unmanned aircraft systems (uas) integration in the ... · integration in the national airspace...
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UnmannedAircraftSystems(UAS)IntegrationintheNationalAirspace
System(NAS)ProjectAdvancedCollisionAvoidanceSystemforUAS
(ACASXu)InteroperabilityWhitePaperPresentationSC-228WG-1
UAS INTEGRATION IN THE NAS15February2017
LisaFernTechLead,HSI
https://ntrs.nasa.gov/search.jsp?R=20170002296 2020-07-31T18:02:00+00:00Z
Background
• Phase1DAAMOPSspecifiedtwoclassesofDAAequipage:– Class1:Remainwellclear(RWC)functiononly– Class2:RWC+CollisionAvoidance(CA;TCASII)
• Twoseparatesystems
• Phase2DAAMOPSwillsupportthedevelopmentofathirdclassofDAAequipage:– Class3:ACASXuprovidingRWC+CA
• Singleintegratedsystem
Phase2ACASXuScope
• ACASXuwillspecifyanintegratedDAAsystem,itwillneedtoshowcompliancewiththeRWCalertingthresholdsandalertingrequirementsdefinedintheDAAMOPS
• However,integrationofRWCandCAfunctionswithinACASXuallowsformoreseamlessintegrationofalertingandguidancethantheClass2system
• Phase2MOPSshouldaddressthefollowingissues/areastosupporttheintegrationofRWCandCAfunctionalityforDAAsystems:– DAAalertlevelsforbothRWCandCA– RWCalertprocessingandperformancerequirements– VisualandauraldisplayofDAA(RWC&CA)alerts– RWCguidanceprocessingandperformancerequirements– VisualdisplayofDAA(RWC&CA)guidance
DAAalertlevelsRWCandCA
• DAAPhase1AlertingstructurebasedonDAAtimelineanddesiredpilotactions
• PreventiveAlert:awarenessofintruderswithinoriginalSARPwellcleardefinitionverticalmissdistanceof700ft
• CorrectiveAlert: lossofwellclearispredicted,coordinatewithATCpriortomaneuvering
• WarningAlert:lossofwellclearimminent,maneuverfirst,thencontactATC– OriginallyintendedtobeforClass1systemonly(noCA),butwasmaintainedfor
Class2systembasedonperformancebenefitsobservedinHITLs– ForACASXu,shouldtheDAAwarningalertbemaintainedseparatelyfromACASXu
CA“RA”,removed,orcombined?• AnychangestothePhase1alertstructurewillrequireupdatestothealert
processing/performancerequirements
DAAAlertStructurePhaseIMOPS
Symbol Name PilotAction AuralAlertVerbiage
TCASRA*
• Immediateactionrequired• ComplywithRAsenseandverticalrate• NotifyATCassoonaspracticableafter
takingaction
“Climb/Descend”
WarningAlert
• Immediateactionrequired• NotifyATCassoonaspracticableafter
takingaction
“Traffic,ManeuverNow”X2
CorrectiveAlert
• Oncurrentcourse,correctiveactionrequired
• CoordinatewithATCtodetermineanappropriatemaneuver
“Traffic,Avoid”
PreventiveAlert
• Oncurrentcourse,correctiveactionshouldnotberequired
• Monitorforintrudercoursechanges• TalkwithATCifdesired
“Traffic,Monitor”
GuidanceTraffic
• Noactionrequired• Trafficgeneratingguidancebandsoutside
ofcurrentcourseN/A
RemainingTraffic
• Noactionrequired• Nocoordinationrequired N/A
*AppliestoClass2DAAequipmentonly.
VisualandauraldisplayofDAA(RWC&CA)alerts
• Prescriptiverequirementsforauralandvisual,RWCcaution- andwarning-levelalertsalreadyexist
• PrescriptiverequirementsforauralandvisualverticalCAalertsalreadyexistfromTCAS(i.e.,RAs)
• IfCAandRWCwarningalertsarecombined,needtodetermineappropriatesymbol
• NewauralalertsneededforhorizontalCAalerts– Toneversusverbal
RWCguidanceprocessingandperformancerequirements
• DAAPhase1MOPSprovidedtwotypesofRWCguidance:– GuidancetomaintainDWC– GuidancetoregainDWC
• MaintainDWCguidanceprovidesinformationaboutcorrectiveandwarningalerts– ChangestoDAAalertstructurewillaffectguidanceprocessingandperformance
requirements• GuidancetoregainDWCrequirementsdrivenlargelyby:
– Needtoprovidecontinuousguidanceevenwhenalossofwellclearcannolongerbeavoided• EspeciallywhennoCAexists,i.e.Class1
– Needtoensurethatpilotwillmakedualmaneuverforthe“hardcase”withClass2system
– ShouldnotbenecessarywithACASXu,buttuning/analysisrequiredtoensurethatthereisnogapinpositiveguidancebetweensuggestiveanddirectiveguidancetransition
VisualdisplayofDAA(RWC&CA)guidance
• Newrequirementstodisplayhorizontaldirectiveguidance• ModificationofTCASIIrequirementstodisplayverticaldirectiveguidance
– Verticalspeed(legacy)versusaltitudeguidance• Compliancewithblendedmaneuvers
OperationalEnvironment
• Phase1MOPSwillbefullysupportedbytheinitialACASXuMOPS• InitialACASXuMOPSisalsoexpectedtosupportmuchofthePhase2DAA
MOPSOperationalEnvironments,includingsustainedoperationsinClassesBthroughEairspaceandterminaloperationsforproperlyequippedUAS
• CoordinationbetweenSC-228andSC-147willbeimportanttoensuretheseenvironmentsaredefinedcompatiblyandwiththesameoperationalassumptions.
Assumptions
• SC-228willaddressMOPSforRWCandCAalertingandguidancehigh-levelrequirements(e.g.timingperformance,definitions,andthresholds), aswellasthehumanmachineinterfacerequirementsfortheintegratedRWC-CAACASXuequipage.
• SC-147willaddressMOPSforRWCandCAalertingandguidancelow-levelrequirements(e.g.textualrequirements,proscriptivealgorithmimplementation),andACASXuwillcomplywiththeDAAMOPSdevelopedwithinSC-228.
Approach
• Safety/riskanalysisofintegratedWarningAlert/RAthreshold– NeeddecisionaboutwhetherwewillcombinethetwowarningalertlevelsASAP
• HumanfactorsanalysistodeterminepotentialvisualandauralalertingandguidancedisplaysforhorizontalRAs
• HumanfactorsanalysisofhowtodisplayverticalRAguidance• Human-in-the-loop(HITL)evaluationofpotentialvisualandauralalertingand
guidancedisplaysforhorizontalRAs• Humanfactorsanalysisofhowtodisplay/prioritizesimultaneoushorizontal
andverticalRWCandCAguidance• ValidatepilotperformancewithACASXuthroughHITLsimulation
NASA’sPlannedACASXuSupport
• TwoHITLsimulationsplanned– Summer2017(Run3)– Summer2018(Run4)
• HITL1Schedule– ExperimentalDesign:1FEB– 1APR2018– Programming:1APR– 15JULY– Shake-down:1JULY– 1AUG– DataCollection:1AUG– 1SEPT– Analysis:1SEPT– 30SEPT– ResultsDissemination:30SEPT
ProposedExperimentalDesign
• PrimaryIV– HorizontalRAGuidance(aimingfor2levels;within-subjects)
• Directive:explicit,singleheading(arrowpointingtopreciserecommendedheading)– 2optionstochoosebetween
• Range:narrowbandingregion(similartoverticalrateguidancewithTCAS)– 3optionstochoosebetween
• SecondaryIV– TextAccompaniment(aimingfor2levels;within-subjects)
• Notext• Generaltext:‘turnleft/right,climb/descend’• Directivetext:‘turnleft/rightheading310,climb/descendaltitude10thousand’
• BackupIV– VerticalGuidance(2levels;couldbebetween-subjects)
• Verticalrateguidance(asdonewithTCAS)• Altitudeguidance(asdonewithJADEM)
ProposedExperimentalDesign
• Additionalconsiderations:– AuralAlerts– Blendedmaneuvers– Altitudeguidanceversusverticalspeed:
• Verydifficulttoshowasinglealtitudeoptionviabands(issueofgranularityandsalience)• Thisforcesustoeither:
– Usesomethingotherthanbandstoshowsinglerecommendedheading/altitude– Showrangeinsteadofsingleoption
• Importanttokeepdisplayofverticalguidanceinmindforallhorizontaloptions– i.e.,ifrangeisusedforhorizontal,shouldalsobeusedforvertical
HorizontalRAGuidance– Directive(Option1)
Arrowwithembeddedtextshowsexactheadingtoachieve
ALT
9000ft
10000
11000
7000
8000
AltitudeTapeInnerRangeRing
-02
312°
10k
VerticalRAGuidance– Directive(Option1)
Arrowwithembeddedtextshowsexactaltitudetoachieve
Targetheading312° Targetaltitude10,000ft
Notes:• Embeddedtextallowsexactheading/altitudetobeachievedwithoutseparatetextboxor
directiveauralalert
HorizontalRAGuidance– Directive(Option2)
Arrow(noembeddedtext)showsexactheadingtoachieve
ALT
9000ft
10000
11000
7000
8000
AltitudeTapeInnerRangeRing
-02
VerticalRAGuidance– Directive(Option2)
Arrow(noembeddedtext)showsexactaltitudetoachieve
Targetheading312° Targetaltitude10,000ft
Notes:• Absenceofembeddedtextmakesdeterminingexactheadingverydifficultifthereisno
supplementaltextboxordirectiveaural
HorizontalRAGuidance– Range(Option1)
Bandingshowsa10° rangeforhorizontalmaneuver
ALT
9000ft
10000
11000
7000
8000
AltitudeTapeInnerRangeRing
-02
VerticalRAGuidance– Range(Option1)
Bandingshowsa500’rangeforverticalmaneuver
InnerRangeRing
Targetheading312° Targetaltitude10,000ft
Notes:• Assumesatargetheadingof312° with+/-5° ofbuffer&targetaltitudeof10000’with+/-250’of
buffer• Providedrangeshouldbenosmallerthanthesmallesthashmarks(e.g.,10° rangemarkersand500ftaltitudemarkers)
• Targetbandscouldalsobeshownasseparatebands
HorizontalRAGuidance– Range(Option2)
Banding(separatefromprimarybands)showsa10° rangeforhorizontalmaneuver
ALT
9000ft
10000
11000
7000
8000
AltitudeTapeInnerRangeRing
-02
VerticalRAGuidance– Range(Option2)
Banding(separatefromprimarybands)showsa500’rangeforverticalmaneuver
InnerRangeRing
Targetheading312° Targetaltitude10,000ft
Notes:• Assumesatargetheadingof312° with+/-5° ofbuffer&targetaltitudeof10000’with+/-250’of
buffer• Providedrangeshouldbenosmallerthanthesmallesthashmarks(e.g.,10° rangemarkersand500ftaltitudemarkers)
• Targetbandscouldalsobeshownasseparatebands
ALT
9000ft
10000
11000
7000
8000
AltitudeTapeInnerRangeRing
-02
“TurnLeftHeading312°” “ClimbAltitude10thousand”
HorizontalRAGuidance– Range(Option3)
Wedgeshowsa10° rangeforhorizontalmaneuver
VerticalRAGuidance– Range(Option3)
Wedgeshowsa500’rangeforverticalmaneuver
Notes:• Assumesatargetheadingof312° with+/-5° ofbuffer&targetaltitudeof10000’with+/-250’of
buffer• Providedrangeshouldbenosmallerthanthesmallesthashmarks(e.g.,10° rangemarkersand500ftaltitudemarkers)
ProposedExperimentalDesign
• Exp setupidenticaltoPT6– 2parallelUASsystems– ATCintheloop– VSCSgenerated&MACSgeneratedintruders– JADEMwillfillgapstomakerun3closertoPhase1DAAMOPS
• ProvideverticalDAAguidance&preventiveDAAalerts(andpossiblyDAAwarningalerts)• Needtoseehowwellclearrecoverybehaveswithcurrentplacementofrun3RA