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