6. Multi-Sensor Integrated Conflict Avoidance (Graham).ppt

MuMulti-SSensor IIntegrated CConflict AAvoidanceCConflict AAvoidance (MuSICA) - Update

ITEA2012 Technology Review

Memphis, Tennessee

DRA

Federal AviationAdministration

Memphis, Tennessee25-27 July 2012

Scott GrahamNorthrop Grumman Corporation

DRA (310) [email protected]

Jacob KayBihrle Applied ResearchBihrle Applied Research(757) 766-2416 ext 214

[email protected]

Approved for Public Release, Distribution Unlimited: 88ABW-2012-3326, 08 June 2012; NGAS 12-0533

Topics

MuSICA Status JOCA Enhancements Cross Sensor Cueing Upcoming Flight Testing

2Approved for Public Release, Distribution Unlimited: 88ABW-2012-3326, 08 June 2012; NGAS 12-0533

AFRL’s SAA Architecture and MuSICA Algorithmsg

Sensors Air Vehicle

MuSICA Algorithm

Sensor DataSensor Data Integration (SDI) Mode,

ManeuverCommands

FlightControlInter-face

ADS-B

Radar

FlightControlsystem

Sensor Input Mgmt. (SIM)

DataAssoc.

DataFusion FTF

Integrated Intruder

Track Managerface(FCI)

EO

system

JointlyO ti l

(SIM)

VehicleDynamics

Tracks

TCAS

TCAS RA

OptimalConflict

Avoidance(JOCA)

TCAS Resolution Advisory (RA)RA ( )

Cooperative and non-cooperative sensors Autonomous avoidance but extensible to POLT/PILT operation


Autonomous avoidance but extensible to POLT/PILT operation Modular design with external and internal interfaces defined Sensor-agnostic SDI and platform-agnostic JOCA with personality modules

Maturing SAA in Steps…

NGC SAA HWIL Integration Lab• TCAS + ADS-B + EO + Radar Simulators• Real-time Closed-loop Simulation with up to 10

Intruder Aircraft• Began in 2004 under SeFAR

SAA Flight Test (SAAFT)• Surrogate Programmed to Fly Like Global Hawk• Autonomous Avoidance with TCAS + EO• 3 Rounds of Flight Test from Oct 2006 to Jan

2007Multiple Intruder Autonomous Avoidance (MIAA)

• Autonomous Avoidance withComputer M&S Autonomous Avoidance with EO + Radar + TCAS + ADS-B

• 2008 - present

Production Transition

• Began in 2001 under AFCST

Transition • GH • BAMS • Predator• Etc.


10 years development with AFRL funding support Additional AFRL investment in EO/radar development

MuSICA Successfully Demonstrated in MIAA R4A Flight Testg

Non-Cooperative

TCAS Display

TCASTCAS

Antenna

INS

Surrogate UAS (Learjet)

Cooperative

CCD 2

Detector

Detector

Detector

Tracking Processing

MuSICAHost

VSS(GH-Like Response)

INS

GPSEO

Monitor

ADS-BAntenna

RadarAntenna

GPS

EthernetSwitch

ADS-B

RADARRadar

InterfaceEng.

MonitorAutonomous Detection and Avoidance of Cooperative and

Non-cooperative intruder Aircraft

R4A conducted 8/29/11 – 9/2/11:• 7 test flights

• 5 single intruder flights2 l i l i d fli h (2 i d )

SAA-specific radar will be included in next round of flight test mid 2012

• 2 multiple intruder flights (2 intruders)• 4 types of intruder aircraft• 55 test scenarios executed• All autonomous tests (29 runs) achieved


All autonomous tests (29 runs) achieved Well Clear!

MuSICA Has Achieved TRL 6…

MIAA Evolution

Round 1

Round 1 (4/28/08 – 5/2/08)• Non-cooperative Sensor Characterization (AI-130 and

DRA’s Enhanced EO)• Preliminary Data Integration Software Testing

Use ICX

Sensor Characterization

Preliminary Data Integration Software Testing

Round 2 (Nov 2008)• Sensor Data Integration Evaluation

• Sensor Performance Evaluation & JOCA Multiple Intruder PerformanceUse ICX

AI-130 Radar as Surrogate

Round 2Sensor Data Integration

Round 3 (Aug/Sep 2009)• Multiple Intruder Autonomous Avoidance

• Data Integration & Sensor Performance Evaluation

• Initial Gathering of EO Night Data to support EO night (SDI)

Round 3Autonomous

Avoidance

g g pp gcapability development

Round 4A (Sep 2011) – No Radar• Improvements and New Capabilities

• TCAS RA Following

Round 4Autonomous

• TCAS RA Avoidance• EO Cueing• SDI Improvements• JOCA Robustness• EO Night Capability

Use CEI USTAR

(Purpose-


Avoidance withNew SAA Radar

• EO Night Capability

Round 4B/4C (Sep 2012)• Final SAA Integration and Demonstration in Flight with

purpose-built SAA Radar

(Purpose-built SAA

Radar)

Topics



Proposed New Constraint to Prevent Ground Collision

Avoid

820-ft Minimum

Separation

Ground Collision

Passive Ranging Maneuver

Right of Way

Follow TCAS/RAExternal Input Terrain Altitude (TFR, DTED, USGS NED, etc.)

External Input Terrain Clearance Buffer

Staying Well Clear (2460-ft lateral or 820 ft vertical)

Passive Ranging ManeuverEO-only Intruders w/ Range or Velocity Uncertainty

Keep within EO / Radar Sensor Field of View Limits

Preventing TCAS/RA


Staying within ATC Corridor

Prevent Ground Collision -Notional JOCA to DTED Interface

DTED Tables

External to JOCA

DTED Lat/LonLook-up

& Smoothing Function

JOCA

Smoothed Terrain Altitude

• TBD sampling density and smoothing

External to JOCA


• TBD sampling density and smoothing.• Objective is to avoid ground collision while avoiding airborne collision threat;

not to perform tightly coupled terrain-following or terrain-masking.

Externally Adjustable Well-Clear

500 m (1640 ft)

500 m (1640 ft)

Minimum Separation

Sphere

1500 m (4921 ft)

500 m (1640 ft)

1500 m (4921 ft)

Sphere

Well-clear Boundary

Current Well Clear1500 m (4921 ft)

HorizWellClear = Kh x 2460 ft + Khs x HorizClosureRate

External InputsMiss Distance scaling factor to adjust for airspace and/or

operating conditions

VertWellClear = Kv x 820 ft + Kvs x VertClosureRate

Adjust closure profile w/o directly changing

miss distance

re R

ate

miss distance


Clo

sur

Time

Intruder Track Uncertainty Handling

Track UncertaintyIntruder

Well ClearOwnship

• NGC leading this effort• Determine track uncertainty region based on EKF residue

– Address track uncertainty caused by sensor errors and intruder maneuveringAddress track uncertainty caused by sensor errors and intruder maneuvering (both effects are captured in EKF residues)

– May include turn rate estimation in the SDI• Assess well clear violation taking into account the track uncertainty region


– Calculate the penalty score based on the well clear violation distance with potentially a different weighting for the contribution from the track uncertainty

Topics



Cross-sensor Cueing Modes & MIAA Approach

Cross-sensor Cueing MgmtMuSICA manages all

cross-sensor cueing modes, commands and

l d

EO Subsystem Radar Subsystemresultant data

Normal ModeRelaxed

Declaration Mode Normal Mode Stand-by Mode

• Invoked when radar in C d tCued by radar

• Improve fused track angular accuracy

stand-by mode Cued to improve radar performance

Cued to

Cued by EO

• Reject false alarm and obtain range

Cued by TCAS

• Improve fused track b iCued by TCAS

• Improve fused track bearing accuracy

Cued to reduce power consumption

Cued by TCAS

• Improve fused track bearing accuracy

C d b ADS B

bearing accuracy


Cued by ADS-B

• Redundancy and/or integrity

Priority ones, colored in blue, to be implemented and evaluated in MIAA Round 4 flight test

Cross-sensor Cueing Example -EO Cued by TCASy

SDI

Purpose: Reclaim EO declaration range lost due to conservative declaration logic

EO System• Promote and declare

tracks as usualR d t h

Regular Tracks +Cue Response tracks

Cue Response Handler• Filter out cues with

duration <5s

SDICue

responses

Regular T k• Respond to each cue

with up to one cue response

• Cue responses will have EO ID = 0 and echo the corresponding cue ID

Cue Response tracks• Cue IDs

Filtered cue responses

Tracks

corresponding cue ID Data Association

Data Association

Track Manager + FTFTrack Manager + FTF

EKFEKF

• Cue Commands– Az – El

Cue Command Generator• TCAS only tracks• TCAS+EO cue response

tracks


– Cue ID– Cue Window

Topics



MIAA Flight Test Architecture

TCAS Display

TCASTCAS

Antenna

INS

CCD 2 SSAASy(EO)

MuSICAHost

VSS(GH-Like

Response)

GPSEO

Monitor

Passive

ADS-BAntenna ADS-B Eng.

MonitorRadar

RangingComputer


RadarAntenna RADAR

RadarLaptop

Data Recorder

USTAR – New Purpose-Built SAA Radar

approx. 21.25” x 16” x 5.5” • Developed by Colorado Engineering Incorporated (CEI) under an AFRL contract

• Electronic scanned array with search and track modes

• Design objectives:– Greater than10nm declaration rangeGreater than10nm declaration range– Better than 1 degree angular accuracy– Able to resolve multiple aircraft closely spaced

(2000 ft) at a distance greater than 6 nmS– Support external cueing


EO System and Enhancements

Provided by DRA Three EO sensors are employed (each

• SSAASy –miniaturized

has 2K x 1K pixels with 20Hz frame rate)- Elevation field of view: ±15- Azimuth field of view: ±100

70003423-1408close1 N35

detect and track processor

-25° 25°

2000

3000

4000

5000

6000

Ran

ge (i

n m

eter

s)

HWILOfflineGround Truth • Maneuverless

passive ranging

100°100°

0 5 10 15 20 25 30 35 40 45 500

1000

Time (in seconds)

• Day and night 100°-100° y gcapability


Upcoming USTAR and MIAA Flight Testsg

CY12

Jan Feb Mar Apr May Jun Jul Aug Sep

USTAR Prototype Development

USTAR Ground Testing (CS/Boulder)USTAR Flight Testing

USTAR Install

R1

USTAR Update

R2

USTAR Update

R3

USTAR/MIAA Install

MIAA UpdateR

4B R4CMIAA

Update

• Sponsored by AFRL and ASCSponsored by AFRL and ASC• Team members

– NGC: Prime and MuSICA algorithm– CEI: Radar system – Calspan: Ownship and intruder aircraft


CEI: Radar system– DRA: EO system– Bihrle: JOCA algorithm

Calspan: Ownship and intruder aircraft– FAA: Intruder aircraft and TSPI/ADS-B– Holloman 586th Group: Intruder aircraft

Flight Test Objectives and Flow

USTAR R1

USTAR R2

USTAR R3

MIAA R4B

MIAA R4C

4-8 Jun 12 30 Jul–3 Aug 12 27-31 Aug 12 4-7 Sep 12 24-28 Sep 12

R1 R2 R3 R4B R4C

• Initial flight testing, all single intruderInitial easy flight

• Checkout of fixes/modifications made after R1

• Checkout of fixes/modifications made after R2

• Initial closed loop testing (autonomous

• Final graduation exercise for MIAA program• Initial easy flight

test scenarios (minimal clutter)

• Initial evaluation of performance parameters

made after R1 (some test point repetition)

• Introduction of challenging test scenarios (clutter)

made after R2 (some test point repetition)

• Continued evaluation of clutter

(autonomous avoidance commanded by SAA system) with USTAR as part of SAA sensor suite

program• Demonstration of

autonomous SAA capability including USTAR radar, including detection of parameters

(detection, range, accuracy, false alarms, etc.)

( )• Maneuvering

intruder and multiple intruder

• Continued evaluation of

performance• Single and

multiple intruder testing

• Performance of

• Single and Multiple intruder tests

• Cross-sensor cueing

gboth non-cooperative and cooperative intruder aircraft

• Single and multiple intruder capabilityevaluation of

performance parameters

• Compatibility check with EO system

Performance of test scenarios using MIAA altitude offsets

• Data fusion of USTAR with other

• Passive Ranging Data Collection

• JOCA Enhancements Evaluation

• Cross-sensor Cueing• Night capability

(closed loop)• Passive Ranging

Evaluation


ySAA sensors

Evaluation• JOCA Enhancements

Evaluation

Summary

MuSICA – a mature (TRL 6) algorithm designed to be sensor and platform agnostic

- Demonstrated through multiple rounds of flight testing- Proven robustness in dealing with real-world uncertainties/realities Account for ownship flight characteristics and maneuver limits Account for winds aloft, intruder maneuvering, etc. Minimize sensing errors by fusing multiple dissimilar sensors

- Efficient on-line optimization easily implementable with state-of-art processor

- Support autonomous, POTL, PITL, and GBSAA operations- Support airspace integration

Mi i h il t b h i h f ll i i ht f l Mimic human pilot behavior such as following right-of-ways rules Continuing improvements in functionality and performance

- JOCA enhancements: 1) prevent ground collision, 2) flexible well l d 3) t k t i t


clear, and 3) track uncertainty- SDI enhancements: 1) SAA radar integration and 2) cross-sensor

cueing

6. Multi-Sensor Integrated Conflict Avoidance (Graham).ppt

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