Design of Sensor Standards for RQ-7B Shadow under Loss-Link

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1 Design of Sensor Standards for RQ-7B Shadow under Loss-Link Francisco Choi Zach Moore Sam Ogdoc Jon Pearson Sponsor: Andrew Lacher, CAASD 1

2 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 2

3 Unmanned Aircraft System A UAS is the unmanned aircraft and all of the associated support equipment, control station, data links, telemetry, communications and navigation equipment, etc., necessary to operate the unmanned aircraft. UAS Categories Operational Altitude (ft) Current System Attributes Typical Payload Airspeed (kts) UAS Models Group 1 > 40,000 RADAR Group 2 < 40,000 > 250 Global Hawk Predator Reaper Moving Target Indicator Group 3 < 10,000 (MTI) < 250 Pioneer Dragonfly Eagle Eye Group 4 < 5,000 < 100 E-O/IR Group 5 < 1,000 < 60 Shadow Silver Fox ScanEagle Hornet Raven MAV [1] 3

4 Expanding Roles of UAS The Federal Aviation Administration (FAA) set a Target Level of Safety (TLS) of 10-7 (collisions per flight hour) in the System Safety Handbook (SSH). [2],[3] 4

Avoidance See-and-Avoid Sense-and-Avoid (SAA) Visual Scanning

5 Manned VS Unmanned Manned Aircraft Unmanned Aircraft System Pilot Location Onboard Ground Control Station Collision Avoidance See-and-Avoid Sense-and-Avoid (SAA) Visual Scanning Sensors Avoidance Maneuver Direct Pilot Commands Pre-Programmed Procedure 5

6 Sense-and-Avoid Detect S1 Track S2 Evaluate S3 FAA (2009) Sense-and-Avoid (SAA) is the capability of a UAS to remain well clear and avoid collisions with other airborne traffic. Prioritize S4 Declare Threat S5 Determine Action S6 Command S7 Execute S8 [20] 6

7 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 7

8 Stakeholder Analysis Primary Stakeholders Objectives Conflicts/Tensions FAA Developing policy, guidance material, and Standards for the NAS No Standardization Requirements DoD Military Operations DHS Border Protection and maritime surveillance Put pressure on FAA to integrate UAS into the NAS to accomplish objectives NASA Science and aeronautical research Stakeholder Objectives Conflicts/Tensions Air Traffic Controllers Secure and maintain the orderly flow of air traffic Increased Workload Manned Aircraft Pilots Avoid collisions Sense-and-Avoid << See-and-Avoid UAS Manufacturers Manufacture UAS for operators Different procedures to perform SAA 8

9 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 9

10 Problem / Need Statement TLS Level of Safety Gap 0 Sensor Capability 1 FAA Reauthorization Bill (2011) develop a comprehensive plan for integration FAA Modernization and Reform Act (2012) safely accelerate the plan 10

11 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 11

12 Airspace Classifications Airspace The space lying above the earth or a certain area above land or water; esp. the space lying above a nation and coming under its jurisdiction. In the United States, airspace jurisdiction is granted to the FAA by Title 49 of the United States Code. Airspace where project is focused [8] 12

target acquisition, and enforce protection.

13 RQ-7B Shadow Aircraft Armament Inc. (AAI) Mission: Provides near-real-time reconnaissance, surveillance, target acquisition, and enforce protection. Onboard sensors: Electrooptic/Infrared (E-O/IR) Currently equipped with POP300 o Israel Aerospace Industries (IAI) POP300 sensor 13

14 E-O/IR Sensors 2 sensors: Daylight CCD camera & Infrared Sensor o o Daylight Visible CCD Camera a visible light imaging ranged system which can only be used in the day time. Carries a high magnification and resolution. Infrared sensor infrared ranged light imaging system which senses and differentiates one object from another by their difference in temperature. E-O/IR Sensor Alternatives: Resolution (pix) Azimuth (deg) Elevation (deg) POP x POP300D 1280x [12],[13] 14

15 Class E Airspace at an altitude of 3000 ft. AGL Group 4 UAS: RQ-7B Shadow The UAS will be operating under loss link with no outside communication Operating in the X-Y plane o o Scope Summary Only horizontal resolution considered Elevation not a factor Only the RQ-7B Shadow and another aircraft will exist in the airspace at any given time No elevated terrain within the airspace No weather disturbances while under loss-link. o i.e. clouds, thunderstorms 15

16 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 16

Design Alternatives Sensor Model Horizontal Resolution (pix) POP300 640 POP300 x 2 1280 POP300D 1605 POP300D x 2 3210

17 Design Alternatives Sensor Model Horizontal Resolution (pix) POP POP300 x POP300D 1605 POP300D x Azimuth (deg) Small Azimuth = High Detection Range Large Azimuth = Low Detection Range [18] 17

18 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 18

19 Method of Analysis A: Airspace Area N: # Aircraft Generated Aircraft Airspace Simulation SLS* NMAC Data Sensor Performance Model ALS* E[Vr]: Expected Relative Velocity Design Alternatives A: Airspace Area N: # Aircraft g: Aircraft Dimension Gas Model of Aircraft Collisions ELS* SLS: Simulated Level of Safety No SAA ELS: Expected Level of Safety Validation ALS: Actual Level of Safety Design alternatives 19

20 Airspace Simulation No SAA Performed Generated Aircraft Parameters (X,Y) - random location on an edge of the airspace P Heading random depending on initial location V Velocity ~ N(126.5,22.5) NM/hr G Dimension ~ N(29.86,3.58) ft. A N Aircraft Parameters X, Y, P, V, G Airspace Simulation -Matlab vectorization of relative motion Outputs Outputs β: projection of manned aircraft onto the UAS (degrees) E[Vr] - average of relative velocities for each aircraft with respect to the UAS 2 2 V r (v i v j 2v i v j cos( )) 1/ 2 NMAC Data X, Y, P, V, G, β, Vr recorded whenever NMAC occurs #NMACs & #Collisions Simulated Level of Safety (SLS) - # Collisions / Flight Hours [15] 20

21 Airspace Simulation Results 21

22 Gas Model of Aircraft Collisions [15] 22

23 Sensor Performance Model Aircraft Size: G Detection Range: d RQ-7B Shadow [3] 23

24 Sample Calculations P P

25 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 25

26 Sensor Performance Results Sensor Azimuth (deg) Avg. Detection Distance (NM) Avg. TBN (s) % NMACs Detected POP x POP POP300D x POP300D

27 ALS Results Sensor Azimuth (deg) Actual Level of Safety Utility * POP * * * x POP * * TLS Threshold 10-7 POP300D * x POP300D *

28 Sensor Cost vs Utility Cost of 1 POP300: 260K Cost of 1 POP300D: 1.5*260K = 390K [12] 28

29 Agenda Context Analysis Stakeholder Analysis Problem & Need Statement Scope Overview Design Alternatives Method of Analysis Results Conclusions and Recommendations 29

30 Conclusions and Recommendations 30

31 Questions? 31

32 Gantt Chart 32

33 Model Assumptions Aircraft # Produced Cruise Speed Cruise^2 Length Wingspan Area Area^2 Cessna 172R Piper Cherokee Cessna Cessna Beechcraft Bonanza E(x) E(x) E(x)^ E(x)^ E(x^2) E(x^2) Var Var SD SD

34 References [1] 49 U.S.C. Title 49 Transportation. 03 Jan [2] Wells, Norman E. Air Superiority Comes First. Air University Review. Colorado Springs, CO. Nov [3] Muraru, Adiran. A Critical Analysis of Sense and Avoid Technologies for Modern UAVs. Advances in Mechanical Engineering 2.1 (2012): 1-7. Print. [4] Weatherington, Dyke. Unmanned Aircraft Systems. DoD Publication 10-S Apr [5] Federal Aviation Administration. Order K: Special Military Operations. 19 Feb [6] Unmanned Systems Integrated Roadmap FY [7] FAA Modernization and Reform Act of 2012: Conference Report. 1 Feb [8] Federal Aviation Administration. Sense and Avoid (SAA) for Unmanned Aircraft Systems (UASs). Oct [9] Code of Federal Regulations. Part 91: General Operating and Flight Rules. [10] FAA Systems Safety Handbook. 30 December, [11] Code of Federal Regulations. Part 71: Designation of Class A, B, C, D, and E Airspace Areas; Airways; Routes; and Reporting Points. [12] Israel Aerospace Industries. POP300: Lightweight Compact Multi Sensor Stabilizing Plug-in Optronic Payload. Web. 30 Mar [13] Israel Aerospace Industries. POP300D-HD High Definition Plug-In Optronic Payload Designator. Web. 30 Mar [14] Cessna 172. Wikimedia Foundation, 29 Mar Web. 31 Mar [15] Endoh, S. Aircraft Collision Models. Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA [16] Chamlaibern, Lyle, Christopher Geyer, and Sanjiv Singh. "Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs Operating in Civilian Airspace." (n.d.): n. pag. Robotics Institute at Carnegie Mellon University, 28 Jan Web. [17] Load Factor (aeronautics)." Wikipedia. Wikimedia Foundation, 29 Mar Web. 31 Mar [18] Griffith, J. Daniel, Mykel, J. Kochenderfer, and James K. Kuchar. Electro-Optical System Analysis for Sense and Avoid. 21 Aug Web. 10 Jan [19] Airspace. (n.d.) In Merriam Webster.com online. Retrieved 17 April, 2013, from [20] Lacher, Andrew R., David R. Maroney, Dr. Andrew D. Zeitlin. Unmanned Aircraft Collision Avoidance Technology Assessment and Evaluation Methods. The Corporation, McLean, VA, USA. 34

Design of Sense-and-Avoid Standards for. RQ-7B Shadow under Loss-Link

Design of Sense-and-Avoid Standards for RQ-7B Shadow under Loss-Link Group Members Francisco Jose Choi Zach Moore Sam Ogdoc Jonathan Pearson Sponsor Andrew Lacher, MITRE CAASD Final Report Page 1 Table