本文档定义了一组标准应用层接口，称为JAUS环境感知服务。JAUS服务为无人系统或无人系统系统中的软件实体提供通信和协调其活动的手段。环境感知服务代表了典型的环境感知能力，这种能力通常以独立于平台的方式存在于所有领域和类型的无人系统中。目前，本文档定义了12项服务:距离传感器:确定平台环境中物体的接近度视觉传感器:为不同类型的成像系统提供通用配置和设置数字视频: 一种管理数字视频模拟视频的视觉传感器:一种管理模拟视频静止图像的视觉传感器:一种管理和编码单个数字图像的视觉传感器数字音频传感器:为不同类型的音频流提供通用配置和设置数字音频输出:将流式音频发送到目的地，经常在远程平台上讲话数字资源发现:支持基于RTSP的流式音频和视频力扭矩传感器的运行时发现:报告六自由度测量的力和扭矩264视频编码:配置H。 基于264的视频编码streamPort Mapper:提供内部和外部网络之间的桥梁，类似于网络地址转换video Illuminator:控制与一个或多个摄像头关联的一个或多个灯光每个服务由JAUS服务定义（JSD）描述，该定义指定了合规性所需的消息集和协议。每个JSD都完全符合JAUS服务接口定义语言（AS5684）。

This document defines a set of standard application layer interfaces called JAUS Environment Sensing Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Environment Sensing Services represent typical environment sensing capabilities commonly found across all domains and types of unmanned systems in a platform-independent manner. At present, twelve services are defined in this document:Range Sensor: Determine the proximity of objects in the platform¿¿¿s environmentVisual Sensor: Provides common configuration and setup for different types of imaging systemsDigital Video: A type of Visual Sensor that manages digital videoAnalog Video: A type of Visual Sensor that manages analog videoStill Image: A type of Visual Sensor that manages and encodes individual digital imagesDigital Audio Sensor: Provides common configuration and setup for different types of audio streamsDigital Audio Output: Send streaming audio to a destination, frequently a speaker on a remote platformDigital Resource Discovery: Support run-time discovery of RTSP-based streaming audio and videoForce Torque Sensor: Report the forces and torques measured in six degrees of freedomH264 Video Encoding: Configure the parameters of an H.264 based video encoded streamPort Mapper: Provides a bridge between internal and external networks, similar to Network Address TranslationVideo Illuminator: Control one or more lights associated with one or more camerasEach service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language (AS5684).