autonomous flight

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Autonomous Flight Autonomous Flight AIAA Group 6 AIAA Group 6

Mat ThompsonMat Thompson



Autonomy Autonomy--

The degree to which something is The degree to which something is

subject to control from the outsidesubject to control from the outside

Unmanned Aerial VehiclesUnmanned Aerial Vehicles

Manned Aerial VehiclesManned Aerial Vehicles



U AV AutonomyU AV Autonomy

LeastLeast-- Target and Drone Target and Drone

Civil and CommercialCivil and Commercial

ReconnaissanceReconnaissance

Research and DevelopmentResearch and Development MostMost-- UCAV UCAV

Sensor FusionSensor Fusion

CommunicationsCommunications Motion Planning Motion Planning

Trajectory Generation Trajectory Generation

Task Allocation Task Allocation



U AV Tier SystemsU AV Tier Systems

USAF Tier SystemUSAF Tier System

Tier 1 Low altitude, long endurance Tier 1 Low altitude, long endurance-- Gnat 750Gnat 750

Tier 2 Medium altitude, long endurance Tier 2 Medium altitude, long endurance-- MQMQ--1 Predator, MQ1 Predator, MQ--9 Reaper9 Reaper

Tier 2+ High Altitude Long Endurance Conventional Tier 2+ High Altitude Long Endurance Conventional-- RQRQ--4 global Hawk 4 global Hawk

Tier 3 Tier 3-- High altitude long endurance low observableHigh altitude long endurance low observable-- RQRQ--3 Dark 3 Dark--starstar



USMC Tier SystemUSMC Tier System

Tier 1 Tier 1-- Dragon EyeDragon Eye

scouts urban areas, launched by bungeescouts urban areas, launched by bungeechordschords

Tier 2 Tier 2-- Scan EagleScan Eagle

needs four humvees to carry systemneeds four humvees to carry system



UCAV UCAV

J J--UCAS Joint Unmanned Combat Air SystemsUCAS Joint Unmanned Combat Air Systems

X X--45 UCAV 45 UCAV

Attack missions successful. Communication. Attack missions successful. Communication.

X X--47 Pegasus47 Pegasus

Collision avoidance software. Group flight.Collision avoidance software. Group flight. Real Time communication and decision making between UCAVsReal Time communication and decision making between UCAVs

Program CanceledProgram Canceled



Foreign Autonomous VehiclesForeign Autonomous Vehicles

nEUROnnEUROn

drop a bomb by 2012drop a bomb by 2012

Alenia Sky Alenia Sky--X X

still in test flight stagesstill in test flight stages

Autonomous Vehicles Worldwide Autonomous Vehicles Worldwide



Future Autonomous FlightFuture Autonomous Flight

Air Force ´Hunter Air Force ´Hunter--Killerµ ProgramKillerµ Program

will select one of the five for will select one of the five forproduction after 2007production after 2007

1. Scaled Composites Model 3951. Scaled Composites Model 395

2. Scaled Composites Model 3962. Scaled Composites Model 3963. General Atomics MQ3. General Atomics MQ--9 Reaper (already 9 Reaper (already

flying)flying)

4. Aurora/Israeli Eagle/Heron 24. Aurora/Israeli Eagle/Heron 2

5. Lockheed ?5. Lockheed ?

*6. Raytheon package*6. Raytheon package



Unmanned Systems RoadmapUnmanned Systems Roadmap

DoD autonomous goals until 2030DoD autonomous goals until 2030

1. Joint unmanned combat aircraft system1. Joint unmanned combat aircraft systemcapable of performing suppression of capable of performing suppression of

enemy air defenses/strike/electronicenemy air defenses/strike/electronicattack/surveillance in high threatattack/surveillance in high threatenvironmentsenvironments

2.2.--9. logistics to support goal 1.9. logistics to support goal 1.



Full AutonomyFull Autonomy

PP--175 Polecat is being developed by Lockheed to175 Polecat is being developed by Lockheed tohave full autonomy from takehave full autonomy from take--off to landing.off to landing.

Triple Redundant Flight Control Software Triple Redundant Flight Control Software



Far Future«Far Future«

Keeping the manKeeping the man--inin--thethe--looploop



Autopilot Autopilot

Modern autopilots use inertial guidanceModern autopilots use inertial guidance

systems as well as GPS or radio tosystems as well as GPS or radio tocorrect flight path errorscorrect flight path errors

Lower Fuel consumptionLower Fuel consumption Modern Auto Flight Systems can takeModern Auto Flight Systems can take--

off, ascend, level, descend, approach,off, ascend, level, descend, approach,land. Everything but taxiland. Everything but taxi

Category IIIb landing guides the planesCategory IIIb landing guides the planesautomatic pilot through landing andautomatic pilot through landing and

rolloutrollout Category IIIc does the previous andCategory IIIc does the previous and

taxis the plane to the terminal. Requirestaxis the plane to the terminal. Requires3 autopilot systems3 autopilot systems



Concorde AutopilotConcorde Autopilot

Auto Throttle Auto Throttle

Autopilot Horizontal Autopilot Horizontal

Autopilot Vertical Autopilot Vertical

Datum AdjustDatum Adjust Warning Landing Display Warning Landing Display



Auto Throttle Auto Throttle

3 Modes3 Modes

Mach HoldMach Hold-- keeps make numberkeeps make numbersteady, even with temperature changesteady, even with temperature change

IAS HoldIAS Hold-- holds indicated air speedholds indicated air speed

IAS ACQIAS ACQ-- will change to selected air will change to selected airspeed then switch to IAS holdspeed then switch to IAS hold



Autopilot Horizontal Autopilot Horizontal

INSINS-- aircraft follows waypoints by aircraft follows waypoints by inertial navigation systeminertial navigation system

TRK HDG TRK HDG-- pull for heading, follow pull for heading, follow

compasscompasspush for track, direct path accounting push for track, direct path accounting wind speeds wind speeds

HDG HoldHDG Hold

VOR LOC VOR LOC-- tracks a selected beacontracks a selected beacon

Back BeamBack Beam-- nonnon--autopilot tracking autopilot tracking back beam localizerback beam localizer



Autopilot Vertical Autopilot Vertical

PITCH HOLDPITCH HOLD

MACH HOLDMACH HOLD-- hold mach number by pitch changes, not throttlehold mach number by pitch changes, not throttle

MAX CLIMBMAX CLIMB-- climbs at near max operating speedclimbs at near max operating speed

MAX CR UISEMAX CR UISE--engages at height of max climbengages at height of max climb

IAS HOLDIAS HOLD-- holds airspeed by pitch changesholds airspeed by pitch changes AL T HOLD AL T HOLD

VERT SPEED VERT SPEED



More Vertical AutopilotMore Vertical Autopilot

AL T ACQ AL T ACQ

TURB TURB-- holds pitch, altitude and heading, reduces trimholds pitch, altitude and heading, reduces trim

L ANDL AND-- CATIIIb system, second redundant autopilot engagedCATIIIb system, second redundant autopilot engaged

GO AROUNDGO AROUND-- pitch 15 deg. Hold wings. Initiated when two of the throttlepitch 15 deg. Hold wings. Initiated when two of the throttle

levers are forward in land or glide modelevers are forward in land or glide mode

GLIDEGLIDE-- used before pilot makes a manual landing used before pilot makes a manual landing



Datum AdjustDatum Adjust

Add or subtract speed by Mach 0.6 Add or subtract speed by Mach 0.6

Autopilot turn at 5 deg/s to adjust heading Autopilot turn at 5 deg/s to adjust heading

Pitch AdjustPitch Adjust



Warnings Warnings

Red lights flash if failure in autopilotRed lights flash if failure in autopilot

autothrottleautothrottle

DH flashes if under set heightDH flashes if under set height

L AND2/3 flash if CATII or CATIIIL AND2/3 flash if CATII or CATIIIare supportedare supported

Aircraft deviation lights Aircraft deviation lights

Test Test



Auto Correct Auto Correct

Stall warningsStall warnings-- stick shakerstick shaker

Deep Stall warning Deep Stall warning-- stick pusherstick pusher

Collision AvoidanceCollision Avoidance-- TCAS III TCAS III

Traffic Alert and Collision Avoidance Traffic Alert and Collision AvoidanceSystem gives vocalize suggestionsSystem gives vocalize suggestionshorizontally and vertically among horizontally and vertically among multiple aircraft to avoid collisionmultiple aircraft to avoid collision

FAA regulates that even false alarms beFAA regulates that even false alarms betreated as real threatstreated as real threats

Next Generation TCAS may autoNext Generation TCAS may autocorrect flight path to avoid collisioncorrect flight path to avoid collision



Modern AutopilotModern Autopilot

CC--17 Globemaster III uses the17 Globemaster III uses theElectronic flight Control System.Electronic flight Control System.

New CsLEOS has memory New CsLEOS has memory partition to allow multiplepartition to allow multipleapplications to run simultaneously applications to run simultaneously

without interference. without interference. Operate autopilot, air/groundOperate autopilot, air/ground

collision warning, deep stallcollision warning, deep stallavoidance, angle of attack limiter,avoidance, angle of attack limiter,all engine out autopilot, safe goall engine out autopilot, safe go--around autopilot, navigation,around autopilot, navigation,engine control, flight control«.engine control, flight control«.

Can do takeCan do take--off modes for alloff modes for alllevels of flight for pitch, roll, andlevels of flight for pitch, roll, andyaw. Autopilot is sensitive to theyaw. Autopilot is sensitive to thestick, and engages or disengagesstick, and engages or disengagesautomatically when it is in use.automatically when it is in use.



Manned and UnmannedManned and Unmanned

U AVs assist mannedU AVs assist mannedfightersfighters

bombers, air combat, airbombers, air combat, airdefensedefense

Pilot·s control weaponsPilot·s control weaponsreleaserelease



Q·sQ·s



ReferencesReferences

Concorde Technical Specs,Concorde Technical Specs, http://www.concordesst.com/autopilot.htmlhttp://www.concordesst.com/autopilot.html

U AV Roadmap 2005U AV Roadmap 2005--2030,2030, www.fas.org/irp/program/collect/uav_roadmap2005.pdf www.fas.org/irp/program/collect/uav_roadmap2005.pdf

DpDp--5X, X 5X, X--50 Dragonfly,50 Dragonfly, http://www.defensetech.org/archives/001748.htmlhttp://www.defensetech.org/archives/001748.html

U AVs as Tactical wingmen,U AVs as Tactical wingmen,

http://web.mit.edu/aeroastro/www/labs/halab/papers/U AV_wingmen_AU VSIdraft.pdf http://web.mit.edu/aeroastro/www/labs/halab/papers/U AV_wingmen_AU VSIdraft.pdf Autopilot Design, Autopilot Design, http://www.aiaa.org/content.cfm?pageid=406&gTable=mtgpaper&gID=95289http://www.aiaa.org/content.cfm?pageid=406&gTable=mtgpaper&gID=95289

Flight Systems and GoalsFlight Systems and Goals http://www.aa.washington.edu/research/afsl/http://www.aa.washington.edu/research/afsl/

TCAS TCAS--9494 http://www.rockwellcollins.com/ecat/br/TCAShttp://www.rockwellcollins.com/ecat/br/TCAS--94_PrintFriendly.html94_PrintFriendly.html

U AV Autopilot, http://www.baykarmakina.com/english/baykaruas/autopilot.aspU AV Autopilot, http://www.baykarmakina.com/english/baykaruas/autopilot.asp

www.navyleague.org www.navyleague.org /sea_power/ju106/sea_power/ju106--22.php22.php www.defenselink.mil www.defenselink.mil

Aviation Week + Space Technology July 24, 2006 pg 64 Aviation Week + Space Technology July 24, 2006 pg 64--6565

autonomous flight

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