[Link]
R=20160007776 2018-09-07T[Link]+00:00Z
Automatic Dependent Surveillance Broadcast:
ADS-B Sense-and-Avoid System
Ricardo Arteaga
NASA Armstrong Flight Research Center
AIAA, June 13-17
Washington DC
Introduction to ADS-B
Automatic Dependent Surveillance Broadcast
• Replacing radar for tracking aircraft worldwide
– Prevent collisions
• Sharing position, altitude, velocity, etc. with air
traffic control and other aircraft
– ADS-B Out = Transmit
– ADS-B In = Receive
• FAA-mandate
by Jan. 1, 2020
Operational View
LEGEND
Sense and Avoid (SAA Technologies)
Air Traffic Services
ADS-B Ground Stations and Network
Legacy Command and Control (C2) Links
ACRONYMS
Communications satellite ADS–B: Automatic Dependent Surveillance—Broadcast
SAA: Sense and Avoid
NAS: National Air Space
Cooperative aircraft
Sense
and Avoid
Non cooperative aircraft
UAS Civil
Unmanned aircraft Manned aircraft
ADS-B ground stations
Air traffic services
(en route) Communications
Command
and Control
Human Systems
Integration
UAS ground Research ground
control station control station
Small UAS (sUAS) Air traffic services
Mini-ADS-B Technologies UAS Restricted-Use Certification
(terminal)
Commercial UAS operations Precision agriculture
Operational Use Cases
• Urgent need to safely integrate UAS into
the National Air Space (NAS)
– First responders and firefighters
– Search-and-rescue missions
– Monitoring and/or fighting forest fires
– Package delivery (Amazon®, Domino’s®,
FedEx®)
– Surveying farmland, borders, pipelines
• Consumer/Commercial demand for UAS
likely to explode in the next decade
– 30,000 drones operating by 2020 (FAA) 1
• Market opportunity by 2020 for ADS-B
equipped Unmanned Aircrafts: from $240
to $360 million.
[1] [Link] accessed on October 15, 2104
New Technology UNMANNED ADS-B
• ADS-B OUT
• ADS-B IN AIRCRAFT SYSTEMS • ADS-B system coupled to
an unmanned aerial
• ADS-B Sense and Avoid vehicle for increased
situational awareness and
self-separation assurance
GPS
C-BAND
LOS
Datalink
GCS
ADS-B Ground Station
5
NASA Patent Pending 13/785,661
NASA Results and Benefits
Results Benefits
ADS-B flight tests on Ikhana UAS • Complies with FAA
certification for ADS-B Out
(5.7 feet position accuracy, FAA
independent analysis)
• Provides backbone
technology for NextGen
• Increases safety by ensuring
safe separation
• ADS-B Out: March 2012 • Increases pilot awareness,
o First time a UAS as large as situational and traffic
the MQ-9 had flown equipped • Other technical benefits
with ADS-B o Provides 3D synthetic views
• ADS-B In: May 2012 o Loss link of UAS telemetry uses FAA
Tech Center ADS-B data for
o 2 Flight Tests at Dryden with
redundancy
successful traffic surveillance
NASA Patent Pending 13/785,661
Advanced sense-and-avoid algorithm
Software uses ADS-B broadcast information to construct
aircraft trajectories, and predict future loss of separation.
Collision possible: 33s
ADS-B sense-and-avoid algorithm
Stratway – a modular approach to safe conflict resolutions.
Stratway conflict resolution algorithm
Stratway – strategies are iterated.
Sense-and-Avoid sub-functions
NASA Sense and Avoid unique capabilities provided
by the Stratway code.
NASA ADS-B SAA Display
NASA Patent Pending 13/785,661
Model Elements Used To Develop and Validate Requirements
SAA Requirements
Alerting
- Must Not Alert
Ownship Data - Must Alert
- Horizontal RAs
- UAV Tracker - Vertical RAs
- Speed RAs Display
Encounters Detect - Correlation
- Kalman Filters - NASA ADS-B Display
- Correlated - Active (Mode S / - Sense and Aviod
- Uncorrelated Mode C Guidance
- Multi-Intruder-type Transponders)
distribution - ADS-B - Stratway +
- Scripted stressing - Metrics (CPA,
scenarios - Well Clear,
- Recorded flight test - Alerting Time)
tracks
- Run Simulation
(NASA)
Aircraft Model/
Pilot
Aircraft
- NASA (6 DOF) - Pilot Usability
- Cessna 172 A/C - Pilot response time
- Pilot Maneuvers
Encounters Geometries Used To Develop and Validate Requirements
Horizontal & Vertical Encounters
500, 200, 0, -200, -500 feet offsets
Head On, Crossing, 45, 90, 180 degree.
Encounters Geometries Used To Develop and Validate Requirements
Horizontal & Vertical Encounters
500, 200, 0, -200, -500 feet offsets
Head On, Crossing, 45, 90 degree.
SAA Algorithm Performance
1000
900
800
Vertical Separation (ft)
700
Vertical
600
Encounters
500
Horizontal
400
Encounters
300
Multiple
Intruders 200
Scenario 100
0
0.00 0.50 1.00 1.50 2.00 2.50 3.00 3.50
Horizontal Separation (NM)
ADS-B Sense and Avoid Simulation
Manned Flight Tests ADS-B SAA
Test Aircraft (Ownship) Intruder
Flight Test Validation
Flight Test Lessons Learned
• Simplify, simplify, simplify, don’t try to get it totally
right the first time.
• Incrementally integrate the ADS-B Out and ADS-B
In capability.
• Pilot Useabilty tests are critical for design of man-
machine interface
• Flight tests can be used to validate simulations
Future Applications and Benefits
ADS-B on Space Craft Vehicles
• Complies with FAA
certification for ADS-B Out
• ADS-B represents the
backbone technology for
NextGen.
• Provides re-entry tracking
Commercial Applications both inside and from ground station/UAS
outside NASA: Long Endurance 5 years
for space vehicle recovery
Commercial space vehicles with ADS-B
Systems (will likely emerge in the next
decade).
NASA is a world class leader in cutting edge
astronautics technology.
Conclusion
• Research presented demonstrates the ADS-B SAA
performance for conflict detection and conflict resolutions
for unmanned and manned general aviation using accurate
ADS-B velocity state information.
• Vigilant Aerospace Systems, Inc has successfully licensed the
NASA ADS-B SAA technology
• NASA will conduct research on a miniaturized radar for
detecting uncooperative targets and/or objects.
ADS-B Sense and Avoid System
Video
[Link]
Questions?
Backup Slides
NASA’s Successful Flight Tests
• Various sizes: Ikhana, DROID, Towed Glider
• Performance: 5.7 ft. accuracy (304 ft. mandate)
• Traffic surveillance: Up to 17 real-time tracks
• Record-setting: First time large UAS had flown
with ADS-B
Dryden Remotely Operated
Ikhana Integrated Drone (DROID) Towed glider
[Link] accessed on October 15, 2104
Alerting Logic
RISK Collision Volumes
ATC Separation Services
Self Separation Threshold
Traffic Alert
Intruder
+/-1000ft
Traffic Alert
Collision Avoidance
Threshold
“Well Clear”
+/-500ft
Near Mid-Air Collision Threat
Alert
+/-400ft
Collision 5 nm
Volume
+/-100ft
3 nm
1000 ft.
1nm
3 – 5 nm
New Technology MANNED AIRCRAFT
Aircraft SYSTEMS
• Traffic Conflict Detection Tablet User Interface
• Integrated 2D/3D
Weather
• Integrated 3D Terrain
• NASA Dryden developed
capability
• ADS-B Sense and Avoid
ADS-B Out & In
ADS-B Data
Sensors Displays
Algorithms
Sense and Avoid • Detects intruding
Self-Separation aircraft in terms of
increasing threat
risk
• Alerts pilots of
• ADS-B Out Broadcasts Ownship potential collisions
• ADS-B In reception of air-to-air and provides
ADS-B messages from proximate resolution advisories
aircraft and ADS-B In traffic
information.
Simulation Scenario Demo
NASA Armstrong Flight Research Center
Small UAS ADS-B Sense and Avoid
System for the DROID and Towed Glider
BACKGROUND SYSTEM
Urgent need to safely integrate UAS into the National Air Space ADS-B Hardware
(NAS), as these systems are less expensive alternatives for: ADS-B Out transponder from Sagetech Corporation
• Search and rescue missions • Surveying farmland, borders, • 3.5 x 1.8 x 0.7 inches
• Monitoring forest fires and pipelines • 100 grams (3.5 ounces)
• Package delivery • Fire Fighting missions
Dryden
Remotely
Operated
Sense & Avoid Software and Algorithms
Integrated The software package is entirely developed by NASA
Drone
• World Wind – 3D Geobrowser
• Stratway - Strategic resolutions for aircraft conflicts
What is ADS-B? • Sense & Avoid–Alerts pilot of potential collisions to
• ADS-B Out is the broadcast of position information to other avoid accidents
aircraft and ground stations.
• ADS-B In is the ability to receive ADS-B Out transmissions. SYNOPSIS
Why use ADS-B? • Advanced system will be needed to keep drones from
• By 2020, all aircraft flying in transponder airspaces will be colliding with manned aircraft vehicles.
required to have ADS-B. • Validating the software algorithms with flight experiments
• Provides more reliable tracking of aerial vehicles and to improve safety.
increases safety. • This ADS-B Sense and Avoid product is key to safety.
OBJECTIVE Towed glider
• Evaluate SAA Algorithm
performance with small and mid-
sized UAVs
[Link] accessed on October 15, 2104
ADS-B Equipped DRIOD
Benefits of NASA’s ADS-B Technology
• Complies with FAA certification for ADS-B Out
• Provides backbone technology for NextGen
– Tracking UAVs and other aircraft on tablets
• Increases safety by ensuring safe separation
– ADS-B sense-and-avoid capability
• Increases awareness, situational and traffic
– Preeminent attribute for successful UAS operations
• Other technical benefits
– Provides 3D synthetic views of the UAS
– Loss link of UAS telemetry uses FAA Tech Center ADS-B data
for redundancy
NASA Patent Pending 13/785,661
ADS-B SAA Display
Traffic Advisory
Flight Tests ADS-B Sense and Avoid
(Green Resolution Advisory)
Intruder
Conflict Detection
Resolution Advisory
NASA Pilot Usability Tests
Human
Conflict detection
Factors
Resolution advisory
9.6
9.2 9.2 8.9 9 8.9
8.2
7.8
Usefulness Accuracy Safety Effectiveness
ADS-B Situational Display
Traffic Alerting
TRAFFIC THREAT INDICATORS
36
ADS-B Mission Scenarios
ADS-B ADS-B
Ownship
Ownship
Intruders
Detected
“Baseline” case: No intruders, conflicts or collisions detected. “Intruder” case: Traffic A/C crosses intruder boundary
Traffic Alert
Nominal UAS Operations Loss of Separation
ADS-B Mission Scenarios
Trajectory Estimation
Immediate
Collision Threat
ADS-B ADS-B
Ownship
Ownship
“Collision” case: Traffic A/C Collision threat detected.
“Conflict” case: Traffic A/C Conflict threat detected.
Conflict Threat Detection Collision Threat Detection
Resolution Advisory & Resolution Advisory
Time to CPA appears at top of the display