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Collaborative Intent Exchange Based Flight Management System with Airborne Collision
Avoidance for UAS Emre Koyuncu*, Cengiz Pasaoglu**, Prof. Gokhan Inalhan*
*Istanbul Technical University **DHMI, General Directorate Of State Airports Authority
and Navigation Service Provider Turkey
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INSTITUTONAL BACKGROUND
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Aeronautics Research Center
• Central Laboratory for Aeronautics Research (2012-) – +7 Faculty, 15 Research Associates, +20 Ph.D. Level
Researchers • Established to promote advanced, interdisciplinary and
experimental research • Research Focus on wide spectrum of Aeronautics
Technologies • Design of manned and unmanned air vehicles,
spacecraft and spacecraft systems • Air Transportation, ATM • Flight Controls, Simulation and Avionics, • Nanoengineered Composites • Engine technologies and combustion • Aerodynamics, Aeroelasticity
• Strong outreach at both university, national and international level
– Nanotechnologies and Material Sciences – Electronics and Computer Science
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Research Partners and Sponsors
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Controls and Avionics Laboratory • Research Focus
– Advanced flight controls and avionics technologies – Unmanned air vehicles design and autonomy – Air Transport and ATM – Spacecraft Systems Design – Data Analytic Modelling, Estimation, Control and
Learning • Notable Achievements
– Designed the first Turkish indigenous commercial avionics systems 2006-2009
– Designed and built the first Turkish university-level autopilot system for UAVs. 2006-2009
– Designed and built the first Turkish University picosat : ITUpSAT I (TUBITAK) 2006-2009
– Designed and built indigenous bus and ADCS components for nano and micro-satellites ITUpSAT II (TUBITAK 108M523) 2009-2012
– Winner of AIAA/AAS Cansat Picosat Competion 2011
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UAS RESEARCH
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TURAC : Environmental Monitoring UAV
TURAC Configuration
Wingspan 4.2 m
Total Length 1.8 m
Height 1.05 m
Front Propeller Diameter 0.43 m
Empty Weight 39 kg
Maximum Takeoff Weight 47 kg
Havelsan-ITU Project
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TURAC : Environmental Monitoring UAV
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TURAC : Environmental Monitoring UAV
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4D TRAJECTORY MANAGEMENT
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Flight Deck Automation Support with Dynamic 4D Trajectory Management
Short-Term Collision Avoidance – for midair and terrain collision Probabilistic (multi threat) midair and terrain collision monitoring
Fully automated flight control take-over implementation for delayed pilot response
Certifiable Pseudo-random/probabilistic algorithms with modal maneuver approach
Collaborative Tactical Planning – for dynamically changing environmental/operational conditions and use of airspace
Intent based collaborative decision making with the ATC (high level language – FIDL)
On-board tactical conflict monitoring and resolution via air/air link (low level language – AIDL)
Incorporating all tactical level information through air/ground data link + on-board sense
Automated
Required response time is short
Visual Decision Support Tools Novel touch screen enabling synthetic vision screens increasing situational awareness
Integrated information visualization with trajectory planning modules
Head-Up Displays with augmented reality add-ons
Collaborative
Required response time is long
Human Centered Tools
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Advanced Flight Deck Automation Systems
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ITU B737-800NG Flight Deck and Novel Decision Support Systems
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FUTURE OF UAS
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World Outlook
• 82 Billion Dolar Economy in between 2015-2025 (AUVSI)
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Military and Civilian Market Growth
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UAS Market Composition
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Motivation
• Future intensive use of UAVs for civil applications will require integration into national airspace
• Major challenges; – Lack of UAS interaction links with Air Traffic
Management System – Non-standardised performance/behavioural
characteristics of vehicles • Unable to build a TCAS library based on
performance classification
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Motivation
• Next Generation UAV Flight Management Systems should include;
– Additional data links makes UAVs visible in 4D
• machine-to-machine communication – air to air data links
• machine-to-human(operator, traffic controller etc.) communication – air to ground data links
– Multi-layered safety system for long term and short
term conflict avoidance • Tactical real-time aircraft separation • Short term sense-and-avoid
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UAS Integration into NAS
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Intent Based Nominal Operation And Trajectory Planning
Machine-to-machine
Machine-to-human
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MICRO UAS INTEGRATION TO NAS : ARCHITECTURES
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KAMPUSIHA – UAS for Campus Security
Quadrotor UAV developed at ITU ARC With onboard camera, flashlight and siren
GUI Integrated into ITU Campus Security System for dispatching UAVs based on emergency calls
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IHATAR – UAS for Crop Monitoring
Flight Management Architecture Processed Images of the crop obtained from the onboard multispectral camera
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Integration of Micro UAS’ into the NAS
• High power/high weight manned aircraft type integration is not realistics
• Ever growing interest in Civilian Usages of UAS (Amazon, Google, and even Apple…) – Part of G type airspace usage (1200 ft and below)
• FAA 400ft proposition (500ft mandate for small UAVs)
• 3 Critical (and Main) Factors in real integration – Sense-Avoid Technologies (including geo fencing) – Tracking Technologies – UAS Recovery System : Minimal 3rd part damage/harm in
UAS failures
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UAS Integration via GSM
• Command control via GSM data link
• Sense and Avoid via GSM data link (ADS-B, ADS-C applications)
• Reservation basis restricted areas and broadcasting via GSM network
– Urban areas – Digital Elevation
Maps – Buildings – No fly zones – …
• Positioning via GSM Network
– Differential GSM positioning applications
• Traffic data cloud binding – Track UAS traffic
trough GSM Network
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UAS Integration via GSM
• Command control via GSM data link
• Sense and Avoid via GSM data link (ADS-B, ADS-C applications)
• Reservation basis restricted areas and broadcasting via GSM network
– Urban areas – Digital Elevation
Maps – Buildings – No fly zones – …
• Positioning via GSM Network
– Differential GSM positioning applications
• Traffic data cloud binding – Track UAS traffic
trough GSM Network • Redundancy through LOS
Data Link for C2
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UAS Integration via GSM
• Command control via GSM data link
• Sense and Avoid via GSM data link (ADS-B, ADS-C applications)
• Reservation basis restricted areas and broadcasting via GSM network
– Urban areas – Digital Elevation
Maps – Buildings – No fly zones – …
• Positioning via GSM Network
– Differential GSM positioning applications
• Traffic data cloud binding – Track UAS traffic
trough GSM Network • Redundancy through LOS
Data Link for C2 • Redundancy through
transponder for ADS-B
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EXPERIMENTAL DEMONSTRATION
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ITU Multirotor : Experimental Platform for Advanced Flight Controls and Autonomy Research
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Onboard Flight Management System
General Architecture of the FMS
Air-to-air data link (ADS-B emulator for air-to-air)
Air-to-ground Data Link
Flight Control Computer
Flight Management Computer
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Experimental Implementation
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Autonomous Sense And Avoid
The Sense and Avoid module • independent safety assurance system from the ground for short
term collisions with – the aircraft in the surrounding traffic and – terrain objects
• Do not use intent sharing or time-consuming negotiation processes,
and immediately intervenes when the midterm separation assurance process fails.
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Collision Avoidance Approaches
• Nominal models – only consider current behavior and updates
advisory upon each information availability – do not require detailed performance models – i.e. TCAS
• Probabilistic models – robust due to accounting for likelihood of all
possible future trajectories – generate high rate deviation maneuvers – require detailed performance model for all type
of aircraft • Worst case models
– consider worst case maneuvers minimizing collision time, then maximize first potential collision times
– computationally complex, therefore generally utilize finite maneuver libraries
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Autonomous Sense And Avoid
The sense and avoid module of the UAV uses two types of information:
– Surrounding traffic information • obtained from ADS-B (Automatic
Dependent Surveillance-Broadcast ) transponders of surrounding aircraft.
– Terrain database
• spatial model of the earth objects in certain resolution.
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Autonomous Sense And Avoid
ADS-B hardware emulator • Xtend 900 MHz RF Module • Pre-programmed to work in broadcast
mode • Communicate with all transponders in the
field • Enables both ADS-B In and ADS-B Out
applications For simplification, the experimental ADS-B transponder always use a single mode.
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Autonomous Sense And Avoid
ADS-B emulator message structure • An simplified ADS-B data structure • Covers most essential flight information with 56 bytes data
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Collision Detected
These are sent to the RRT*
b. Collision is detected at time t. c. RRT* algorithm is initiated. a. Pre-loaded tasks are in progress.
Cost Efficient Route
d. Cost efficient route is calculated by RRT* e. New route is transferred to UAV f. Task progress continues.
Search Area
New Route
Estimated Route Of Intruder
Conflict Detection and Resolution
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Real Time Video & Telemetry
Window
Speed
Altitude
Vertical
Speed
Artificial
Horizon
User Inputs
Home Position Mission
Control & Sense And
Avoid Window
Intruder Uncertanity
Balls
Altitude Window
Extra Information
Window
Current Waypoint UA
V
Estimated Route Of Intruder
Vehicle Selector
Route
ID, Altitude Difference, Heading
Altitude[m] Of Mission Step
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Intruder
Experimental Demonstrations
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Predicted Intruder Path
Updated Reference Trajectory
Intruder Uncertainty
RRT* Search Graph
t=0 sec
Position Error
Potential Collision Point
Reference Trajectory
Target Waypoint
Altitude History Target Altitude
Current Altitude
t=20 sec t=60 sec
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Thank you.