Upload
shibin874141
View
220
Download
0
Embed Size (px)
Citation preview
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 1/24
Autonomous Flight Autonomous Flight AIAA Group 6 AIAA Group 6
Mat ThompsonMat Thompson
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 2/24
Autonomy Autonomy--
The degree to which something is The degree to which something is
subject to control from the outsidesubject to control from the outside
Unmanned Aerial VehiclesUnmanned Aerial Vehicles
Manned Aerial VehiclesManned Aerial Vehicles
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 3/24
U AV AutonomyU AV Autonomy
LeastLeast-- Target and Drone Target and Drone
Civil and CommercialCivil and Commercial
ReconnaissanceReconnaissance
Research and DevelopmentResearch and Development MostMost-- UCAV UCAV
Sensor FusionSensor Fusion
CommunicationsCommunications Motion Planning Motion Planning
Trajectory Generation Trajectory Generation
Task Allocation Task Allocation
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 4/24
U AV Tier SystemsU AV Tier Systems
USAF Tier SystemUSAF Tier System
Tier 1 Low altitude, long endurance Tier 1 Low altitude, long endurance-- Gnat 750Gnat 750
Tier 2 Medium altitude, long endurance Tier 2 Medium altitude, long endurance-- MQMQ--1 Predator, MQ1 Predator, MQ--9 Reaper9 Reaper
Tier 2+ High Altitude Long Endurance Conventional Tier 2+ High Altitude Long Endurance Conventional-- RQRQ--4 global Hawk 4 global Hawk
Tier 3 Tier 3-- High altitude long endurance low observableHigh altitude long endurance low observable-- RQRQ--3 Dark 3 Dark--starstar
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 5/24
USMC Tier SystemUSMC Tier System
Tier 1 Tier 1-- Dragon EyeDragon Eye
scouts urban areas, launched by bungeescouts urban areas, launched by bungeechordschords
Tier 2 Tier 2-- Scan EagleScan Eagle
needs four humvees to carry systemneeds four humvees to carry system
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 6/24
UCAV UCAV
J J--UCAS Joint Unmanned Combat Air SystemsUCAS Joint Unmanned Combat Air Systems
X X--45 UCAV 45 UCAV
Attack missions successful. Communication. Attack missions successful. Communication.
X X--47 Pegasus47 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
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 7/24
Foreign Autonomous VehiclesForeign Autonomous Vehicles
nEUROnnEUROn
drop a bomb by 2012drop a bomb by 2012
Alenia Sky Alenia Sky--X X
still in test flight stagesstill in test flight stages
Autonomous Vehicles Worldwide Autonomous Vehicles Worldwide
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 8/24
Future Autonomous FlightFuture Autonomous Flight
Air Force ´Hunter Air Force ´Hunter--Killerµ ProgramKillerµ Program
will select one of the five for will select one of the five forproduction after 2007production after 2007
1. Scaled Composites Model 3951. Scaled Composites Model 395
2. Scaled Composites Model 3962. Scaled Composites Model 3963. General Atomics MQ3. General Atomics MQ--9 Reaper (already 9 Reaper (already
flying)flying)
4. Aurora/Israeli Eagle/Heron 24. Aurora/Israeli Eagle/Heron 2
5. Lockheed ?5. Lockheed ?
*6. Raytheon package*6. Raytheon package
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 9/24
Unmanned Systems RoadmapUnmanned Systems Roadmap
DoD autonomous goals until 2030DoD autonomous goals until 2030
1. Joint unmanned combat aircraft system1. Joint unmanned combat aircraft systemcapable of performing suppression of capable of performing suppression of
enemy air defenses/strike/electronicenemy air defenses/strike/electronicattack/surveillance in high threatattack/surveillance in high threatenvironmentsenvironments
2.2.--9. logistics to support goal 1.9. logistics to support goal 1.
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 10/24
Full AutonomyFull Autonomy
PP--175 Polecat is being developed by Lockheed to175 Polecat is being developed by Lockheed tohave full autonomy from takehave full autonomy from take--off to landing.off to landing.
Triple Redundant Flight Control Software Triple Redundant Flight Control Software
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 11/24
Far Future«Far Future«
Keeping the manKeeping the man--inin--thethe--looploop
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 12/24
Autopilot Autopilot
Modern autopilots use inertial guidanceModern autopilots use inertial guidance
systems as well as GPS or radio tosystems as well as GPS or radio tocorrect flight path errorscorrect flight path errors
Lower Fuel consumptionLower Fuel consumption Modern Auto Flight Systems can takeModern Auto Flight Systems can take--
off, ascend, level, descend, approach,off, ascend, level, descend, approach,land. Everything but taxiland. Everything but taxi
Category IIIb landing guides the planesCategory IIIb landing guides the planesautomatic pilot through landing andautomatic pilot through landing and
rolloutrollout Category IIIc does the previous andCategory IIIc does the previous and
taxis the plane to the terminal. Requirestaxis the plane to the terminal. Requires3 autopilot systems3 autopilot systems
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 13/24
Concorde AutopilotConcorde Autopilot
Auto Throttle Auto Throttle
Autopilot Horizontal Autopilot Horizontal
Autopilot Vertical Autopilot Vertical
Datum AdjustDatum Adjust Warning Landing Display Warning Landing Display
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 14/24
Auto Throttle Auto Throttle
3 Modes3 Modes
Mach HoldMach Hold-- keeps make numberkeeps make numbersteady, even with temperature changesteady, even with temperature change
IAS HoldIAS Hold-- holds indicated air speedholds indicated air speed
IAS ACQIAS ACQ-- will change to selected air will change to selected airspeed then switch to IAS holdspeed then switch to IAS hold
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 15/24
Autopilot Horizontal Autopilot Horizontal
INSINS-- aircraft follows waypoints by aircraft follows waypoints by inertial navigation systeminertial navigation system
TRK HDG TRK HDG-- pull for heading, follow pull for heading, follow
compasscompasspush for track, direct path accounting push for track, direct path accounting wind speeds wind speeds
HDG HoldHDG Hold
VOR LOC VOR LOC-- tracks a selected beacontracks a selected beacon
Back BeamBack Beam-- nonnon--autopilot tracking autopilot tracking back beam localizerback beam localizer
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 16/24
Autopilot Vertical Autopilot Vertical
PITCH HOLDPITCH HOLD
MACH HOLDMACH HOLD-- hold mach number by pitch changes, not throttlehold mach number by pitch changes, not throttle
MAX CLIMBMAX CLIMB-- climbs at near max operating speedclimbs at near max operating speed
MAX CR UISEMAX CR UISE--engages at height of max climbengages at height of max climb
IAS HOLDIAS HOLD-- holds airspeed by pitch changesholds airspeed by pitch changes AL T HOLD AL T HOLD
VERT SPEED VERT SPEED
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 17/24
More Vertical AutopilotMore Vertical Autopilot
AL T ACQ AL T ACQ
TURB TURB-- holds pitch, altitude and heading, reduces trimholds pitch, altitude and heading, reduces trim
L ANDL AND-- CATIIIb system, second redundant autopilot engagedCATIIIb system, second redundant autopilot engaged
GO AROUNDGO AROUND-- pitch 15 deg. Hold wings. Initiated when two of the throttlepitch 15 deg. Hold wings. Initiated when two of the throttle
levers are forward in land or glide modelevers are forward in land or glide mode
GLIDEGLIDE-- used before pilot makes a manual landing used before pilot makes a manual landing
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 18/24
Datum AdjustDatum Adjust
Add or subtract speed by Mach 0.6 Add or subtract speed by Mach 0.6
Autopilot turn at 5 deg/s to adjust heading Autopilot turn at 5 deg/s to adjust heading
Pitch AdjustPitch Adjust
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 19/24
Warnings Warnings
Red lights flash if failure in autopilotRed lights flash if failure in autopilot
autothrottleautothrottle
DH flashes if under set heightDH flashes if under set height
L AND2/3 flash if CATII or CATIIIL AND2/3 flash if CATII or CATIIIare supportedare supported
Aircraft deviation lights Aircraft deviation lights
Test Test
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 20/24
Auto Correct Auto Correct
Stall warningsStall warnings-- stick shakerstick shaker
Deep Stall warning Deep Stall warning-- stick pusherstick pusher
Collision AvoidanceCollision Avoidance-- TCAS III TCAS III
Traffic Alert and Collision Avoidance Traffic Alert and Collision AvoidanceSystem gives vocalize suggestionsSystem gives vocalize suggestionshorizontally and vertically among horizontally and vertically among multiple aircraft to avoid collisionmultiple aircraft to avoid collision
FAA regulates that even false alarms beFAA regulates that even false alarms betreated as real threatstreated as real threats
Next Generation TCAS may autoNext Generation TCAS may autocorrect flight path to avoid collisioncorrect flight path to avoid collision
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 21/24
Modern AutopilotModern Autopilot
CC--17 Globemaster III uses the17 Globemaster III uses theElectronic flight Control System.Electronic flight Control System.
New CsLEOS has memory New CsLEOS has memory partition to allow multiplepartition to allow multipleapplications to run simultaneously applications to run simultaneously
without interference. without interference. Operate autopilot, air/groundOperate autopilot, air/ground
collision warning, deep stallcollision warning, deep stallavoidance, angle of attack limiter,avoidance, angle of attack limiter,all engine out autopilot, safe goall engine out autopilot, safe go--around autopilot, navigation,around autopilot, navigation,engine control, flight control«.engine control, flight control«.
Can do takeCan do take--off modes for alloff modes for alllevels of flight for pitch, roll, andlevels of flight for pitch, roll, andyaw. Autopilot is sensitive to theyaw. Autopilot is sensitive to thestick, and engages or disengagesstick, and engages or disengagesautomatically when it is in use.automatically when it is in use.
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 22/24
Manned and UnmannedManned and Unmanned
U AVs assist mannedU AVs assist mannedfightersfighters
bombers, air combat, airbombers, air combat, airdefensedefense
Pilot·s control weaponsPilot·s control weaponsreleaserelease
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 23/24
Q·sQ·s
8/8/2019 Autonomous Flight
http://slidepdf.com/reader/full/autonomous-flight 24/24
ReferencesReferences
Concorde Technical Specs,Concorde Technical Specs, http://www.concordesst.com/autopilot.htmlhttp://www.concordesst.com/autopilot.html
U AV Roadmap 2005U AV Roadmap 2005--2030,2030, www.fas.org/irp/program/collect/uav_roadmap2005.pdf www.fas.org/irp/program/collect/uav_roadmap2005.pdf
DpDp--5X, X 5X, X--50 Dragonfly,50 Dragonfly, http://www.defensetech.org/archives/001748.htmlhttp://www.defensetech.org/archives/001748.html
U AVs as Tactical wingmen,U AVs as Tactical wingmen,
http://web.mit.edu/aeroastro/www/labs/halab/papers/U AV_wingmen_AU VSIdraft.pdf http://web.mit.edu/aeroastro/www/labs/halab/papers/U AV_wingmen_AU VSIdraft.pdf Autopilot Design, Autopilot Design, http://www.aiaa.org/content.cfm?pageid=406&gTable=mtgpaper&gID=95289http://www.aiaa.org/content.cfm?pageid=406&gTable=mtgpaper&gID=95289
Flight Systems and GoalsFlight Systems and Goals http://www.aa.washington.edu/research/afsl/http://www.aa.washington.edu/research/afsl/
TCAS TCAS--9494 http://www.rockwellcollins.com/ecat/br/TCAShttp://www.rockwellcollins.com/ecat/br/TCAS--94_PrintFriendly.html94_PrintFriendly.html
U AV Autopilot, http://www.baykarmakina.com/english/baykaruas/autopilot.aspU AV Autopilot, http://www.baykarmakina.com/english/baykaruas/autopilot.asp
www.navyleague.org www.navyleague.org /sea_power/ju106/sea_power/ju106--22.php22.php www.defenselink.mil www.defenselink.mil
Aviation Week + Space Technology July 24, 2006 pg 64 Aviation Week + Space Technology July 24, 2006 pg 64--6565