Calspan In-Flight Simulation Projects SAE Presentation Oct 2008 Learjet – Automated Aerial...
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Transcript of Calspan In-Flight Simulation Projects SAE Presentation Oct 2008 Learjet – Automated Aerial...
Calspan In-Flight Simulation ProjectsSAE Presentation
Oct 2008
Learjet – Automated Aerial Refueling Learjet – Sense & Avoid Flight Test
Flight Research
Learjet Automated Aerial Refueling (AAR)• AAR Sponsored by AFRL
• Other Major Participating Organizations:
– NAVAIR, Boeing, Northrop Grumman, Rockwell Collins, Titan
• Utilizing Learjet as “surrogate” UAV to host sensors & control systems
• Objectives:
Clear Learjet to operate in refueling position around KC-135
• No actual hook-up
• Gather PGPS data
Evaluate acceptability of sensors
• PGPS & Datalink (TTNT)
• Installed & Checkout Servo-Throttle in LJ
Evaluate control laws for automated refueling - Station Keeping
• Hold relative Tanker-to-LJ positions at engage
• Straight & Level
• 30º Banked Turns & Racetracks
Evaluate Autonomous trajectory control
• Between Observation, Pre-Contact, Contact, Breakaway
Done2004
Done2005
Done2006
Done2007
Evaluate Redundancies & Contingencies
In 2009
Learjet AAR
• Initial Test Flight Tests:– Sep 2004– At Niagara Falls with 107th ANG KC-135– Cleared LJ to operate with KC-135– Gathered data for PGPS & EO sensors– 8 flights, 12 Flt-Hrs
• Second Flight Test:– Sep 2005– At NAWCWD China Lake, CA– Datalink tests– Tactical Targeting Network Technology (TTNT)– Checked out Servo -Throttle– 7 Flights, 10 Flt-Hrs
Learjet AAR
• Third Flight Test:– Jul/Aug 2006
– At Niagara Falls with 107th ANG KC-135
• Very efficient operations
• Dedicated aircraft / crews / facilities
– AUTONOMOUS Station-Keeping
– Safety Pilot flew to various refueling positions, then engaged simulation
– AAR GPS-based Control Laws in Boeing Flight Control Computer - FCC
– FCC interfaced with Learjet VSS through sensors & commands to control elevator, aileron, rudder, throttle.
• Held relative Tanker-to-LJ engaged positions - VERY precise
• Straight & Level, 30º Banked Turns, & Racetrack patterns
• Light to Moderate Turbulence
– Gathered IR Camera data for “Hybrid” system
– Flew 20 Flights, 30 Flt-Hrs
Learjet AAR
• Fourth Flight Test:– Jul/Sep 2007
– At Niagara Falls with 107th ANG KC-135
– AUTONOMOUS Transitions and Station-Keeping
– Safety Pilot flew to Transition Point (1500 ft in trail), then engaged simulation for remainder of flight.
– AAR Control Laws flew transitions between positions:
• Initiated by test engineer.
• Autonomous Transitions during: – Straight & Level, 30º Banked Turns, & Racetrack patterns
• Station Keeping at all positions
– Flew 19 Flights, 32 Flt-Hrs:• On one flight: stayed engaged 75 minutes, >20 minutes at Contact
Learjet AAR
• Fifth Flight Test:– July 2009
– At Forbes Field, KS with 190th Kansas ANG KC-135
– Test of AAR RELNAV system redundancy and contingencies
– Multiple TTNT datalinks in Tanker.
– Multiple INS/GPS systems in Learjet Surrogate Receiver.
– Safety Pilots will manually fly all refueling positions.
– Fly ~ 10 Flights, 20 Flt-Hrs
Learjet Sense & Avoid Flight Test
• UAV Sense & Avoid in National Air Space.
• Autonomously Detect and Avoid intruder aircraft
in terminal environment.
• Cooperative & Non-Cooperative Intruders
• Equivalent Level-of-Safety as piloted operations.
• Equivalent Level-of-Behavior as piloted operations.
COOPERATIVE• TCAS or Mode-C• Detectable• Coordinated
Collision Avoidance
NON-COOPERATIVE• Detect with Cameras
Learjet Sense & Avoid Flight Test
• AFRL – Sponsor• Northrop Grumman (NGC) – Prime contractor• Calspan – Installations and Flight Test in Learjet
– Simulate UAV (Global Hawk-like) dynamics– Backup Intruder (LJ3 & LJ4)
• Defense Research Associates (DRA) – Camera system, detector, tracker
• Bihrle – Provides avoidance software• FAA – Provides “Intruders” (Convair-580 & King Air) & ADS-B• ICx – Provides radar (AI-130 used in helos for tower & cable detection) • Cooperative Intruder (TCAS-II and ADS-B Equipped)
– Utilizes Resolution Advisory (RA) commands• Non-Cooperative Intruder (No transponders, Uses only cameras)
– EO 3-Camera System– Radar
• Intrusion Scenarios:– One & Two Intruder scenarios: Level head-on, cross-track,
climb/descend head-on, overtake, cross-track.
Learjet Sense & Avoid Flight Test
• Phase I– Oct ‘07 – Jan ‘07, 22 Flights – 39 Hours– Used EO cameras and IR cameras
• Phase II– Apr/May ‘08, Nov ‘08, Apr ‘09– Using Radar data fused with EO Camera data.– Radar provides better range data than cameras.– Improved detection and false alarm rejection.
• Phase III – Later in 2009– Will use a new prototype Global Hawk SAA radar to
replace ICx AI-130.
Learjet Sense & Avoid Flight Test
0.5 nm
0.5 nm
0.2 nm
Typical Multiple Intrusion Scenarios
0.5 nm
0.2 nm
King Air is 0.2 nm beyond Learjet when Learjet crosses CPA
Learjet: 150 KIAS
King Air: 150 KIAS
Convair: 150 KIAS