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At least 451 records · Page 25
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

3D-Sonification for Obstacle Avoidance in Brownout Conditions

Helicopter brownout is a phenomenon that occurs when making landing approaches in dusty environments, whereby sand or dust particles become swept up in the rotor outwash. Brownout is characterized by partial or total obscuration of the terrain, which degrades visual cues necessary for hovering and safe landing. Furthermore, the motion of the dust cloud produced during brownout can lead to the pilot experiencing motion cue anomalies such as vection illusions. In this context, the stability and guidance control functions can be intermittently or continuously degraded, potentially leading to undetected surface hazards and obstacles as well as unnoticed drift. Safe and controlled landing in brownout can be achieved using an integrated presentation of LADAR and RADAR imagery and aircraft state symbology. However, though detected by the LADAR and displayed on the sensor image, small obstacles can be difficult to discern from the background so that changes in obstacle elevation may go unnoticed. Moreover, pilot workload associated with tracking the displayed symbology is often so high that the pilot cannot give sufficient attention to the LADAR/RADAR image. This paper documents a simulation evaluating the use of 3D auditory cueing for obstacle avoidance in brownout as a replacement for or compliment to LADAR/RADAR imagery.

3D audio↗
NASA NTRS2011

Sequential Probability Ratio Test for Collision Avoidance Maneuver Decisions Based on a Bank of Norm-Inequality-Constrained Epoch-State Filters

Sequential probability ratio tests explicitly allow decision makers to incorporate false alarm and missed detection risks, and are potentially less sensitive to modeling errors than a procedure that relies solely on a probability of collision threshold. Recent work on constrained Kalman filtering has suggested an approach to formulating such a test for collision avoidance maneuver decisions: a filter bank with two norm-inequality-constrained epoch-state extended Kalman filters. One filter models 1he null hypothesis 1ha1 the miss distance is inside the combined hard body radius at the predicted time of closest approach, and one filter models the alternative hypothesis. The epoch-state filter developed for this method explicitly accounts for any process noise present in the system. The method appears to work well using a realistic example based on an upcoming highly-elliptical orbit formation flying mission.

Carpenter, J. R.↗
NASA NTRS2017

UAS Integration in the NAS Project: Detect and Avoid Display UNITED Demo

This demo shows the UAS-NAS project's Vigilant Spirit Control Station developed in partnership with the U.S. Air Force Research Lab. Attendees will be able to view encounters and see how the DAA and TCAS II alerting and guidance displays are used to avoid simulated aircraft.

Roberts, Zachary↗
NASA NTRS2017

Sense and Avoid for Small Unmanned Aircraft Systems

The ability for small Unmanned Aircraft Systems (sUAS) to safely operate beyond line of sight is of great interest to consumers, businesses, and scientific research. In this work, we investigate Sense and Avoid (SAA) algorithms for sUAS encounters using three 4k cameras for separation distances between 200m and 2000m. Video is recorded of different sUAS platforms designed to appear similar to expected air traffic, under varying weather conditions and flight encounter scenarios. University partners and NASA both developed SAA methods presented in this report.

Dolph, Chester V.↗
NASA NTRS2018

Ground Based Detect and Avoid

This presentation documents the results of an industry survey performed to help inform future research and requirements development regarding ground-based detect and avoid (GBDAA) systems. The author evaluated and summarized the current-state of existing GBDAA systems with a focus on system capabilities, current use cases, and concepts of operations. The survey included vendors such as Echodyne, Seamatica, and Raytheon, government organizations, including the Air Force and FAA, as well as members from the FAA's UAS Test Sites in New York, Alaska, Nevada, Virginia and North Dakota. High-level findings are provided as well as quotes from individuals involved in building and testing GBDAA systems. Conclusions include a lack of coordination between test sites, manufacturers and standards organizations. There is also a wide range of performance capabilities between test sites and systems. More work is required to define minimum operational performance standards for these systems, which are in a relatively immature state at the moment.

ground-based radar↗
NASA NTRS2019

Encounter-Based Simulation Architecture for Detect-And-Avoid Modeling

This paper presents an encounter-based simulation architecture developed at NASA to facilitate flexible and efficient Detect and Avoid modeling in parametric or tradespace studies on large data sets. The basic premise of this tool is that large-scale input data can be reduced to a set of `canonical encounters' and that using the reduced data in simulations does not lead to loss of fidelity. A canonical encounter is specified as ownship and intruder flight portions potentially resulting in a loss of well clear along with a set of properties that characterize the encounter. The advantages of using canonical encounters include faster simulations, reduced memory footprint, ability to select encounters based on user-specified criteria, shared encounters across multiple teams, peer-reviewed encounters, and a better understanding of the input data set, to name a few.

MOPS↗
NASA NTRS2017

The Effects of Severity of Losses of Well Clear on Minimum Operations Performance Standards End-To-End Verification and Validation Simulation Study for Integrating Unmanned Aircraft Systems into the National Airspace System Using Detect and Avoid Systems

As Unmanned Aircraft Systems (UAS) make their way to mainstream aviation operations within the National Airspace System (NAS), research efforts are underway to develop a safe and effective environment for their integration into the NAS. Detect and Avoid (DAA) systems are required to account for the lack of “eyes in the sky” due to having no human on-board the aircraft. The technique, results, and lessons learned from a detailed End-to-End Verification and Validation (E2-V2) simulation study of a DAA system representative of RTCA Special Committee(SC)-228’s proposed Phase I DAA Minimum Operational Performance Standards (MOPS), based on specific test vectors and encounter cases, will be presented in this paper.

Ghatas, Rania W.↗
NASA NTRS2018

Analysis of Influence of UAS Speed Range and Turn Performance on Detect and Avoid Sensor Requirements

In support of NASA’s Unmanned Aircraft Systems Integration in the National Airspace System project and RTCA Special Committee 228, an analysis has been performed to provide insight in to the trade space between unmanned aircraft speed and turn capability and detect and avoid sensor range requirements. The work was done as an initial part of the effort to understand low size, weight, and power sensor requirements for aircraft that have a limited speed envelope or can limit the envelope for portions of their mission and may be able to turn at higher than “standard rate.” Range and timeline reductions coming from limiting speed range and from increasing available turn rate in some speed ranges are shown.

Jack, Devin P.↗
NASA NTRS2019

Encounter-Based Simulation Architecture for Detect and Avoid Modeling

This paper presents an encounter-based simulation architecture developed at NASA to facilitate flexible and efficient Detect and Avoid modeling in parametric or tradespace studies on large data sets. The basic premise of this tool is that large-scale input data can be reduced to a set of `canonical encounters' and that using the reduced data in simulations does not lead to loss of fidelity. A canonical encounter is specified as ownship and intruder flight portions potentially resulting in a loss of well clear along with a set of properties that characterize the encounter. The advantages of using canonical encounters include faster simulations, reduced memory footprint, ability to select encounters based on user-specified criteria, shared encounters across multiple teams, peer-reviewed encounters, and a better understanding of the input data set, to name a few.

MOPS↗
NASA NTRS2018

An Exploratory Evaluation of UAS Detect and Avoid Operations in the Terminal Environment

New technical standards for Unmanned Aircraft Systems (UAS) detect and avoid (DAA) systems mark recent progress toward realizing the goal of full integration of UAS into the National Airspace System (NAS). The DAA system is intended to provide a means of compliance with operating regulations that required pilots on board manned aircraft to remain "well clear" of other aircraft which is accomplished through out-the-window visual acquisition of other aircraft and application of a subjective judgment of safe separation. The requirements for the DAA system, including the specification of a DAA well clear threshold as well as functional requirements for detecting, tracking, alerting and guidance processing, and displays, are specified in DO-365, Minimum Operational Performance Standards (MOPS) for DAA Systems developed within RTCA (Radio Technical Commission for Aeronautics) Special Committee 228 (SC-228). Intended as the first in a series of phased versions, these requirements are frequently referred to as the "Phase 1" DAA system. The Phase 1 DAA system is limited for use by aircraft transitioning to and from Class A or special use airspace, through Class D, E, and G airspace. In particular, the Phase 1 DAA MOPS are not intended for terminal airspace operations, a critical gap for enabling a full range of UAS operations. The application of the Phase 1 DAA system and DAA well clear threshold within the terminal area is predicted to result in a high number of unnecessary alerts when the UAS is safely separated from other traffic. The goal of the present study was to examine pilot performance and operational issues related to the operation of the Phase 1 DAA system in a terminal area. This experiment was intended as an exploratory study that would be used to inform the development of a new terminal area-specific DAA well clear definition, and associated alerting and guidance requirements. The two main objectives of this study were to: 1) characterize pilot behavior in the terminal environment with the Phase 1 DAA system, and 2) investigate the effect of modifications to the Phase 1 DAA alerting and guidance structure. In particular, the authors were interested in determining whether the removal of specific alerting and guidance levels, without changing the DAA well clear definition or alerting thresholds, would impact pilot performance while conducting terminal operations. The results indicate that the Phase 1 well clear definition and alerting and guidance resulted in frequent alerting that degraded pilots' ability to discriminate between encounters where another aircraft was safely separated versus when a maneuver was necessary. The resulting impact on pilot performance was slower response times and higher frequency and severity of losses of DAA well clear compared to those observed for experiments examining pilot performance in the en route environment. There was no significant effect of alerting and guidance display configuration on pilot performance.

terminal area↗
NASA NTRS2014

Detect and Avoid Timeline

This brief presentation provides a timeline for the steps taken by an unmanned aerial system (UAS) pilot when maneuvering to avoid a conflicting aircraft. This talk also provides time estimates for each step in the timeline utilizing 'measured response' data from previous Human Systems Integration Division simulation research.

Fern, Lisa↗
NASA NTRS2018

An Exploratory Evaluation of UAS Detect and Avoid Operations in the Terminal Environment

New technical standards for Unmanned Aircraft Systems (UAS) detect and avoid (DAA) systems mark recent progress toward realizing the goal of full integration of UAS into the National Airspace System (NAS). The DAA system is intended to provide a means of compliance with operating regulations that required pilots on board manned aircraft to remain "well clear" of other aircraft which is accomplished through out-the-window visual acquisition of other aircraft and application of a subjective judgment of safe separation. The requirements for the DAA system, including the specification of a DAA well clear threshold as well as functional requirements for detecting, tracking, alerting and guidance processing, and displays, are specified in DO-365, Minimum Operational Performance Standards (MOPS) for DAA Systems developed within RTCA Special Committee 228 (SC-228). Intended as the first in a series of phased versions, these requirements are frequently referred to as the "Phase 1" DAA system. The Phase 1 DAA system is limited for use by aircraft transitioning to and from Class A or special use airspace, through Class D, E, and G airspace. In particular, the Phase 1 DAA MOPS are not intended for terminal airspace operations, a critical gap for enabling a full range of UAS operations. The application of the Phase 1 DAA system and DAA well clear threshold within the terminal area is predicted to result in a high number of unnecessary alerts when the UAS is safely separated from other traffic. The goal of the present study was to examine pilot performance and operational issues related to the operation of the Phase 1 DAA system in a terminal area. This experiment was intended as an exploratory study that would be used to inform the development of a new terminal area-specific DAA well clear definition, and associated alerting and guidance requirements. The two main objectives of this study were to: 1) characterize pilot behavior in the terminal environment with the Phase 1 DAA system, and 2) investigate the effect of modifications to the Phase 1 DAA alerting and guidance structure. In particular, the authors were interested in determining whether the removal of specific alerting and guidance levels, without changing the DAA well clear definition or alerting thresholds, would impact pilot performance while conducting terminal operations. The results indicate that the Phase 1 well clear definition and alerting and guidance resulted in frequent alerting that degraded pilots' ability to discriminate between encounters where another aircraft was safely separated versus when a maneuver was necessary. The resulting impact on pilot performance was slower response times and higher frequency and severity of losses of DAA well clear compared to those observed for experiments examining pilot performance in the en route environment. There was no significant effect of alerting and guidance display configuration on pilot performance.

Rorie, Conrad↗
NASA NTRS2016

Stereo Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Image Space Represntation

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for on-board obstacle avoidance for safe operation. Prior approaches can be divided between purely reactive approaches, mapping low-level visual features directly to headings to maneuver the vehicle around the obstacle, and deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image space representation, which supports very efficient motion planning and collision-checking. Configuration space expansion is done very efficiently on the egocylinder as an image processing function. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.

Micro air vehicles↗
NASA NTRS2019

Indoor Ground Testing of a Small UAS Sense and Avoid Airborne Doppler Radar

The National Aeronautics and Space Administration’s Unmanned Aircraft System (UAS) Traffic Management (UTM) project is researching prototype technologies needed to ensure safe integration of UAS operations into the National Airspace System (NAS). Within the UTM Concept of Operations, UAS would be equipped with on-board Sense and Avoid (SAA) technology to continually monitor for manned and unmanned aircraft in its vicinity while operating beyond visual line of sight in uncontrolled airspace. To support this effort, a candidate commercially available 24.5 GHz Doppler radar was selected and evaluated to determine if the technology could reliably support minimum requirements for SAA applications of small UAS (sUAS). Indoor ground tests were conducted inside the NASA Langley Research Center’s Experimental Test Range (ETR) from a stationary platform to evaluate the Doppler radar performance characteristics and gain operational proficiency before the radar was authorized to transmit outdoors. A high speed linear rail system was developed for the radar evaluation and was shown to be an effective method to generate Doppler radar targets of known radar cross section. The accuracy of the range and velocity reported by the radar was shown to be dependent on the Kalman filter state variance parameter settings. Antenna measurements were collected with the radar installed both on and off a sUAS to quantify the relative antenna gain, beam width and side lobe levels of the radar’s Metamaterial Electronically Scanning Array (MESA) antennas at boresight and extreme field of view pointing vectors. The relative antenna gain measured 2.6 dB lower at extreme field view angles compared to the boresight radiation pattern.

Szatkowski, George N.↗
NASA NTRS2019

Evaluation of a Dynamic Weather-Avoidance Rerouting Tool in Adjacent-Center Arrival Metering

Dynamic Reroutes for Arrivals in Weather (DRAW) is a NASA-developed decision-support tool for Traffic Management Coordinators (TMCs) at the Federal Aviation Administration's Air Route Traffic Control Centers ("Centers"). DRAW proposes weather-avoidance reroutes for en route arrival flights subject to metering restrictions when transitioning into a busy terminal airspace. The prior DRAW study demonstrated that TMCs' use of DRAW promotes earlier reroutes of arrivals, and reduces the number of routes conflicting with weather in the Center. The present paper focuses on how DRAW benefits metering delivery accuracy when schedule freeze horizon distance was altered. A human-in-the-loop simulation was conducted at NASA Ames Research Center in October-November 2018, where retired TMCs and controllers performed simulated metering operations for southeast arrivals through the Atlanta and Jacksonville Centers to the Hartsfield-Jackson Atlanta International Airport during convective weather periods. Results demonstrated that DRAW use reduced the frequency of manual adjustments of Scheduled Times of Arrival and lowered TMC workload. DRAW use also made the metering accuracy, the number of reroute amendments after the freeze horizon, and the en route sector controller workload more robust to the effect of different freeze horizon distance.

Hayashi, Miwa↗
NASA NTRS2019

Detect-and-Avoid Alerting Performance for High-Speed UAS and Non-Cooperative Aircraft

This paper presents a set of experiments designed to assess the viability of using a smaller Detect and Avoid (DAA) volume for large Unmanned Aircraft Systems (UAS) when they are trying to remain well clear of non-cooperative visual flight rules (VFR) aircraft, in compliance with Federal regulations. The current DAA volume was defined for both cooperative and non-cooperative VFR traffic by the work of RTCA Special Committee 228 in 2017, in what is referred to in this paper as the Phase 1 standards. Subsequent work by the committee has been focused on enabling operations by smaller UAS that cannot carry the heavy radars required for the Phase 1 DAA Minimum Operational Performance Standards (MOPS). The work discussed in this paper will explore whether a Phase 1 UAS using a Phase 1 radar can use the reduced non-cooperative DAA alerting volume being studied for smaller, slower Phase 2 UAS without significantly degrading system safety. The study uses UAS models and background traffic from previous Phase 1 and Phase 2 research to run an unmitigated simulation that will examine alerting performance using different DAA well clear definitions. The primary metrics are also tied to the alerting performance of the DAA system, and include average alerting times, probabilities of missed and late alerts, and the probability of a near mid-air collision given a loss of "well clear," as defined by the DAA system. Results are expected to help RTCA make the determination whether or not the DAA well clear definition for Phase 1 UAS can be reduced for non-cooperative VFR aircraft.

Cone, Andrew C.↗