harm. When all factors are taken into consideration, a low/medium/high level of risk can be allocated to the situation to inform the decision on whether or not to proceed with an activity. CAP 722 App D has information about completing a risk assessment for UAS operations. RNAV Area Navigation – formerly Using instrument flight rules (IFR) to navigate a non-direct route known as Random Navigation between navigation beacons. See also: ANP, PBN, RNP and IFR RNP Required Navigational The level of precision that an aircraft is able to navigate a route. Performance This is monitored using on-board instrumentation that will provide the actual navigational performance achieved. See also: ANP, PBN, and RNAV ROAV Remotely Operated Aerial An alternative to RPAS. Not in common use. Vehicle Robot A mechanical device that can be programmed to carry out automatic or autonomous functions. ROI Region of Interest An object or area that the SUSA should be monitoring. See also: POI. Roll One of three rotational motions: On a fixed wing aircraft the axis passes through the nose and tail (i.e. the Longitudinal axis), it is seen by an up and down movement of the wings. See also: pitch and yaw. Rotational axis See pitch, roll and yaw Royal Aero Club The coordinating body for air sport in the UK. royalaeroclub.co.uk Royal The professional institution for the Aerospace community. It Aeronautical supports and maintains standards, allows information sharing Society and lobbies for the industry. ¾ aerosociety.com RPA Remotely Piloted Aircraft An aircraft that does not carry a human operator, but is not capable of full autonomy, it therefore requires a remote pilot to complete its mission. NB. Although RPAs fall under the generic term of Unmanned Aircraft, an RPA may (potentially) carry passengers, so it could be “manned” even though the pilot is remote. See also: RPAS, UA and UAS RPAS Remotely Piloted Aircraft The complete system, required to operate an RPA. It includes the System aircraft, ground control station, remote pilot and any other equipment or operators required to complete the aircraft’s mission. See also: RPA, UA and UAS RPQ-S Remote Pilot Qualification - A national competency qualification for UAV pilots, this or an Small Unmanned Aircraft equivalent is required by the CAA for commercial flights. RPS Remote Pilot Station The point from which the remote pilot controls the UA See also: GCS

RTCA Radio Technical Commission for A US voluntary organisation that develops technical guidance to Aeronautics ensure the safety and reliability of airborne systems, develop minimum performance requirements and encourage international cooperation. RTF Ready To Fly A UAS that is set up and includes all necessary equipment so that it can be bought and flown immediately (although batteries will need to be charged). See also: ARF RTH Return to Home This function allows the pilot to recall the aircraft to its launch point. It uses GNSS to locate the launch, so this must be set at take-off. See also RTL RTK Real Time Kinetic A method of improving the accuracy of GNSS positioning through a roving (e.g. mounted on a UA) receiver, by using corrections from a static receiver. RTL Return to Launch This function allows the pilot to recall the aircraft to its launch point. It uses GNSS to locate the launch, so this must be set at take-off. See also: RTH RTP Real-time Transport Protocol The protocol for transmitting audio and video over Internet Protocol networks. Rudder A vertical hinged control surface on the rear vertical stabiliser (tail plane) of a plane that controls yaw. See also: yaw RX Receiver Electrical unit that receives modulated radio signals and converts them into useable information. SAR1 Search and Rescue Service The system of monitoring for distress calls and the coordination of the rescue/recovery operations. SAR2 Specific Aperture Radar High-resolution remote sensing using reflected radar pulses from a moving, often-airborne platform to simulate a very large antenna. SARPS Standards and Recommended An ICAO guide that advises states on safety management and Practices performance for air transport. SATCOM Satellite Communications A communication system that relies on transmitting the message via a satellite that receives and then relays an amplified signal to a receiver on Earth. Segregated A specified area of airspace that has been allocated to a specific Airspace user or group. Sense and Avoid A system that is able to sense hazards, which could interfere with or block the flight path, and take the appropriate actions to comply with the applicable rules of flight. The preferred term for flight is detect and avoid. See also: Detect and Avoid Sensor Anything capable of detecting changes to its surroundings and communicating information about the change, e.g. a camera, LiDAR or RADAR unit. Sensor fusion Combining information from different sensors. Servo Servometer/servomechanism Any electro-mechanical device activated by a radio signal that will operate a sensor or flight equipment. SESAR Single European Sky ATM A public-private collaboration to modernize the air traffic system Research programme across Europe. SkyDemon An app that provides flight planning and navigation information including NOTAMS and met information See also: AirspaceAVOID, Drone Assist, NOTAMS,

SMS Safety management System Aviation service providers are required to develop and maintain a formal process to collect, record, act on and then provide feedback about hazards in operations. SNR Signal to Noise Ratio A comparison of the power of the desired signal to the background (unwanted) signals. Specific Category Within EASA Concept of Operation categories this refers to of Operations commercial operations requiring authorisation from a National Aviation Authority. See Concept of Operations, Certified, and Open Categories SPOF Single Point of Failure Any part of a system, that if it fails, will stop the entire system from working. STOBAR Short take-off but arrested A variation of the CATOBAR technique that uses a ‘ski-jump’ to recovery assist take off and wires to catch an aircraft on landing. See also: CATOBAR, CTOL, STOL and VTOL STOL Short take-off and landing Planes with a high thrust to weight ratio require far shorter runways to accelerate and decelerate. See also: CATOBAR, CTOL, STOBAR, thrust and VTOL SUA Small Unmanned Aircraft Any unmanned aircraft (not including ballons or kites) weighing 20 kg or less. The weight does not include fuel, but does include all other equipment including its payload at take-off. There are two categories of SUA: up to 7 kg and 7 kg to 20 kg. Guidelines for use are covered by CAA Article 94 (reproduced in App 3) SUSA Small unmanned Surveillance Any SUA fitted with a camera. Aircraft Guidelines for use are covered by CAA Article 95 (reproduced in App 4) SVFR Special Visual Flight Rules In certain cases, Air Traffic Control may allow a pilot to operate under VFR in poor meteorological conditions. See also: IFR, VFR and VMC Swarm A number of drones, flying in coordination as a single unit.

TAF Terminal Aerodrome Forecast A format fo tranmitting 24-hour local weather forecasts issued by major civilain aerodromes (every three hours by military aerodromes). See also: METAR TCAS Traffic Collision Avoidance In manned aviation, a transponder warns the pilot of other System aircraft equipped with TCAS transponders. Telemetry Transmission of data between a remote point and a monitoring receiver. This could include altitude, speed, direction, battery life… Tethered UAV A cable is used to supply power, control information, and transmit sensor data to and from the UAV. This allows longer flight times as the UAV is not dependent on internal power sources. A new generation of tethered UAVs are being developed to generate electricity from wind. Some airspace authorities do not subject tethered UAVs to the same level of regulation. TFR Temporary Flight Restriction A measure to restrict aircraft from an area to protect the aircraft or others in the air or on the ground. Pilots are informed of TFRs through a NOTAM See also: NOTAM

Thermogram An image created by monitoring the infra-red radiation emitted from a surface or area. Remote thermographic surveys are now an established activity for many UAS operators. Thermopile Often used in pairs on an aircraft, to measure the roll and pitch, by identifying the infra-red signature of the horizon. Thrust When a turbine or rotor forces a mass of air in one direction, the aircraft will move in the opposite direction. The forward motion will equal the mass of the air moved, minus the mass of the aircraft and the drag caused by the aircraft. Measured in Newtons (N). 1 N will accelerate I kg of mass at 1 metre per second per second. Thrust Vector A variation on the multi-rotor design. UAV By altering the angle of the rotors or controlling the thrust direction, the aircraft is able to control its attitude, height and speed through the air. This makes the aircraft less vulnerable to strong gusts of wind than a conventional multi-rotor UAV. See also: thrust and TVC TLoS or TLS Target Level of Safety The level of risk that is considered acceptable for any operation. Topographic A map or plan of an area that includes: relief, and any existing Survey features -both man-made and natural. Toy grade A cheap drone not suitable for commercial activity or where reliability is required. Trajectory Creation of the (optimum) navigation from one point to another, Generation or to follow a given path. TVC Thrust Vector Control A propulsion system which alters the direction of thrust created by an engine to change the direction of an aircraft. TX Transmitter The primary link between the pilot and the UA UA Unmanned Aircraft An aircraft capable of being operated without a pilot on board. UAs usually fall into three broad categories: 1. Controlled via a radio link by a remote pilot in real-time 1. Pre-programmed for both flight and payload operations before launch 1. Partial autonomous functionality to carry out specific (repetitive) tasks See also: Drone, RPAS, UAS, UAV UAAI Unmanned Aircraft Association A user group and representative body for UAS pilots in the Irish of Ireland Republic. UAS Unmanned Aircraft System ICAO recognise UAS as the generic term for any unmanned or remotely piloted aircraft system. An aircraft system includes both the plane and any supporting activities, e.g. the ground control station, launching system, data link and any other equipment or operators required to complete a mission. Aircraft may be classified by: § Type - eg. balloon, fixed wing and rotary wing, hybrid etc. § Mass - There are two main categories small and large unmanned vehicle, which are further divided by mass.

0 – ³ 7 kg SUA > 7 – ³ 20 kg

> 20 – ³ 150 kg LUA > 150 kg