ACAS Xu UAS Detect and Avoid Solution

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1 ACAS Xu UAS Detect and Avoid Solution Wes Olson 8 December, 2016 Sponsor: Neal Suchy, TCAS Program Manager, AJM-233 DISTRIBUTION STATEMENT A. Approved for public release: distribution unlimited.

2 Legal Notices This material is based upon work supported by the Federal Aviation Administration under Air Force Contract No. FA C-0002 and/or FA D Any opinions, findings, conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the Federal Aviation Administration Massachusetts Institute of Technology. Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work are defined by DFARS or DFARS as detailed above. Use of this work other than as specifically authorized by the U.S. Government may violate any copyrights that exist in this work. Lincoln Laboratory Air Traffic Control Workshop

3 Detect and Avoid (DAA) Primary DAA system functions: Remain Well Clear: strategic maneuvering to maintain Well Clear Collision Avoidance: tactical, last-minute maneuver to avoid a collision Remain Well Clear Collision Avoidance RWC and CA comprise Detect and Avoid (DAA) as a means of compliance with Title 14 Code of Federal Regulations (14 CFR), Part 91, , (b), and (b) DAA is the capability of an unmanned aircraft to remain well clear from and avoid collisions with other airborne traffic * Lincoln Laboratory Air Traffic Control Workshop *FAA Sponsored Sense and Avoid Workshop Final Report, MS-57023B

4 DAA Considerations Airborne collision avoidance for manned aircraft DAA Considerations for unmanned aircraft Assumes high vehicle performance Works only with cooperative (transponder / ADS-B equipped) traffic Assumes flight crew will see and avoid non-cooperative traffic Provides only vertical maneuvers Uses active coordination on 1030/1090 MHz Must support low performance vehicles Uses alternate surveillance to track noncooperative traffic Must support horizontal maneuvers Must coordinate and be interoperable with manned aircraft collision avoidance systems ACAS Xu developed to provide full UAS DAA capability Lincoln Laboratory Air Traffic Control Workshop

5 Airborne Collision Avoidance System (ACAS X) FAA TCAS Program Office funding since 2009 Team members: Lincoln, JHU/APL, MITRE, Aurora Sciences and others RTCA SC-147 developing MOPS ACAS Xa 2018 ACAS Xu ACAS X Goals: Improve safety & unnecessary alerts Support reduced separation operations Extend collision avoidance to UAS Streamline development process ACAS X supports future airborne collision avoidance and DAA requirements Next Generation System Additional Surveillance Sources Dynamic Uncertainty State Uncertainty Improved and flexible threat logic Standard Interface Lincoln Laboratory Air Traffic Control Workshop

6 ACAS X Variants User Group Surveillance Technology Advisories Initial Implementation ACAS X A ACAS X O Current ACAS II users (large aircraft) Users of specific operations (e.g., closelyspaced parallel operations) Beacon Surveillance supplemented with ADS-B Beacon Surveillance supplemented with ADS-B Same set as current TCAS II Procedurespecific alerts for selected aircraft, global alerting against all others Follow-on Implementation ACAS X U Unmanned aircraft Potentially radar, EO/IR, etc. Vertical and horizontal advisories Longer term research X A Active Surveillance X O Operation Specific X P Passive Surveillance X U Unmanned Aircraft System Lincoln Laboratory Air Traffic Control Workshop ACAS X P General Aviation Passive only Reduced advisory set

7 ACAS Xa vs. ACAS Xu ACAS Xa ACAS Xu Cooperative Surveillance Noncooperative Surveillance ADS-B validated by active surveillance Does not provide protection for non-transponder equipped intruders ADS-B validated by active surveillance Tracked output from primary radar, EO, IR or other sensor Threat logic Tuned for aircraft meeting TCAS performance assumptions (2,500 fpm climb/descent) Accommodates full range of vehicle vertical performance Nucleus function switches between vertical and horizontal tables based on surveillance quality and vehicle performance Advisories Traffic Alerts Standard TCAS Vertical RAs Either manual or automated RA response TA or Remain Well Clear Alert Vertical Resolution Advisories Horizontal Resolution Advisories Automatic RA response Coordination Standard TCAS coordination over 1030 MHz Supports TCAS vertical RA coordination over 1030 MHz Horizontal RA coordination Lincoln Laboratory Air Traffic Control Workshop

8 Outline Overview ACAS X System Surveillance and Tracking Module Threat Resolution Module Nucleus Logic Optimization Process Next Steps Lincoln Laboratory Air Traffic Control Workshop

9 Xu Architecture Lincoln Laboratory Air Traffic Control Workshop

10 Inputs Surveillance and Tracking Module (STM) STM Output Own Ship Barometric Altitude Heading Radio Altitude GPS State data Tracking Algorithms Tracked State Data STM Report (multiple vertical & horizontal samples) Relative state computation 2500 Intruders ADS-B Reports Active surveillance Other surveillance (tracked input) Coordination Information Validation and Correlation Algorithms Target Database R elativ e Y P os ition (ft) I r Relative X Position (ft) 1 Hz Updates STM translates own ship and intruder data into set of samples reflecting uncertainties in state information Lincoln Laboratory Air Traffic Control Workshop

11 Threat Resolution Module (TRM) Input TRM Output STM Report State Estimation State Distribution State Samples Action Selection Optimal Action Computation Optimized Logic Table Real time Constraints Alerting TRM translates STM reports into weighted samples for look up table entry and selection of optimal action Lincoln Laboratory Air Traffic Control Workshop

12 ACAS Xu Nucleus Vertical TRM Action Selection Optimal Action Computation Real time Constraints RA STM Reports Optimized Logic Table Nucleus Surveillance Data Check RA/RWC* Horizontal TRM RA Switching Action Selection Optimal Action Computation Real time Constraints RA/RWC *Advisory selection locked until Clear of Conflict Optimized Logic Table Lincoln Laboratory Air Traffic Control Workshop

13 Nucleus Example Vertical Logic Horizontal Logic Nucleus Selection Nucleus recognizes areas where vertical and horizontal logic have increased risk and successfully mediates for reduced risk overall Results shown for ADS-B surveillance Lincoln Laboratory Air Traffic Control Workshop

14 ACAS Xu Alerting Alert Meaning Notes Display Look-Ahead Bands Maneuvering may be necessary to remain well clear if aircraft heading is flown into the banded region Assumes 30 second look ahead time Caution (RWC) Maneuvering recommended in the next 30 seconds to avoid penetrating well clear criteria Occurs when yellow band intersects current heading Fly-to heading guidance provided Red banding may also be present Warning (RA/RWC) Immediate maneuvering required to avoid loss of well clear and/or to avoid a potential collision threat Occurs when red band intersects current heading Fly-to heading guidance provided Turn Left, heading 350 Turn Left, heading 340 Clear of Conflict No additional maneuvering is necessary on current heading to maintain well clear and/or to avoid a potential collision threat CoC will likely occur prior to CPA Leveling off will not re-alert Pilot or automation should ensure course is not in bands prior to returning to course Lincoln Laboratory Air Traffic Control Workshop

15 Outline Overview ACAS X System Surveillance and Tracking Module Threat Resolution Module Nucleus Logic Optimization Process Next Steps Lincoln Laboratory Air Traffic Control Workshop

16 ACAS Xu Logic Optimization Process Model-Driven Development Performance Objectives Safety and Suitability Results of previous evaluations 22 Performance metrics Modify STM to Update trackers and noise models Tune TRM to Optimize online and offline costs Preferences and Issues Iterate until goals achieved (currently 12 month cycle) 5 Candidate Logic versions Human Evaluation Aggregate metrics Individual encounters Simulate Performance Safety and operational models Real world data Real World Evaluation Validate Modeling and Simulation 2 Year Cycle Formal FAA Flight Test Most Recent Logic version Lincoln Laboratory Air Traffic Control Workshop

17 Performance Simulation Evaluation Models Aircraft Trajectories Pilot Response Model Climb, Climb Airspace Encounter Models U.S. and European Critical encounters Operational Data TCAS encounter data Full aircraft tracks from airspace Sensor Models STM/TRM Flight test data Each candidate horizontal and vertical logic independently tuned, then nucleus is tuned for optimal performance Last update process considered performance over 7 billion encounters Enabled by Lincoln Laboratory Supercomputing Center Procedure-Specific Models Current procedures Level ~500 feet Level-off Future scenarios Stressful Encounters Encounter geometries that are difficult to resolve Lincoln Laboratory Air Traffic Control Workshop

18 Safety and Operational Performance (ADS-B Surveillance for ACAS Xu) More Safe Less Safe Safety P(NMAC)x10-4 * Alert Rate Alert Rate (%) Significantly safer than TCAS (Overall Relative Risk) Alert rate similar to TCAS Lincoln Laboratory Air Traffic Control Workshop *Probability of Near Mid Air Collision from LLCEM encounters with performance limited Aircraft, Run 2 logic

19 ACAS Xu Flight Test November/December 2014 Flight Test Successfully Accomplished Goals: 1. Demonstrated Horizontal and Vertical Threat Resolution Logic for Xu 2. Demonstrated the use of ADS-B surveillance for Collision Avoidance (vertical logic) 3. Demonstrated ACAS Xu with airborne radar surveillance (horizontal logic) 4. Demonstrated ACAS Xu interoperability with TCAS 5. Demonstrated Active Coordination Emulation 6. Demonstrated automated response to RAs Flight Test Statistics Total Fly Days 6 (out of 7) Logged Test Flight Hours 50+ hours Flight Test Team: Test Cards Planned: 102 Skipped: 5 Repeated: 16 New Cards: 3 Total Flown: 113 NASA Ikhana Unmanned Aircraft during Altitude Calibration Lincoln Laboratory Air Traffic Control Workshop

20 ACAS Xu Full System Flight Test Summer ACAS Xu Equipped Horizontal and vertical tables implemented separately Xu can issue horizontal or vertical advisories, as determined by Nucleus Nucleus None Horizontal advisories for climb limited All Surveillance Sources ownship or non-cooperative intruder, Active Coordination vertical advisories otherwise. Blended maneuvers possible (multithreat). TCAS/Xa Equipped Surveillance Sources Active 1030/1090 ADS-B Primary Radar: DRR Active 1030/1090 ADS-B Primary Radar: EDM Surveillance Sources 1090ES ADS-B Threat Logic 1030/1090 Active Surveillance Primary Air-to-Air radar (EDM) EO/IR (Data Collection) Surveillance Logic Honeywell Fusion STM FAA STM ADS-B only STM Configurations: TRM Configuration: FAA STM DRR only Honeywell Fusion STM FAA Correlation STM (all surveillance sources) Correlation (FAA)Responsive, Coordination ACE Vertical and horizontal maneuvers mediated Scheme by Nucleus Active Selfseparation Advisories Present, based on Xu horizontal traffic advisory logic Track Fusion (HW) None Transponder Only Autopilot commanded maneuvers (manage by exception) Lincoln Laboratory Air Traffic Control Workshop

21 Outline Overview ACAS X System Surveillance and Tracking Module Threat Resolution Module Nucleus Logic Optimization Process Next Steps Lincoln Laboratory Air Traffic Control Workshop

22 Program Timelines ACAS X A ACAS X o 2013 R & D RTCA Standards Development /safety assessment Limited Installation FAA Guidance Operational Use August 2013 Proof-of-concept Flight Test FY2015 Full System Flight Test FY2017 Limited Installation Program Target date: 2018 for initial MOPS FAA TSO & AC Complete ACAS X R & D U RTCA Standards Development /safety assessment Operational Test & Eval Nov/Dec 2014 Proof-of-concept Flight Test FY2017 Full System Flight Test FY2020 MOPS Complete Lincoln Laboratory Air Traffic Control Workshop

23 Summary ACAS Xu provides an integrated DAA solution for UAS Inherently interoperable with manned aircraft and between RWC and CA functions Adaptable across range of vehicle performance, extensible to smaller UAS Builds on certification path set by ACAS Xa Internationally harmonized, coordinated with RTCA SC-228 Logic development has resulted in safe and operationally suitable logic across a range of vehicle performance Program goals ACAS Xu flight test of baseline capability RTCA standards development in progress, complete in FY2018 ACAS Xu MOPS by 2020 Operational Evaluation to commence once MOPS are complete Lincoln Laboratory Air Traffic Control Workshop

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