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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

A Probability-Base Alerting Logic for Aircraft on Parallel Approach

This document discusses the development and evaluation of an airborne collision alerting logic for aircraft on closely-spaced approaches to parallel runways. A novel methodology is used when links alerts to collision probabilities: alerting thresholds are set such that when the probability of a collision exceeds an acceptable hazard level an alert is issued. The logic was designed to limit the hazard level to that estimated for the Precision Runway Monitoring system: one accident in every one thousand blunders which trigger alerts. When the aircraft were constrained to be coaltitude, evaluations of a two-dimensional version of the alerting logic show that the achieved hazard level is approximately one accident in every 250 blunders. Problematic scenarios have been identified and corrections to the logic can be made. The evaluations also show that over eighty percent of all unnecessary alerts were issued during scenarios in which the miss distance would have been less than 1000 ft, indicating that the alerts may have been justified. Also, no unnecessary alerts were generated during normal approaches.

Carpenter, Brenda D.↗
NASA NTRS2015

DAIDALUS: Detect and Avoid Alerting Logic for Unmanned Systems

This paper presents DAIDALUS (Detect and Avoid Alerting Logic for Unmanned Systems), a reference implementation of a detect and avoid concept intended to support the integration of Unmanned Aircraft Systems into civil airspace. DAIDALUS consists of self-separation and alerting algorithms that provide situational awareness to UAS remote pilots. These algorithms have been formally specified in a mathematical notation and verified for correctness in an interactive theorem prover. The software implementation has been verified against the formal models and validated against multiple stressing cases jointly developed by the US Air Force Research Laboratory, MIT Lincoln Laboratory, and NASA. The DAIDALUS reference implementation is currently under consideration for inclusion in the appendices to the Minimum Operational Performance Standards for Unmanned Aircraft Systems presently being developed by RTCA Special Committee 228.

Munoz, Cesar↗
NASA NTRS1997

Prototype Conflict Alerting Logic for Free Flight

This paper discusses the development of a prototype alerting system for a conceptual Free Flight environment. The concept assumes that datalink between aircraft is available and that conflicts are primarily resolved on the flight deck. Four alert stages are generated depending on the likelihood of a conflict. If the conflict is not resolved by the flight crews, Air Traffic Control is notified to take over separation authority. The alerting logic is based on probabilistic analysis through modeling of aircraft sensor and trajectory uncertainties. Monte Carlo simulations were used over a range of encounter situations to determine conflict probability. The four alert stages were then defined based on probability of conflict and on the number of avoidance maneuvers available to the flight crew. Preliminary results from numerical evaluations and from a piloted simulator study at NASA Ames Research Center are summarized.

Yang, Lee C.↗
NASA NTRS1996

Experimental Study of Collision Detection Schema Used by Pilots During Closely Spaced Parallel Approaches

An experimental flight simulator study was conducted to examine the mental alerting logic and thresholds used by subjects to issue an alert and execute an avoidance maneuver. Subjects flew a series of autopilot landing approaches with traffic on a closely-spaced parallel approach; during some runs, the traffic would deviate towards the subject and the subject was to indicate the point when they recognized the potential traffic conflict, and then indicate a direction of flight for an avoidance maneuver. A variety of subjects, including graduate students, general aviation pilots and airline pilots, were tested. Five traffic displays were evaluated, with a moving map TCAS-type traffic display as a baseline. A side-task created both high and low workload situations. Subjects appeared to use the lateral deviation of the intruder aircraft from its approach path as the criteria for an alert regardless of the display available. However, with displays showing heading and/or trend information, their alerting thresholds were significantly lowered. This type of range-only schema still resulted in many near misses, as a high convergence rate was often established by the time of the subject's alert. Therefore, the properties of the intruder's trajectory had the greatest effect on the resultant near miss rate; no display system reliably caused alerts timely enough for certain collision avoidance. Subjects' performance dropped significantly on a side-task while they analyzed the need for an alert, showing alert generation can be a high workload situation at critical times. No variation was found between subjects with and with out piloting experience. These results suggest the design of automatic alerting systems should take into account the range-type alerting schema used by the human, such that the rationale for the automatic alert should be obvious to, and trusted by, the operator. Although careful display design may help generate pilot/automation trust, issues such as user non-conformance to automatically generated commands can remain a possibility.

Pritchett, Amy R.↗
NASA NTRS2000

Performance Evaluation of Evasion Maneuvers for Parallel Approach Collision Avoidance

Current plans for independent instrument approaches to closely spaced parallel runways call for an automated pilot alerting system to ensure separation of aircraft in the case of a "blunder," or unexpected deviation from the a normal approach path. Resolution advisories by this system would require the pilot of an endangered aircraft to perform a trained evasion maneuver. The potential performance of two evasion maneuvers, referred to as the "turn-climb" and "climb-only," was estimated using an experimental NASA alerting logic (AILS) and a computer simulation of relative trajectory scenarios between two aircraft. One aircraft was equipped with the NASA alerting system, and maneuvered accordingly. Observation of the rates of different types of alerting failure allowed judgement of evasion maneuver performance. System Operating Characteristic (SOC) curves were used to assess the benefit of alerting with each maneuver.

Winder, Lee F.↗
NASA NTRS2018

Comparative Analysis of ACAS-Xu and DAIDALUS Detect-and-Avoid Systems

The Detect and Avoid (DAA) capability of a recent version (Run 3) of the Airborne Collision Avoidance System-Xu (ACAS-Xu) is measured against that of the Detect and AvoID Alerting Logic for Unmanned Systems (DAIDALUS), a reference algorithm for the Phase 1 Minimum Operational Performance Standards (MOPS) for DAA. This comparative analysis of the two systems' alerting and horizontal guidance outcomes is conducted through the lens of the Detect and Avoid mission using flight data of scripted encounters from a recent flight test. Results indicate comparable timelines and outcomes between ACAS-Xu's Remain Well Clear alert and guidance and DAIDALUS's corrective alert and guidance, although ACAS-Xu's guidance appears to be more conservative. ACAS-Xu's Collision Avoidance alert and guidance occurs later than DAIDALUS's warning alert and guidance, and overlaps with DAIDALUS's timeline of maneuver to remain Well Clear. Interesting discrepancies between ACAS-Xu's directive guidance and DAIDALUS's "Regain Well Clear" guidance occur in some scenarios.

Davies, Jason T.↗
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 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 NTRS2000

Aircraft Conflict Analysis and Real-Time Conflict Probing Using Probabilistic Trajectory Modeling

Methods for maintaining separation between aircraft in the current airspace system have been built from a foundation of structured routes and evolved procedures. However, as the airspace becomes more congested and the chance of failures or operational error become more problematic, automated conflict alerting systems have been proposed to help provide decision support and to serve as traffic monitoring aids. The problem of conflict detection and resolution has been tackled from a number of different ways, but in this thesis, it is recast as a problem of prediction in the presence of uncertainties. Much of the focus is concentrated on the errors and uncertainties from the working trajectory model used to estimate future aircraft positions. The more accurate the prediction, the more likely an ideal (no false alarms, no missed detections) alerting system can be designed. Additional insights into the problem were brought forth by a review of current operational and developmental approaches found in the literature. An iterative, trial and error approach to threshold design was identified. When examined from a probabilistic perspective, the threshold parameters were found to be a surrogate to probabilistic performance measures. To overcome the limitations in the current iterative design method, a new direct approach is presented where the performance measures are directly computed and used to perform the alerting decisions. The methodology is shown to handle complex encounter situations (3-D, multi-aircraft, multi-intent, with uncertainties) with relative ease. Utilizing a Monte Carlo approach, a method was devised to perform the probabilistic computations in near realtime. Not only does this greatly increase the method's potential as an analytical tool, but it also opens up the possibility for use as a real-time conflict alerting probe. A prototype alerting logic was developed and has been utilized in several NASA Ames Research Center experimental studies.

Yang, Lee C.↗
NASA NTRS2000

Free Flight Simulation: An Initial Examination of Air-Ground Integration Issues

The concept of "free flight" is intended to emphasize more flexibility for operators in the National Airspace System (RTCA, 1995). This may include the potential for aircraft self-separation. The purpose of this simulation was to begin examining some of the communication and procedural issues associated with self-separation in an integrated air-ground environment. Participants were 10 commercial U.S. flight crews who flew the B747-400 simulator and 10 Denver ARTCC controllers who monitored traffic in an ATC simulation. A prototypic airborne alerting logic and flight deck display features were designed to allow for increased traffic and maneuvering information. Eight different scenarios representing different conflict types were developed. The effects of traffic density (high and low) and different traffic convergence angles (obtuse, acute, and right) were assessed. Conflict detection times were found to be lower for the flight crews in low density compared to high density scenarios. For the controllers, an interaction between density and convergence angle was revealed. Analyses on the controller detection times found longer detection times in the obtuse high density compared to obtuse low density, as well as the shortest detection times in the high density acute angle condition. Maneuvering and communication events are summarized, and a discussion of future research issues is provided.

Lozito, Sandra↗
NASA NTRS1997

Free Flight and Self-Separation from the Flight Deck Perspective

The concept of "free flight", while still being developed, is intended to emphasize more, flexibility for operators in the National Airspace System (NAS) by providing more separation responsibility to pilots, New technologies, procedures, and concepts have been suggested by the aviation community to enable this task; however, much work needs to be accomplished to help define and evaluate the concept feasibility. The purpose of this simulation was to begin examining some of the communication and procedural issues associated with self-separation in the enroute environment. A simulation demonstration was conducted in the Boeing 747-400 simulator at NASA Ames Research Center. Commercial pilots (from a U.S. domestic carrier) current on the B747-400 aircraft were the participants. Ten flight crews (10 captains, 10 first officers) flew in the Denver enroute airspace environment. A new alerting logic designed to allow for airborne self-separation was created for this demonstration. This logic assumes automatic dependent surveillance broadcast (ADS-B) capability and represented aircraft up to 120 nautical miles on the display. The new flight deck display features were designed and incorporated on the existing navigational display in the simulator to allow for increased traffic and maneuvering information to the flight crew. New tools were also provided to allow the crews to assess conflicts and potential maneuvers before implementing them. Each of the flight crews flew eight different scenarios in the Denver enroute airspace. The scenarios included eight to ten other aircraft, and each scenario was created with the intent of having one of the other aircraft become an operational conflict for our simulator aircraft. Different types of conflict geometries were represented across the eight scenarios. Also, some scenarios allowed for more time to detect a potential clearance, while others allowed for less time for'detection. Additionally, the crews were asked to a ply the Visual Flight Rules (VFR) right of way rules when determining who should maneuver in a conflict situation; therefore, the scenarios were designed to test different applications of those recommendations, Data analyses include an evaluation of crew procedures and communication. The application of the VFR right-of-way rules are being explored. Timing variables are being examined to determine potential efficiency differences between scenarios and conflict types. Proximity of aircraft will be assessed as one indication of the operational safety. The intent of these evaluations is to help provide definitions and guidelines of negotiation procedures in a self-separation environment assuming automated data link technology (ADS-B). Also, definitions of likely flight crew maneuvers and application to current VFR right-of-way rules may be obtained, along with guidelines for negotiation procedures between flight crews.

Lozito, Sandra↗
NASA NTRS1997

A Flight Deck Perspective of Self-Separation

I will be participating on a Free Flight Human Factors Panel at the Ninth International Symposium on Aviation Psychology in Columbus, Ohio. My representation is related to the work that our group has conducted on flight deck issues associate with free flight. Our group completed a full-mission simulation study investigating procedural issues associated with airborne self-separation. Ten crews flew eight scenarios each in the B747-400 simulator at Ames. Each scenario had a representation of different conflict geometries with intruder aircraft. New alerting logic was created and integrated into the simulator to enable self-separation. In addition, new display features were created to help provide for enhanced information to the flight crew about relevant aircraft, The participants were asked to coordinate maneuvers for self-separation with the intruder aircraft. Data analyses for the many of the crew procedures have been completed.

Lozito, Sandra↗
NASA NTRS2014

Temporal Precedence Checking for Switched Models and its Application to a Parallel Landing Protocol

This paper presents an algorithm for checking temporal precedence properties of nonlinear switched systems. This class of properties subsume bounded safety and capture requirements about visiting a sequence of predicates within given time intervals. The algorithm handles nonlinear predicates that arise from dynamics-based predictions used in alerting protocols for state-of-the-art transportation systems. It is sound and complete for nonlinear switch systems that robustly satisfy the given property. The algorithm is implemented in the Compare Execute Check Engine (C2E2) using validated simulations. As a case study, a simplified model of an alerting system for closely spaced parallel runways is considered. The proposed approach is applied to this model to check safety properties of the alerting logic for different operating conditions such as initial velocities, bank angles, aircraft longitudinal separation, and runway separation.

Duggirala, Parasara Sridhar↗
NASA NTRS2016

UAS Integration in the NAS Project: Flight Test 3 Data Analysis of JADEM-Autoresolver Detect and Avoid System

The Unmanned Aircraft Systems Integration in the National Airspace System project, or UAS Integration in the NAS, aims to reduce technical barriers related to safety and operational challenges associated with enabling routine UAS access to the NAS. The UAS Integration in the NAS Project conducted a flight test activity, referred to as Flight Test 3 (FT3), involving several Detect-and-Avoid (DAA) research prototype systems between June 15, 2015 and August 12, 2015 at the Armstrong Flight Research Center (AFRC). This report documents the flight testing and analysis results for the NASA Ames-developed JADEM-Autoresolver DAA system, referred to as 'Autoresolver' herein. Four flight test days (June 17, 18, 22, and July 22) were dedicated to Autoresolver testing. The objectives of this test were as follows: 1. Validate CPA prediction accuracy and detect-and-avoid (DAA, formerly known as self-separation) alerting logic in realistic flight conditions. 2. Validate DAA trajectory model including maneuvers. 3. Evaluate TCAS/DAA interoperability. 4. Inform final Minimum Operating Performance Standards (MOPS). Flight test scenarios were designed to collect data to directly address the objectives 1-3. Objective 4, inform final MOPS, was a general objective applicable to the UAS in the NAS project as a whole, of which flight test is a subset. This report presents analysis results completed in support of the UAS in the NAS project FT3 data review conducted on October 20, 2015. Due to time constraints and, to a lesser extent, TCAS data collection issues, objective 3 was not evaluated in this analysis.

flight test↗
NASA NTRS2018

Sensor Uncertainty Mitigation and Dynamic Well Clear Volumes in DAIDALUS

This paper presents recent updates to DAIDALUS (Detect & Avoid Alerting Logic for Unmanned Systems), a detect and avoid (DAA) software package for the integration of civil UAS into the airspace. DAIDALUS is the reference implementation of detect and avoid for unmanned aircraft systems chosen by RTCA Special Committee 228 (SC-228), and it is included in its corresponding Minimum Operational Performance Standards (MOPS) document, DO-365. This paper reports on the integration into DAIDALUS of two new capabilities, namely dynamic well clear volumes and sensor uncertainty mitigation.'

Narkawicz, Anthony↗
NASA NTRS2000

Generalized Philosophy of Alerting with Applications for Parallel Approach Collision Prevention

The goal of the research was to develop formal guidelines for the design of hazard avoidance systems. An alerting system is automation designed to reduce the likelihood of undesirable outcomes that are due to rare failures in a human-controlled system. It accomplishes this by monitoring the system, and issuing warning messages to the human operators when thought necessary to head off a problem. On examination of existing and recently proposed logics for alerting it appears that few commonly accepted principles guide the design process. Different logics intended to address the same hazards may take disparate forms and emphasize different aspects of performance, because each reflects the intuitive priorities of a different designer. Because performance must be satisfactory to all users of an alerting system (implying a universal meaning of acceptable performance) and not just one designer, a proposed logic often undergoes significant piecemeal modification before gamma general acceptance. This report is an initial attempt to clarify the common performance goals by which an alerting system is ultimately judged. A better understanding of these goals will hopefully allow designers to reach the final logic in a quicker, more direct and repeatable manner. As a case study, this report compares three alerting logics for collision prevention during independent approaches to parallel runways, and outlines a fourth alternative incorporating elements of the first three, but satisfying stated requirements. Three existing logics for parallel approach alerting are described. Each follows from different intuitive principles. The logics are presented as examples of three "philosophies" of alerting system design.

Winder, Lee F.↗