6. multi-sensor integrated conflict avoidance (graham).ppt
TRANSCRIPT
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
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
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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.
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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
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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-
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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
MuSICA Status JOCA Enhancements Cross Sensor Cueing Upcoming Flight Testing
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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
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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
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• 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
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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
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– Calculate the penalty score based on the well clear violation distance with potentially a different weighting for the contribution from the track uncertainty
Topics
MuSICA Status JOCA Enhancements Cross Sensor Cueing Upcoming Flight Testing
12Approved for Public Release, Distribution Unlimited: 88ABW-2012-3326, 08 June 2012; NGAS 12-0533
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
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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
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– Cue ID– Cue Window
Topics
MuSICA Status JOCA Enhancements Cross Sensor Cueing Upcoming Flight Testing
15Approved for Public Release, Distribution Unlimited: 88ABW-2012-3326, 08 June 2012; NGAS 12-0533
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
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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
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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
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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
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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
20Approved for Public Release, Distribution Unlimited: 88ABW-2012-3326, 08 June 2012; NGAS 12-0533
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
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clear, and 3) track uncertainty- SDI enhancements: 1) SAA radar integration and 2) cross-sensor
cueing