Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based...

46
arc.itu.edu.tr Collaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS Emre Koyuncu*, Cengiz Pasaoglu**, Prof. Gokhan Inalhan* *Istanbul Technical University **DHMI, General Directorate Of State Airports Authority and Navigation Service Provider Turkey arc.itu.edu.tr

Transcript of Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based...

Page 1: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Collaborative Intent Exchange Based Flight Management System with Airborne Collision

Avoidance for UAS Emre Koyuncu*, Cengiz Pasaoglu**, Prof. Gokhan Inalhan*

*Istanbul Technical University **DHMI, General Directorate Of State Airports Authority

and Navigation Service Provider Turkey

arc.itu.edu.tr

Page 2: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

INSTITUTONAL BACKGROUND

Page 3: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Aeronautics Research Center

• Central Laboratory for Aeronautics Research (2012-) – +7 Faculty, 15 Research Associates, +20 Ph.D. Level

Researchers • Established to promote advanced, interdisciplinary and

experimental research • Research Focus on wide spectrum of Aeronautics

Technologies • Design of manned and unmanned air vehicles,

spacecraft and spacecraft systems • Air Transportation, ATM • Flight Controls, Simulation and Avionics, • Nanoengineered Composites • Engine technologies and combustion • Aerodynamics, Aeroelasticity

• Strong outreach at both university, national and international level

– Nanotechnologies and Material Sciences – Electronics and Computer Science

Page 4: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Research Partners and Sponsors

Page 5: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Controls and Avionics Laboratory • Research Focus

– Advanced flight controls and avionics technologies – Unmanned air vehicles design and autonomy – Air Transport and ATM – Spacecraft Systems Design – Data Analytic Modelling, Estimation, Control and

Learning • Notable Achievements

– Designed the first Turkish indigenous commercial avionics systems 2006-2009

– Designed and built the first Turkish university-level autopilot system for UAVs. 2006-2009

– Designed and built the first Turkish University picosat : ITUpSAT I (TUBITAK) 2006-2009

– Designed and built indigenous bus and ADCS components for nano and micro-satellites ITUpSAT II (TUBITAK 108M523) 2009-2012

– Winner of AIAA/AAS Cansat Picosat Competion 2011

Page 6: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

UAS RESEARCH

Page 7: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

TURAC : Environmental Monitoring UAV

TURAC Configuration

Wingspan 4.2 m

Total Length 1.8 m

Height 1.05 m

Front Propeller Diameter 0.43 m

Empty Weight 39 kg

Maximum Takeoff Weight 47 kg

Havelsan-ITU Project

Page 8: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

TURAC : Environmental Monitoring UAV

Page 9: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

TURAC : Environmental Monitoring UAV

Page 10: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

4D TRAJECTORY MANAGEMENT

Page 11: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Flight Deck Automation Support with Dynamic 4D Trajectory Management

Short-Term Collision Avoidance – for midair and terrain collision Probabilistic (multi threat) midair and terrain collision monitoring

Fully automated flight control take-over implementation for delayed pilot response

Certifiable Pseudo-random/probabilistic algorithms with modal maneuver approach

Collaborative Tactical Planning – for dynamically changing environmental/operational conditions and use of airspace

Intent based collaborative decision making with the ATC (high level language – FIDL)

On-board tactical conflict monitoring and resolution via air/air link (low level language – AIDL)

Incorporating all tactical level information through air/ground data link + on-board sense

Automated

Required response time is short

Visual Decision Support Tools Novel touch screen enabling synthetic vision screens increasing situational awareness

Integrated information visualization with trajectory planning modules

Head-Up Displays with augmented reality add-ons

Collaborative

Required response time is long

Human Centered Tools

Page 12: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Advanced Flight Deck Automation Systems

Page 13: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

ITU B737-800NG Flight Deck and Novel Decision Support Systems

Page 14: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

FUTURE OF UAS

Page 15: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

World Outlook

• 82 Billion Dolar Economy in between 2015-2025 (AUVSI)

Page 16: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Military and Civilian Market Growth

Page 17: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

UAS Market Composition

Page 18: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Motivation

• Future intensive use of UAVs for civil applications will require integration into national airspace

• Major challenges; – Lack of UAS interaction links with Air Traffic

Management System – Non-standardised performance/behavioural

characteristics of vehicles • Unable to build a TCAS library based on

performance classification

Page 19: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Motivation

• Next Generation UAV Flight Management Systems should include;

– Additional data links makes UAVs visible in 4D

• machine-to-machine communication – air to air data links

• machine-to-human(operator, traffic controller etc.) communication – air to ground data links

– Multi-layered safety system for long term and short

term conflict avoidance • Tactical real-time aircraft separation • Short term sense-and-avoid

Page 20: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

UAS Integration into NAS

Page 21: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Intent Based Nominal Operation And Trajectory Planning

Machine-to-machine

Machine-to-human

Page 22: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

MICRO UAS INTEGRATION TO NAS : ARCHITECTURES

Page 23: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

KAMPUSIHA – UAS for Campus Security

Quadrotor UAV developed at ITU ARC With onboard camera, flashlight and siren

GUI Integrated into ITU Campus Security System for dispatching UAVs based on emergency calls

Page 24: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

IHATAR – UAS for Crop Monitoring

Flight Management Architecture Processed Images of the crop obtained from the onboard multispectral camera

Page 25: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Integration of Micro UAS’ into the NAS

• High power/high weight manned aircraft type integration is not realistics

• Ever growing interest in Civilian Usages of UAS (Amazon, Google, and even Apple…) – Part of G type airspace usage (1200 ft and below)

• FAA 400ft proposition (500ft mandate for small UAVs)

• 3 Critical (and Main) Factors in real integration – Sense-Avoid Technologies (including geo fencing) – Tracking Technologies – UAS Recovery System : Minimal 3rd part damage/harm in

UAS failures

Page 26: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

UAS Integration via GSM

• Command control via GSM data link

• Sense and Avoid via GSM data link (ADS-B, ADS-C applications)

• Reservation basis restricted areas and broadcasting via GSM network

– Urban areas – Digital Elevation

Maps – Buildings – No fly zones – …

• Positioning via GSM Network

– Differential GSM positioning applications

• Traffic data cloud binding – Track UAS traffic

trough GSM Network

Page 27: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

UAS Integration via GSM

• Command control via GSM data link

• Sense and Avoid via GSM data link (ADS-B, ADS-C applications)

• Reservation basis restricted areas and broadcasting via GSM network

– Urban areas – Digital Elevation

Maps – Buildings – No fly zones – …

• Positioning via GSM Network

– Differential GSM positioning applications

• Traffic data cloud binding – Track UAS traffic

trough GSM Network • Redundancy through LOS

Data Link for C2

Page 28: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

UAS Integration via GSM

• Command control via GSM data link

• Sense and Avoid via GSM data link (ADS-B, ADS-C applications)

• Reservation basis restricted areas and broadcasting via GSM network

– Urban areas – Digital Elevation

Maps – Buildings – No fly zones – …

• Positioning via GSM Network

– Differential GSM positioning applications

• Traffic data cloud binding – Track UAS traffic

trough GSM Network • Redundancy through LOS

Data Link for C2 • Redundancy through

transponder for ADS-B

Page 29: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

EXPERIMENTAL DEMONSTRATION

Page 30: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Page 31: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

ITU Multirotor : Experimental Platform for Advanced Flight Controls and Autonomy Research

Page 32: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Onboard Flight Management System

General Architecture of the FMS

Air-to-air data link (ADS-B emulator for air-to-air)

Air-to-ground Data Link

Flight Control Computer

Flight Management Computer

Page 33: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Experimental Implementation

Page 34: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Autonomous Sense And Avoid

The Sense and Avoid module • independent safety assurance system from the ground for short

term collisions with – the aircraft in the surrounding traffic and – terrain objects

• Do not use intent sharing or time-consuming negotiation processes,

and immediately intervenes when the midterm separation assurance process fails.

Page 35: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Collision Avoidance Approaches

• Nominal models – only consider current behavior and updates

advisory upon each information availability – do not require detailed performance models – i.e. TCAS

• Probabilistic models – robust due to accounting for likelihood of all

possible future trajectories – generate high rate deviation maneuvers – require detailed performance model for all type

of aircraft • Worst case models

– consider worst case maneuvers minimizing collision time, then maximize first potential collision times

– computationally complex, therefore generally utilize finite maneuver libraries

Page 36: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Autonomous Sense And Avoid

The sense and avoid module of the UAV uses two types of information:

– Surrounding traffic information • obtained from ADS-B (Automatic

Dependent Surveillance-Broadcast ) transponders of surrounding aircraft.

– Terrain database

• spatial model of the earth objects in certain resolution.

Page 37: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Autonomous Sense And Avoid

ADS-B hardware emulator • Xtend 900 MHz RF Module • Pre-programmed to work in broadcast

mode • Communicate with all transponders in the

field • Enables both ADS-B In and ADS-B Out

applications For simplification, the experimental ADS-B transponder always use a single mode.

Page 38: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Autonomous Sense And Avoid

ADS-B emulator message structure • An simplified ADS-B data structure • Covers most essential flight information with 56 bytes data

Page 39: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Collision Detected

These are sent to the RRT*

b. Collision is detected at time t. c. RRT* algorithm is initiated. a. Pre-loaded tasks are in progress.

Cost Efficient Route

d. Cost efficient route is calculated by RRT* e. New route is transferred to UAV f. Task progress continues.

Search Area

New Route

Estimated Route Of Intruder

Conflict Detection and Resolution

Page 40: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Real Time Video & Telemetry

Window

Speed

Altitude

Vertical

Speed

Artificial

Horizon

User Inputs

Home Position Mission

Control & Sense And

Avoid Window

Intruder Uncertanity

Balls

Altitude Window

Extra Information

Window

Current Waypoint UA

V

Estimated Route Of Intruder

Vehicle Selector

Route

ID, Altitude Difference, Heading

Altitude[m] Of Mission Step

Page 41: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Intruder

Experimental Demonstrations

Page 42: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Predicted Intruder Path

Updated Reference Trajectory

Intruder Uncertainty

RRT* Search Graph

t=0 sec

Position Error

Potential Collision Point

Reference Trajectory

Target Waypoint

Altitude History Target Altitude

Current Altitude

t=20 sec t=60 sec

Page 43: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Page 44: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Page 45: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Page 46: Collaborative Intent Exchange Based Flight · PDF fileCollaborative Intent Exchange Based Flight Management System with Airborne Collision Avoidance for UAS ... • Command control

arc.itu.edu.tr

Thank you.