Calspan In-Flight Simulation ProjectsSAE Presentation

Oct 2008

Learjet – Automated Aerial Refueling Learjet – Sense & Avoid Flight Test

Flight Research

Learjet Automated Aerial Refueling (AAR)• AAR Sponsored by AFRL

• Other Major Participating Organizations:

– NAVAIR, Boeing, Northrop Grumman, Rockwell Collins, Titan

• Utilizing Learjet as “surrogate” UAV to host sensors & control systems

• Objectives:

Clear Learjet to operate in refueling position around KC-135

• No actual hook-up

• Gather PGPS data

Evaluate acceptability of sensors

• PGPS & Datalink (TTNT)

• Installed & Checkout Servo-Throttle in LJ

Evaluate control laws for automated refueling - Station Keeping

• Hold relative Tanker-to-LJ positions at engage

• Straight & Level

• 30º Banked Turns & Racetracks

Evaluate Autonomous trajectory control

• Between Observation, Pre-Contact, Contact, Breakaway

Done2004

Done2005

Done2006

Done2007

Evaluate Redundancies & Contingencies

In 2009

Learjet AAR

• Initial Test Flight Tests:– Sep 2004– At Niagara Falls with 107th ANG KC-135– Cleared LJ to operate with KC-135– Gathered data for PGPS & EO sensors– 8 flights, 12 Flt-Hrs

• Second Flight Test:– Sep 2005– At NAWCWD China Lake, CA– Datalink tests– Tactical Targeting Network Technology (TTNT)– Checked out Servo -Throttle– 7 Flights, 10 Flt-Hrs

Learjet AAR

• Third Flight Test:– Jul/Aug 2006

– At Niagara Falls with 107th ANG KC-135

• Very efficient operations

• Dedicated aircraft / crews / facilities

– AUTONOMOUS Station-Keeping

– Safety Pilot flew to various refueling positions, then engaged simulation

– AAR GPS-based Control Laws in Boeing Flight Control Computer - FCC

– FCC interfaced with Learjet VSS through sensors & commands to control elevator, aileron, rudder, throttle.

• Held relative Tanker-to-LJ engaged positions - VERY precise

• Straight & Level, 30º Banked Turns, & Racetrack patterns

• Light to Moderate Turbulence

– Gathered IR Camera data for “Hybrid” system

– Flew 20 Flights, 30 Flt-Hrs

Learjet AAR

• Fourth Flight Test:– Jul/Sep 2007

– At Niagara Falls with 107th ANG KC-135

– AUTONOMOUS Transitions and Station-Keeping

– Safety Pilot flew to Transition Point (1500 ft in trail), then engaged simulation for remainder of flight.

– AAR Control Laws flew transitions between positions:

• Initiated by test engineer.

• Autonomous Transitions during: – Straight & Level, 30º Banked Turns, & Racetrack patterns

• Station Keeping at all positions

– Flew 19 Flights, 32 Flt-Hrs:• On one flight: stayed engaged 75 minutes, >20 minutes at Contact

Learjet AAR

• Fifth Flight Test:– July 2009

– At Forbes Field, KS with 190th Kansas ANG KC-135

– Test of AAR RELNAV system redundancy and contingencies

– Multiple TTNT datalinks in Tanker.

– Multiple INS/GPS systems in Learjet Surrogate Receiver.

– Safety Pilots will manually fly all refueling positions.

– Fly ~ 10 Flights, 20 Flt-Hrs

Learjet AAR Positions Around Tanker

Learjet AAR Positions Around Tanker

Learjet AAR

LJ in Contact Positionin Turn

Learjet AAR

LJ Test Engineer Control/Display

LJ Pilots’ View

Learjet Sense & Avoid Flight Test

• UAV Sense & Avoid in National Air Space.

• Autonomously Detect and Avoid intruder aircraft

in terminal environment.

• Cooperative & Non-Cooperative Intruders

• Equivalent Level-of-Safety as piloted operations.

• Equivalent Level-of-Behavior as piloted operations.

COOPERATIVE• TCAS or Mode-C• Detectable• Coordinated

Collision Avoidance

NON-COOPERATIVE• Detect with Cameras

Learjet Sense & Avoid Flight Test

• AFRL – Sponsor• Northrop Grumman (NGC) – Prime contractor• Calspan – Installations and Flight Test in Learjet

– Simulate UAV (Global Hawk-like) dynamics– Backup Intruder (LJ3 & LJ4)

• Defense Research Associates (DRA) – Camera system, detector, tracker

• Bihrle – Provides avoidance software• FAA – Provides “Intruders” (Convair-580 & King Air) & ADS-B• ICx – Provides radar (AI-130 used in helos for tower & cable detection) • Cooperative Intruder (TCAS-II and ADS-B Equipped)

– Utilizes Resolution Advisory (RA) commands• Non-Cooperative Intruder (No transponders, Uses only cameras)

– EO 3-Camera System– Radar

• Intrusion Scenarios:– One & Two Intruder scenarios: Level head-on, cross-track,

climb/descend head-on, overtake, cross-track.

Learjet Sense & Avoid Flight Test

• Phase I– Oct ‘07 – Jan ‘07, 22 Flights – 39 Hours– Used EO cameras and IR cameras

• Phase II– Apr/May ‘08, Nov ‘08, Apr ‘09– Using Radar data fused with EO Camera data.– Radar provides better range data than cameras.– Improved detection and false alarm rejection.

• Phase III – Later in 2009– Will use a new prototype Global Hawk SAA radar to

replace ICx AI-130.

Learjet Sense & Avoid Flight Test

0.5 nm

0.5 nm

0.2 nm

Typical Multiple Intrusion Scenarios

0.5 nm

0.2 nm

King Air is 0.2 nm beyond Learjet when Learjet crosses CPA

Learjet: 150 KIAS

King Air: 150 KIAS

Convair: 150 KIAS

Learjet Sense & Avoid Flight Test

Modified LJ Radome with EO 3-Camera

& ICx Radar Installation

Learjet Sense & Avoid Flight Test