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All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Automated Collision Avoidance (ACA) and Automated Return to Course (ARTC) Requirement and Guidance Review: Final

This report's objectives were to review regulatory and guidance documents to identify requirements and considerations for the design and operation of automated systems that perform the functions of automated collision avoidance (ACA) and/or automated return to course (ARTC). The importance of this work is twofold: 1) to help focus efforts addressing new automated collision avoidance and return to course systems requirements and considerations, and 2) in pulling together available requirements from multiple sources, generate a master resource for these automated system requirements and considerations. Reviewed documents include regulations, industry standards and research papers that specifically address ACA and ARTC systems, other automatedl control and guidance systems, ICAO (International Civil Aviation Organization) and Eurocontrol documents.

Automation↗
NASA NTRS2015

Pilot Evaluation of a UAS Detect-and-Avoid System's Effectiveness in Remaining Well Clear

Unmanned aircraft will equip with a detect-and-avoid (DAA) system that allows them to comply with the requirement to see and avoid other aircraft, an important layer in the overall set of procedural, strategic and tactical separation methods designed to prevent mid-air collisions. Although the effectiveness of the DAA system will be set to a minimum threshold by regulators, different combinations of algorithms, displays and procedures could be used to meet that minimum. The research presented in this paper indicates the effectiveness of the combined pilot-DAA system as a function of the DAA design requirements and provides data that may be used to model the behavior of pilots when employing such systems. Over the course of two simulations 21 professional UAS pilots evaluated eight different DAA system designs and metrics were collected on their ability to maintain the well clear separation standard. The independent variables were the time horizon at which pilots were alerted to potential losses of well clear, the location of the traffic display, and the tools and informational elements available on the display to aid the pilot in detecting and resolving those potential losses. In the second experiment the UAS encountered two categories of aircraft: those equipped with simulated transponders that could be seen dozens of miles away and those without that were only detectable by a simulated radar within a range of six nautical miles. The data indicate that integrating the traffic display with the primary mission map directly in front of the pilot reduced the frequency of losses of well clear. Improved detection and resolution tools, including explicit maneuver guidance and a trial planning capability, had less of an effect in reducing the frequency of losses but significantly reduced the time in loss when they occurred. The amount of warning time provided to the pilot had a strong effect on their ability to remain well clear: when alerts were first presented with less than about 15 seconds to a predicted loss of well clear pilots were able to maneuver successfully in only 26 percent of encounters, whereas they were about 83 percent successful when they had more than 15 seconds. Pilots' ability to separate from the two categories of aircraft was nearly the same after accounting for the amount of alert time provided in each encounter, although the limited surveillance volume for the non-transponder equipped aircraft meant alerts tended to occur later and therefore were more difficult to resolve.

loss of well clear↗
NASA NTRS2019

Collision Avoidance "Short Course" Part III: CA in Changing Space Flight Environment

Satellite conjunction assessment is perhaps the fastest-growing area in space situational awareness and protection, with military, civil, and commercial satellite owner/operators embracing more and more sophisticated processes to "avoid the avoidable"—namely collisions between high-value space assets and orbital debris. NASA and CNES have collaborated to offer an introductory short course on all the major aspects of the conjunction assessment problem. This half-day course will cover satellite conjunction dynamics and theory, JSpOC conjunction data products, major risk assessment parameters and plots, conjunction remediation decision support, and present and future challenges. This briefing represents the NASA portion of the course.

avoidance↗
NASA NTRS2019

Terminal Area Considerations for UAS Detect and Avoid

Unmanned Aircraft Systems need to be able to comply with manned aviation ‘see and avoid’ separation requirements. A Detect and Avoid (DAA) System includes sensors, a tracker, and alerting and guidance algorithms that assist a remote pilot in maintaining separation from airborne traffic. To date, DAA system requirements development has focused on operations transiting to and from Class A or special use airspace. Current efforts are defining DAA system requirements for operations in and around terminal airspace. As a contribution to the current efforts, this paper highlights results from a Human in the Loop (HiTL) experiment comparing methods of changing from the transit-specific alerting and guidance criteria to proposed terminal-specific alerting and guidance criteria. It discusses operational considerations that are beyond the HiTL.

Unmanned Aircraft Systems↗
NASA NTRSDate not supplied

Applying Sensor Uncertainty Mitigation Schemes to Detect-and-Avoid Systems

Impact of sensor noise on the performance of Detect-And-Avoid (DAA) systems can be reduced by implementing various mitigation schemes. This paper evaluates the Sensor Uncertainty Mitigation (SUM) method, implemented in the Detect and Avoid Alerting Logic for Unmanned Systems (DAIDALUS) algorithm, a reference implementation in the DAA minimum operational performance standards. DAIDALUS SUM performance is evaluated using a few safety and operational suitability metrics and compared with more traditional approaches using static safety buffers. A large number of encounters representative of low-speed unmanned aircraft against non-cooperative manned aircraft are simulated and evaluated. An air-to-air radar model produces representative sensor noise for the DAA system. Results show that increasing the tunable parameters for horizontal and vertical uncertainty in DAIDALUS SUM improves the safety metric at the cost of increasing the number of system alerts leading to increased workload. A range of SUM parameters is recommended as suitable values for the type of operations considered for this work. General trends and optimal SUM configurations were found to be nearly the same for two large and very different encounter data sets.

detect and avoid↗
NASA NTRSDate not supplied

UAS Pilot Assessments of Display and Alerting for the Airborne Collision Avoidance System XU

Unmanned aircraft systems (UAS) must comply with specific standards to operate in the National Airspace System (NAS). Among the requirements are the detect and avoid (DAA) capabilities, which include display, alerting, and guidance specifications. Previous studies have queried pilots for their subjective feedback on these display elements on earlier systems; the present study sought pilot evaluations with an initial iteration of the unmanned variant of a Next Generation Airborne Collision Avoidance System (ACAS XU). Sixteen participants piloted simulated aircraft with both standalone and integrated DAA displays. Their opinions were gathered using post-block and post-simulation questionnaires as well as guided debriefs. The data showed pilots had better understanding and comfort with the system when using an integrated display. Pilots also rated ACAS Xu alerting and guidance as generally acceptable and effective. Implications for further development of ACAS XU and DAA displays are discussed.

unmanned aircraft systems↗
NASA NTRS2020

UAS Pilot Assessments of Display and Alerting for the Next Generation Airborne Avoidance System

Unmanned aircraft systems (UAS) must comply with specific standards to operate in the National Airspace System (NAS). Among the requirements are the detect and avoid (DAA) capabilities, which include display, alerting, and guidance specifications. Previous studies have queried pilots for their subjective feedback on these display elements on earlier systems; the present study sought pilot evaluations with an initial iteration of the unmanned variant of a Next Generation Airborne Collision Avoidance System (ACAS XU). Sixteen participants piloted simulated aircraft with both standalone and integrated DAA displays. Their opinions were gathered using post-block and post-simulation questionnaires as well as guided debriefs. The data showed pilots had better understanding and comfort with the system when using an integrated display. Pilots also rated ACAS Xu alerting and guidance as generally acceptable and effective. Implications for further development of ACAS XU and DAA displays are discussed.

unmanned aircraft systems↗
NASA NTRSDate not supplied

UAS Pilot Assessments of Display and Alerting for the Next Generation Airborne Collision Avoidance System Xu

Unmanned aircraft systems (UAS) must comply with specific standards to operate in the National Airspace System (NAS). Among the requirements are the detect and avoid (DAA) capabilities, which include display, alerting, and guidance specifications. Previous studies have queried pilots for their subjective feedback on these display elements on earlier systems; the present study sought pilot evaluations with an initial iteration of the unmanned variant of a Next Generation Airborne Collision Avoidance System (ACAS XU). Sixteen participants piloted simulated aircraft with both standalone and integrated DAA displays. Their opinions were gathered using post-block and post-simulation questionnaires as well as guided debriefs. The data showed pilots had better understanding and comfort with the system when using an integrated display. Pilots also rated ACAS Xu alerting and guidance as generally acceptable and effective. Implications for further development of ACAS XU and DAA displays are discussed.

unmanned aircraft systems↗
NASA NTRSDate not supplied

Adaptive Stress Testing of Collision Avoidance Systems for Small UASs with Deep Reinforcement Learning

The next-generation Airborne Collision Avoidance System for smaller UASs (ACAS sXu) is currently being developed and tested by the Federal Aviation Administration (FAA) to provide detect-and-avoid capability for small unmanned aircraft operating beyond line-of-sight. Due to the complexity and safety-critical nature of the system, safety validation is important not only for the certification of the final system, but also for informing changes during the iterative development process. In this paper, we analyze a prototype of ACAS sXu in simulated aircraft encounters to discover scenarios of small near mid-air collisions (sNMACs), an important safety event in which two aircraft come closer than 50 feet horizontally and 15 feet vertically. Due to the size and complexity of the system as well as rarity of sNMAC events, traditional methods such as Monte Carlo testing often require informed setup and targeting to elicit failures. However, such a dependence on domain knowledge can be incompatible with the independent verification and validation (IV&V) process, the aim of which is to discover unforeseen issues. To address these challenges, we apply an accelerated validation method called adaptive stress testing (AST) to find the most likely sNMAC scenarios without reliance on system introspection. AST uses reinforcement learning to adapt the search towards the most promising areas of the search space as it progresses. We use a state-of-the-art deep reinforcement learning algorithm, proximate policy optimization, to more efficiently search the large and continuous state space. We find that this approach significantly improves the performance of AST compared to a prior approach based on Monte Carlo tree search. We perform experiments using AST to find sNMAC events under various encounter configurations, varying parameters pertaining to dynamics and coordination. Our experiments show AST to be very effective at finding sNMAC scenarios. We summarize our findings, presenting high-level categories of discovered sNMACs and specific examples of encounters in each category.

aircraft collision avoidance↗
NASA NTRS2021

Evaluation of Sensor Uncertainty Mitigation Methods for Detect-and-Avoid Systems

The impact of sensor noise on the performance of Detect-And-Avoid (DAA) systems can be reduced by implementing various mitigation schemes. This paper evaluates two such methods. One of them is the Sensor Uncertainty Mitigation (SUM) method, implemented in the Detect and Avoid Alerting Logic for Unmanned Systems (DAIDALUS) algorithm, a reference implementation in the DAA minimum operational performance standards. The second method is the Virtual Intruder State Aggregation (VISA), which averages multiple subsequent intruder states extrapolated to the current (most recent) time into a single ``aggregated`` intruder state. The VISA method can be used either individually as a sensor noise mitigation method in its own right, or in combination with DAIDALUS SUM. The performance of these methods is evaluated using three safety and operational suitability metrics and compared with a baseline configuration using static safety buffers. A large number of encounters representative of low-speed unmanned aircraft against non-cooperative manned aircraft, not equipped with a broadcasting transponder or ADS-B out system, are simulated and evaluated. An air-to-air radar model produces representative sensor noise for the DAA system. Results show that increasing the DAIDALUS SUM parameters for horizontal and vertical uncertainty improves the safety metric at the cost of increasing the number of actionable alerts leading to increased workload. A range of SUM parameters is recommended as suitable values for the type of operations considered for this work. VISA was found to be almost as effective as other noise mitigation methods even when it was used alone. Combining VISA with DAIDALUS SUM achieved the best performance among all investigated methods used with DAIDALUS. General trends and optimal SUM configurations were found to be nearly the same for two large and very different encounter data sets.

Detect-and-Avoid Systems↗
NASA NTRSDate not supplied

Satellite Conjunction Assessment, Risk Analysis and Collision Avoidance Best Practices: The History, Evolution and Opportunities

Since Explorer 1 was launched on January 31, 1958, the United States (U.S.) has reaped the benefits of space exploration. New markets and new technologies have spurred the economy and changed lives in many ways across the national security, civil, and commercial sectors. Space technologies and space-based capabilities now provide global communications, navigation and timing, weather forecasting, and more. Space exploration also presents challenges that impact not only the U.S. but also its allies and other partners. A significant increase in the volume and diversity of activity in space means that it is becoming increasingly congested. Emerging commercial ventures such as satellite servicing, in-space manufacturing, and tourism as well as new technologies enabling small satellites and large constellations of satellites present serious challenges for safely and responsibly using space in a stable, sustainable manner. To meet these challenges, the U.S. seeks to improve global awareness of activity in space by publicly sharing flight safety-related information and by coordinating its own on-orbit activity in a safer, more responsible manner. It seeks to bolster stability and reduce current and future operational on-orbit risks so that space is sustained for future generations. To this end, new and better Space Situational Awareness (SSA) capabilities are needed to keep pace with the increased congestion, and the U.S. seeks to create a dynamic environment that encourages and rewards commercial providers who improve these capabilities. The National Aeronautics and Space Administration (NASA) Spacecraft Conjunction Assessment and Collision Avoidance Best Practices Handbook reflects how NASA currently operates, which has evolved over time. Consideration is given to important topics such as spacecraft and constellation design; spacecraft “trackability;” pre-launch preparation and early launch activities; on-orbit collision avoidance; and automated trajectory guidance and maneuvering. This talk aims to present examples of responsible practices for spacecraft Owners/Operators (O/O) to consider for lowering collision risks and operating safely in space (from LEO and beyond) in a stable and sustainable manner. As technology and innovation continues to improve upon existing capabilities, what kind of new challenges are presented in the SSA community? Can space exploration and commercial ventures thrive while keeping paramount the safety and protection of the space environment? What are the challenges and opportunities that need to be addressed and considered for space situational awareness in Cis-Lunar Space? It may prove useful for entities offering, or intending to offer, SSA or Conjunction Assessment (CA) services to consider such examples of responsible practices to protect the space environment for future use by all.

Collision Avoidance↗
NASA NTRS2024

Route-Recapturing State-Based Horizontal Maneuver Strategy for Automated Detect-and-Avoid

This report describes a novel approach to the development of a horizontal maneuver guidance strategy for Detect-and-Avoid systems. The maneuver guidance strategy provides a directive turn action that can be automatically executed by the vehicle’s auto-pilot system, taking into account the cost of recapturing the flight plan path. Pairwise conflict scenarios with non-accelerating intruders are simulated to validate the effectiveness of the maneuver guidance strategy. Initial results suggest the strategy is more effective for faster ownship than for slower ownship, which is unable to avoid conflict in certain scenarios against fast intruders. These findings indicate this novel approach shows great potential, but improvement to its performance is necessary and will be future work.

detect-and-avoid↗
NASA NTRS1972

Design study of general aviation collision avoidance system

The selection and design of a time/frequency collision avoidance system for use in general aviation aircraft is discussed. The modifications to airline transport collision avoidance equipment which were made to produce the simpler general aviation system are described. The threat determination capabilities and operating principles of the general aviation system are illustrated.

Bates, M. R.↗
NASA NTRS1977

Avoidance control

Dynamical systems were considered, subject to control by two agents, one of whom desires that no trajectory of the system, emanating from outside a given set, intersects the set no matter what the admissible actions of the other agent. Conditions are given whose satisfaction assures that a given control results in avoidance. Furthermore, these conditions are constructive in that they yield an avoidance feedback control. Some examples are presented.

Leitmann, G.↗
NASA NTRS1980

Collision avoidance in space

Collisions in earth orbital space between operational payloads and various forms of space debris (nonoperational payloads, nonfunctional mission-related objects and fragments resulting from collisions and explosions) are discussed and possible means of avoiding them are considered. From 10,000 to 15,000 objects are estimated to be in earth orbital space, most of which represent spacecraft fragments and debris too small to be detected and tracked by earth-based sensors, and it is considered likely that some of them will be or have already been involved in direct collisions with the ever increasing number of operational satellites and space stations. Means of protecting proposed large space structures and smaller spacecraft from significant damage by larger space objects, particularly in the 400-4000 km altitude range where most debris occurs, include structural redundancy and the double shielding of sensitive components. Other means of collision avoidance are the collection or relocation of satellites, rocket bodies and other objects by the Space Shuttle, the prevention of explosions and the disposal of spent rocket parts by reentry. Finally, a management structure would be required to administer guidelines for the prevention and elimination of space debris.

Kessler, D. J.↗
NASA NTRS1984

Clear air turbulence avoidance using an airborne microwave radiometer

The avoidance of Clear Air Turbulence (CAT) is theoretically possible by selecting flight levels that are a safe distance from the tropopause and inversion layers. These favored sites for CAT generation can be located by an 'airborne microwave radiometer' (AMR) passive sensor system that measures altitude temperature profiles. A flight evaluation of the AMR sensor shows that most CAT could be avoided by following sensor-based advisories. Some limitations still exist for any hypothetical use of the sensor. The principal need is to augment the sensor's 'where' advisories to include useful 'when' forecasts.

Gary, B. L.↗