Autonomous Autonomous FlightFlight

AIAA Group 6AIAA Group 6

Mat ThompsonMat Thompson

Autonomy-Autonomy-The degree to which The degree to which

something is subject to control something is subject to control from the outsidefrom the outside

Unmanned Aerial Unmanned Aerial VehiclesVehicles

Manned Aerial Manned Aerial VehiclesVehicles

UAV AutonomyUAV Autonomy

Least- Target and DroneLeast- Target and Drone Civil and CommercialCivil and Commercial ReconnaissanceReconnaissance Research and Research and

DevelopmentDevelopment Most- UCAVMost- UCAV

Sensor FusionSensor Fusion CommunicationsCommunications Motion PlanningMotion Planning Trajectory GenerationTrajectory Generation Task Allocation Task Allocation

UAV Tier SystemsUAV Tier SystemsUSAF Tier SystemUSAF Tier System Tier 1 Low altitude, long endurance- Gnat 750Tier 1 Low altitude, long endurance- Gnat 750 Tier 2 Medium altitude, long endurance- MQ-1 Predator, MQ-Tier 2 Medium altitude, long endurance- MQ-1 Predator, MQ-

9 Reaper9 Reaper Tier 2+ High Altitude Long Endurance Conventional- RQ-4 Tier 2+ High Altitude Long Endurance Conventional- RQ-4

global Hawkglobal Hawk Tier 3- High altitude long endurance low observable- RQ-3 Tier 3- High altitude long endurance low observable- RQ-3

Dark-star Dark-star

USMC Tier SystemUSMC Tier System Tier 1- Dragon EyeTier 1- Dragon Eye

scouts urban areas, launched scouts urban areas, launched by bungee chordsby bungee chords

Tier 2- Scan EagleTier 2- Scan Eagle

needs four humvees to carry needs four humvees to carry systemsystem

UCAVUCAV J-UCAS Joint Unmanned Combat Air SystemsJ-UCAS Joint Unmanned Combat Air Systems X-45 UCAV X-45 UCAV

Attack missions successful. Communication.Attack missions successful. Communication. X-47 Pegasus X-47 Pegasus

Collision avoidance software. Group flight.Collision avoidance software. Group flight. Real Time communication and decision making between UCAVsReal Time communication and decision making between UCAVs Program CanceledProgram Canceled

Foreign Autonomous Foreign Autonomous VehiclesVehicles

nEUROnnEUROn

drop a bomb by 2012drop a bomb by 2012

Alenia Sky-XAlenia Sky-X

still in test flight stagesstill in test flight stages

Autonomous Vehicles Autonomous Vehicles WorldwideWorldwide

Future Autonomous Future Autonomous FlightFlight

Air Force “Hunter-Killer” Air Force “Hunter-Killer” Program will select one of the Program will select one of the five for production after 2007five for production after 2007

1. Scaled Composites Model 3951. Scaled Composites Model 395

2. Scaled Composites Model 3962. Scaled Composites Model 396

3. General Atomics MQ-9 Reaper 3. General Atomics MQ-9 Reaper (already flying)(already flying)

4. Aurora/Israeli Eagle/Heron 24. Aurora/Israeli Eagle/Heron 2

5. Lockheed ?5. Lockheed ?

*6. Raytheon package*6. Raytheon package

Unmanned Systems Unmanned Systems RoadmapRoadmap

DoD autonomous goals until DoD autonomous goals until 20302030

1. Joint unmanned combat 1. Joint unmanned combat aircraft system capable of aircraft system capable of performing suppression of performing suppression of enemy air enemy air defenses/strike/electronic defenses/strike/electronic attack/surveillance in high attack/surveillance in high threat environmentsthreat environments

2.-9. logistics to support goal 1.2.-9. logistics to support goal 1.

Full AutonomyFull Autonomy

P-175 Polecat is being developed by P-175 Polecat is being developed by Lockheed to have full autonomy from Lockheed to have full autonomy from take-off to landing.take-off to landing.

Triple Redundant Flight Control SoftwareTriple Redundant Flight Control Software

Far Future…Far Future…

Keeping the man-in-the-loopKeeping the man-in-the-loop

AutopilotAutopilot

Modern autopilots use inertial Modern autopilots use inertial guidance systems as well as GPS or guidance systems as well as GPS or radio to correct flight path errorsradio to correct flight path errors

Lower Fuel consumptionLower Fuel consumption Modern Auto Flight Systems can Modern Auto Flight Systems can

take-off, ascend, level, descend, take-off, ascend, level, descend, approach, land. Everything but taxiapproach, land. Everything but taxi

Category IIIb landing guides the Category IIIb landing guides the planes automatic pilot through planes automatic pilot through landing and rolloutlanding and rollout

Category IIIc does the previous Category IIIc does the previous and taxis the plane to the terminal. and taxis the plane to the terminal. Requires 3 autopilot systemsRequires 3 autopilot systems

Concorde AutopilotConcorde Autopilot

Auto ThrottleAuto Throttle Autopilot HorizontalAutopilot Horizontal Autopilot VerticalAutopilot Vertical Datum AdjustDatum Adjust Warning Landing DisplayWarning Landing Display

Auto ThrottleAuto Throttle

3 Modes3 Modes Mach Hold- keeps make Mach Hold- keeps make

number steady, even with number steady, even with temperature changetemperature change

IAS Hold- holds indicated air IAS Hold- holds indicated air speedspeed

IAS ACQ- will change to IAS ACQ- will change to selected air speed then selected air speed then switch to IAS holdswitch to IAS hold

Autopilot HorizontalAutopilot Horizontal

INS- aircraft follows INS- aircraft follows waypoints by inertial waypoints by inertial navigation systemnavigation system

TRK HDG- pull for heading, TRK HDG- pull for heading, follow compassfollow compass

push for track, direct path push for track, direct path accounting wind speedsaccounting wind speeds

HDG HoldHDG Hold VOR LOC- tracks a selected VOR LOC- tracks a selected

beaconbeacon Back Beam- non-autopilot Back Beam- non-autopilot

tracking back beam localizer tracking back beam localizer

Autopilot VerticalAutopilot Vertical PITCH HOLDPITCH HOLD MACH HOLD- hold mach number by pitch changes, not MACH HOLD- hold mach number by pitch changes, not

throttlethrottle MAX CLIMB- climbs at near max operating speedMAX CLIMB- climbs at near max operating speed MAX CRUISE-engages at height of max climbMAX CRUISE-engages at height of max climb IAS HOLD- holds airspeed by pitch changesIAS HOLD- holds airspeed by pitch changes ALT HOLDALT HOLD VERT SPEEDVERT SPEED

More Vertical AutopilotMore Vertical Autopilot ALT ACQALT ACQ TURB- holds pitch, altitude and heading, reduces trimTURB- holds pitch, altitude and heading, reduces trim LAND- CATIIIb system, second redundant autopilot LAND- CATIIIb system, second redundant autopilot

engagedengaged GO AROUND- pitch 15 deg. Hold wings. Initiated when GO AROUND- pitch 15 deg. Hold wings. Initiated when

two of the throttle levers are forward in land or glide modetwo of the throttle levers are forward in land or glide mode GLIDE- used before pilot makes a manual landingGLIDE- used before pilot makes a manual landing

Datum AdjustDatum Adjust

Add or subtract speed by Mach 0.6Add or subtract speed by Mach 0.6 Autopilot turn at 5 deg/s to adjust Autopilot turn at 5 deg/s to adjust

headingheading Pitch AdjustPitch Adjust

WarningsWarnings Red lights flash if failure in Red lights flash if failure in

autopilot autothrottleautopilot autothrottle DH flashes if under set heightDH flashes if under set height LAND2/3 flash if CATII or LAND2/3 flash if CATII or

CATIII are supportedCATIII are supported Aircraft deviation lightsAircraft deviation lights TestTest

Auto CorrectAuto Correct

Stall warnings- stick shakerStall warnings- stick shaker Deep Stall warning- stick pusherDeep Stall warning- stick pusher Collision Avoidance- TCAS IIICollision Avoidance- TCAS III Traffic Alert and Collision Traffic Alert and Collision

Avoidance System gives vocalize Avoidance System gives vocalize suggestions horizontally and suggestions horizontally and vertically among multiple aircraft vertically among multiple aircraft to avoid collisionto avoid collision

FAA regulates that even false FAA regulates that even false alarms be treated as real threatsalarms be treated as real threats

Next Generation TCAS may auto Next Generation TCAS may auto correct flight path to avoid correct flight path to avoid collisioncollision

Modern AutopilotModern Autopilot C-17 Globemaster III uses the C-17 Globemaster III uses the

Electronic flight Control Electronic flight Control System.System.

New CsLEOS has memory New CsLEOS has memory partition to allow multiple partition to allow multiple applications to run applications to run simultaneously without simultaneously without interference.interference.

Operate autopilot, air/ground Operate autopilot, air/ground collision warning, deep stall collision warning, deep stall avoidance, angle of attack avoidance, angle of attack limiter, all engine out autopilot, limiter, all engine out autopilot, safe go-around autopilot, safe go-around autopilot, navigation, engine control, navigation, engine control, flight control….flight control….

Can do take-off modes for all Can do take-off modes for all levels of flight for pitch, roll, levels of flight for pitch, roll, and yaw. Autopilot is sensitive and yaw. Autopilot is sensitive to the stick, and engages or to the stick, and engages or disengages automatically when disengages automatically when it is in use.it is in use.

Manned and UnmannedManned and Unmanned

UAVs assist UAVs assist manned fightersmanned fighters

bombers, air bombers, air combat, air defensecombat, air defense

Pilot’s control Pilot’s control weapons releaseweapons release

Q’sQ’s

ReferencesReferencesConcorde Technical Specs, Concorde Technical Specs, http://www.concordesst.com/autopilot.htmlhttp://www.concordesst.com/autopilot.html

UAV Roadmap 2005-2030, UAV Roadmap 2005-2030, www.fas.org/irp/program/collect/uav_roadmap2005.pdfwww.fas.org/irp/program/collect/uav_roadmap2005.pdf

Dp-5X, X-50 Dragonfly, http://www.defensetech.org/archives/001748.htmlDp-5X, X-50 Dragonfly, http://www.defensetech.org/archives/001748.html

UAVs as Tactical wingmen, UAVs as Tactical wingmen, http://web.mit.edu/aeroastro/www/labs/halab/papers/UAV_wingmen_AUVSIdhttp://web.mit.edu/aeroastro/www/labs/halab/papers/UAV_wingmen_AUVSIdraft.pdfraft.pdf

Autopilot Design, http://www.aiaa.org/content.cfm?Autopilot Design, http://www.aiaa.org/content.cfm?pageid=406&gTable=mtgpaper&gID=95289pageid=406&gTable=mtgpaper&gID=95289

Flight Systems and Goals http://www.aa.washington.edu/research/afsl/Flight Systems and Goals http://www.aa.washington.edu/research/afsl/

TCAS-94 http://www.rockwellcollins.com/ecat/br/TCAS-94_PrintFriendly.htmlTCAS-94 http://www.rockwellcollins.com/ecat/br/TCAS-94_PrintFriendly.html

UAV Autopilot, http://www.baykarmakina.com/english/baykaruas/autopilot.aspUAV Autopilot, http://www.baykarmakina.com/english/baykaruas/autopilot.asp

www.navyleague.org/sea_power/ju106-22.phpwww.navyleague.org/sea_power/ju106-22.php

www.defenselink.milwww.defenselink.mil

Aviation Week + Space Technology July 24, 2006 pg 64-65Aviation Week + Space Technology July 24, 2006 pg 64-65