UAS in the NAS Flight Test Series 4 Overview

National Aeronautics and Space Administration National Aeronautics and Space Administration

UAS in the NAS

Flight Test Series 4

Overview

UAS Integration in the NAS Project Jim Murphy: Project Engineer, Integrated Test and Evaluation 12 May 2016

Flight Test Series 4 Goals

• Conduct flight tests in a relevant environment to

contribute to the validation of the final Phase 1

DAA MOPS

• Develop and maintain the infrastructure for a

relevant test environment for UAS research

Flight Test Series 4 Research Objectives

• Validate DAA requirements in stressing cases that drive

MOPS requirements, including: High - speed cooperative

intruder, Low - speed non - cooperative intruder, high vertical

closure rate encounter, and Mode C only intruder (i.e.,

without ADS - B )

• Validate TCAS/DAA alerting and guidance interoperability

concept in the presence of realistic sensor, tracking and

navigational errors and in multiple - intruder encounters

against both cooperative and non - cooperative intruders

• Validate 'Well Clear Recovery' guidance in the presence of

realistic sensor, tracking and navigational errors

Flight Test Series 4 Test Environment

• Support validation of final phase 1

DAA Scripted Encounters

DAA and Radar MOPS

• Live Ownship with Coop and Non - Coop

– Sensor noise, uncertainty Sensors

• Live Intruder(s)

– Navigation system errors, state data

uncertainty,

– Wind compensation

– Support SC - 228 V&V activities

• Refine DAA alerting and maneuver

guidance algorithms

– S tressing encounters

– More complex multi - intruder encounters

– TCAS/DAA interoperability

– Well clear recovery

– Mixed intruder equipage

FT4 Test S ystem Concept

• FT4 leverages off of FT3 & ACAS Xu • DAA Scripted Encounters only • Data Collection for SUT: o JADEM o DAIDALUS o CPDS o TCAS o Radar o Honeywell o SC - 228 • Sensor Evaluation o ADS - B o TCAS Hybrid Surveillance o EDM Radar o Mode C o Non - cooperative Target • Flight Test Envelope Increased o Low Speed o High Speed • Increased Intruder Requirements o GIII o TG - 14 o C - 12 • Multiship Encounters 1v4 • R - 2515 Test Area similar to FT3

271 encounters planned for FT4 – 20% increase from FT3

Each encounter takes approximately 10 min and planning to complete ~20 encounters per flight day

Integration Roles & Responsibilities Summary

NASA

NASA – AFRC

(UAS - NAS / IT&E)

Non - NASA

• Provide LVC - DE Infrastructure • Provide Intruder Aircraft (T - 34, G - III, TG - 14, King Air) • Provide Ownship Aircraft ( Ikhana )

NASA - ARC

• Test Conductor Station (SAF) FT4 Concept of Opera ons

(UAS - NAS / SSI)

• Provide JADEM DAA • Provide Uncertainty model • Devise Encounter matrix

NASA - ARC

(UAS - NAS / IT&E)

• Provide HLA infrastructure • RUMS Server

NASA - LaRC

• Video Distribution to LaRC

(UAS - NAS / SSI)

1 April 2016 UAS-NAS FT-4 Tech Brief UAS-NAS FT-4 Tech Brief • Provide DAIDALUS DAA • Devise Encounter matrix

SC - 228

Honeywell

• Devise Encounter matrix

GA - ASI

• Provide instrumented TCAS • Provide proof of concept II equipped intruder aircraft DAA system (EDM DRR, • Fusion Tracker SAAP, etc.)

• Post Flight Processing • CPDS Display and IO Server • Devise Encounter matrix • Devise Encounter matrix

Flight Test 4 Milestones/Key Activities

Timeline Not To Scale FY16 O N D J F M A M J J A S (11/13) ERT Decision to delete FT4 Full - Development Activities Mission FT4 Requirements TIM - Scripted Encounters Flight Block (F2F Peer Review) 12/16 - 17 - Intruder Aircraft Mods FT4 Design TIM - Review / Tech Brief (F2F Peer Review) 2/3 - 4 NASA808 ADS - B Modifications 4/11 2/5 NASA808 DGPS Modifications 4/12 4/15 NASA801 DGPS Modifications 4/11 4/15 NASA856 ADS - B Modifications 4/11 4/21 Ikhana FT4 Modifications 12/7 Ground Integration Tests/V&V 2/8 2/25 Integrated LVC/ Ikhana Ground Testing (CST) 2/29 3/7 ARC & AFRC JADEM Regression Testing 3/7 3/18 Flight Test Plan Complete 4/4 4/15 2/19 Tech Brief System Checkout Flights / Env . Expansion Flights 4/1 Support Aircraft Airworthiness / Tech Brief 4/7 Scripted Encounters Flight Test Test Data 6/30 4/26 Review 4/19

FT4 Participating Aircraft

Aircraft Required Systems o ADS - B Out o Mode C or S Transponder o GPS o DGPS w/ Recording o VHF Comm Radio (x2) NEW NEW NEW

Ownship – Ikhana only New Intruders – Low Speed/RCS, High Speed, Mode C only

Aircraft Performance

TG - 14

“Low Speed” Intruder

• 100 KGS

• Small RCS (radar specific)

• Low altitude flights (5000ft - 10000ft)

AFRC TG - 14 (NASA 856)

T - 34

“Mid Speed” Intruder • Up to 250 KGS

• Medium RCS (radar specific)

King Airs

HW King Air AFRC T - 34C AFRC King Air (N3GC)

(NASA 865) • Up to ~280 KGS

(NASA 7 & NASA 801)

• Large RCS (radar specific)

“High Speed” Intruder

G - III

• Up to ~500 KTAS at 20k ft

AFRC G - III (NASA 808)

FT4 Test Area

R - 2515

Airspace Planning

• Primarily Mercury Spin, 4 Corners & Buckhorn MOA (red outline) • 1,000 ft AGL (4.2K ft) to 20K ft MSL • Extensions (west / north) may be requested real time for encounters that need the additional airspace • Ops outside of test area (blue shaded areas) are planned to be performed early (before 0800) when airspace is relatively empty • Operations between 0600 and 0700 are under Joshua control Airspace Extensions (Blue Shaded Areas) and have less geographical • Conducted early 0600 - 0800 preferably constraints • Pre - coordinated 24 - 48 hours in advance • Requested real - time with SPORT (after 0700) Ikhana must remain within R - 2515 at all times. Intruder aircraft can use Buckhorn MOA, plus areas shaded in blue.

FT4: NASA DAA Suite: JADEM/VSCS

WCR

• Java Architecture for DAA Extensibility and

Modeling (JADEM) software: • Subscribes to LVC GW for ownship and intruder flight state data (flight state message).

• Subscribes to LVC GW for TCAS RA messages.

• Contains DAA algorithm for conflict detection and resolution.

• Contains DAA/TCAS interoperability logic.

• Publishes DAA conflict resolution as heading bands and altitude tape keep out zones.

• Publishes Well Clear Recovery (WCR) as suggestive guidance.

• Vigilant Spirit Control Station (VSCS) software: • Developed by AFRL as an integrated ground control station for command and control of UAS.

• VSCS Tactical Situation Display (TSD) augmented by AFRL with DAA display elements to support NASA Human Systems Integration (HSI) objectives.

• VSCS TSD serves as the Cockpit Display for Traffic Information TCAS RA (CDTI) for SSI - West experiment.

• VSCS TSD displays DAA and WCR guidance produced by JADEM.

• VSCS TSD displays TCAS RA aural and visual alerts .

FT4: NASA DAA Suite: DAIDALUS/MACS

• DAIDALUS: • Subscribes to LVC GW for ownship and intruder flight state data (flight state message).

• Subscribes to LVC GW for TCAS RA messages.

• Contains DAA algorithm for conflict detection and resolution.

Preventive • Contains DAA/TCAS interoperability logic.

• Provides DAA avoidance and recovery bands.

• Provides WCR band.

• MACS: • Adapted for use as a DAA test bed.

Avoidance • Displays DAA guidance from DAIDALUS on generic HSI, VSI, and altitude instruments.

• VSI DAA bands replaced by TCAS guidance during RAs.

• Displays WCR band.

Warning

FT4: GA - ASI CPDS

• CPDS: • Receives ownship and surveillance tracks from the SAAP.

• Displays Ownship and Surveillance track data on the CDTI display and VPD.

• Processes surveillance tracks through its DAA algorithm to create conflict probes displayed on CDTI and VPD.

• Provides engineering display (Winconverter) with additional data on ownship and intruder.

• Bridge module provides option to select adding UTC offset to the received A735B with readout to verify offset.

• Bridge module includes fractional seconds in the time put in to the GA_CPDS traffic topic. Allowing IOServer to forward time.

• Winconverter proxy panel to suppress certain data to CPDS domain.

• Winconverter capability to send DAA alerts to HUD (if connected to flight network).

• CDTI added North - up option.

FT4: Core System Infrastructure

Flight Test 4 System Infrastructure (Core) LVC LAB LVC SAA Flt. State LVC WCR SATCOM - KU SAF SAAProc LVC LVC Flt. State JADEM LVC TCAS RA NASA Gateway Zeus CPDS Ikhana Video DAA Algo.

SUT LVC Flt. State LVC Flt. State LVC SAA Flt. State LVC TCAS RA from: MSCT LVC TCAS RA from: Ikhana GCS DICES LVC WCR SRFN Router (Voice Comm) DICES Radio (Voice Comm) (Voice Comm) UDP *DICES stations updated to DICES VoIP Ku – Downlink VoIP UDP Payload Ikhana UA DICES SRFN Router Ikhana GCS LVC Flt. State (Voice Comm) Ikhana UA state data LVC SAA Flt. State Ku – Uplink LVC Flt. State EGI LVC TCAS RA Payload LVC TCAS RA LVC WCR VSCS CDTI (TSD) CPDS SAAP Surveillance Bridge Fusion Algo.

Audio Ground TOI Tracks Sensors WinConverter GACPDS_TRAFFIC DTIF Sensor Track Data Airborne DTIF Tracks DAIDALUS CDTI TCAS 270 Router TCAS 270 SAAP Health Status TCAS II (Hybrid) Router TCAS 270 LVC Flt. State TCAS RA CDTI (MACS) VPD ADS - B Sensor Health Status LVC TCAS RA IOSERVER DAA Algo.

Probe DRR Radio Radio (Voice Comm) (Voice Comm) Aural Alert FT4 leverages off a core system infrastructure used for ACAS - Xu and FT3 test missions.

Major changes to FT4 occur at the software level.

Encounter Planning Process

Researcher Evaluation Using local constraints (E.G. Lat /Long) Simulate/Evaluate - Mission success / original intent - Expected results JADEM DAIDALUS CPDS Matrix Initial TCAS Requirements Radar OWG & SSWG Specific SUT Working Group Safety compliance Ensure requirements are fully understood Honeywell - Specified maneuvers Review encounter variables - Required safety constraints - Test objective Tables SC - 228 - Update hazards - Flight Cards Mission Success Ensure compliance with constraints and limitations - Test Objective Table Encounter Set All encounters with same variables - Training material - Simulation Video (as applicable) Configuration Geometries / Equipment Measurable and Achievable Test Primary TOs Objectives Success What determines success in flight Criteria Test Methods Procedures to achieve success criteria Derived from Evaluation AFTC Test Planning Guide Post flight analysis / data collection Criteria

Encounter Tolerance Development

FT3

FT4

ACAS Xu

• Deterministic approach • Deterministic approach • Probalistic approach 99.7% - Leveraged off of ACAS Xu - Leveraged off of FT3 • Min offsets: • Min offsets: • Min offsets: - 200’ vertical - 200’ vertical - 200’ vertical - 0.5 nmi lateral - 0.5 nmi lateral - 0.4 nmi lateral - ± 5, 8, 10 sec - ± 5, 8, 10 sec - ± 5, 8, 10 sec (DAA Real Time) • Altimeter calibration • Altimeter & navigation calibration • Altimeter calibration • Mission Rules • Mission Rules • Mission Rules Decreased to 0.4 nm horizontal separation.

Required to achieve TCAS alerting below 10K ACAS – FT3 FT3 – FT4 • High Confidence with ACAS - Xu offsets • High Confidence with previous test planning criteria • Mission Success criteria closely approximated ACAS - Xu • Decrease from 0.5 to 0.4 nm horizontal offset for mission success and; • Nav /Cal - not measureable, no added value or increase safety margins • Engineering & crew judgment – min acceptable levels of safety are maintained

Ikhana FT - 4 Mission Flights

• 15 Flights Planned

– Tuesdays and Thursdays, late April through June

• Up to 6.5 hour flights planned

• Single and Multiple Intruders

– 1, 2, or 4 manned aircraft

• Honeywell, NASA AFRC, and/or AF aircraft

• Objectives

– Using various geometries, closing airspeeds, and altitudes

• Demonstrate FT - 4 system performance

– Within approved FT - 4 test envelope

• Demonstrate various Self - Separation display systems

– GA - ASI: Conflict Prediction and Display System (CPDS)

– NASA: JADEM and DAIDALUS

Multiship (7) Four Intruders

13K 1000 ft 12K

• Mixed speeds

1000 ft

– Unmitigated

11K 1000 ft 10K 1000 ft 9K 150 KGS at 10K o 0 Relative ~0.8 NM lateral 250 KGS at 13K 150 KGS at 11K o 0 Relative 0.4 NM lateral 100 KGS at 9K o 0 Relative ~1.2 NM lateral 180 KGS at 12K o 0 Relative Initial Point (IP)

New for FT4

Maneuver Point (MP)

- 4 intruders, but simple fly -

Closest Point of Approach (CPA)

through encounter

4. Radar - #208 - 209

Medium Speed Intruder (4)

Ownship Maneuver and Climb Intruder Blunder and Level Off

• Unmitigated

• Mitigated

Ownship o 0 Relative Ownship Relative o - 1500 fpm 500 ft 1000ft 1000 fpm Initial Point (IP) Maneuver Point (MP) Closest Point of Approach (CPA) Initial Point (IP) Lateral Offset = 0.4 NM Maneuver Point (MP) SS Alerting Boundary = 0.75 NM

New for FT4

Closest Point of Approach (CPA) Minimum Altitude Offset ≥ 500 ft

- Ikhana turning and climbing

Same encounter variables as FT3 7. SC228 - #277 - 279, #280 - 282

Single Intruder Test Card

Multiship Intruder Test Card (1)

Multiship Intruder Test Card (2)

Minimum Separation

• The minimum geospatial offsets planned are 200 feet vertical and 0

foot horizontal (although not simultaneously during any test run )

• Test encounters with a minimum vertical separation of less than 500

feet will include a lateral offset of at least 2430 feet (0.4 nmi )

– A llows for some built - in safety margin that still meets well - clear volume

requirements and test data collection objectives

• Test encounters more than or equal to 500 feet vertical offset may

have a 0 foot horizontal offset.

• All participating aircraft will ensure the aircraft altimeter system

meets manufacturer calibration specifications and requirements for

normal operation in the NAS.

• A maximum of 608 feet (0.1 nmi) navigation error (GPS derived

position) is allowed for each aircraft based on the system’s built - in

navigation accuracy readout.

Ikhana FT - 4 Nominal Encounter Mission Flow

• T - 1: Day before detailed brief

– Protect crew rest for back - to - back flights possible if back up dates are

utilized

• T - 0 All: All crew pre - flight delta brief

• T - 0 Ikhana: Individual aircraft crew brief, as required

• Each aircraft take - off to arrive within R2515 at required time

– 0600 ish for Ikhana

• Ikhana and manned aircraft perform altitude calibration, as

required

• Prior to each encounter verify encounter, configuration, visual ID

requirement, expected behavior, and abort procedures per UAS -

NAS encounter cards and Ikhana flight cards

Ikhana FT - 4 Nominal Encounter Mission Flow (cont)

• Execute Encounter

• Between Encounters

– Maneuver Mode: Advisory/Off

– Maintain previous encounter deconfliction altitude until laterally

separated and as directed by TD for upcoming encounter

– Configure for next encounter set up

• Execute additional encounters per flight cards

• RTB, as appropriate

• Land

• De - brief

FT4 Mission Management Responsibilities

• Test Conductor

– Manages mission execution over voice communication on mission net (VHF radio) with Ikhana pilot, intruder pilots, and SPORT

• Test Director

– Primary liaison with test conductor – Manages voice communication on test team net with Ikhana mission director, SOR, LVC, local agencies, and non - local agencies (as required)

• Mission Directors

– Communicates directly with co - located pilots within GCS, test director, and other agencies (as required)

• LVC

– Communicates with test director on test team net to provide real - time discussions on live virtual constructive performance (as required)

• Senior Operations Representative (SOR)

– Independent representative of the Code O director with authority to stop a test if it is deemed that the test team is making unauthorized changes to the briefed test cards, is confronted with unanticipated events that should be addressed on the ground, or other issues that might arise that warrant a test to be stopped and reevaluated in a less dynamic environment than in the middle of a test mission

• Range Control Officer

– RCO monitors and makes coordination calls with Armstrong COMM and the SAF DATR mission system ops folks (as required)

FT4 Mission Support Software

Quicklook 2

Zeus

• MITLL product in development

• Thales ADS - B receiver integrated

• Operates using a stand alone computer

• May be installed prior to FT4

• Will not be used as a SA display for FT4

Ikhana UAS Communication – FT - 4 Flights

Ku band Back - up C2 (simplified)

ATC

SAF

UHF/VHF Voice C - Band Line - of - Site TD Phone Primary C2 TC (simplified) SOR DICES Mission SNOW/ Pilot Sys Mon Director Gnd Config Phone Hand Held Radio

LVC - DE

Intercom

Lab

FSE

IGLOO GCS (See Seating Arrangement Slide)

FT4 Displays Under Test

HUD

JADEM

• DAA Display’s are located to the left of PPO - 1 Station

• HUD will display TCAS alerting. HDD’s display TCAS

WCA

• When specifically configured HUD will display DAA

DAIDALUS

and TCAS alerting (Only 1 flight)

• Aural Alerts (Commands and Tone )

- GCS will annunciate a TCAS alert tone

- JADEM SUT will annunciate a TCAS alert commands

CPDS SUT GCS

Aural Alerts Aural Alerts

FT4 Displays Under Test

(Pilot/User centric)

 GA System

DAIDALUS

JADEM CPDS

HUD

DAA Alerts (VSCS) DAA Alerts (VSCS / DAIDALUS Display) DAA Alerts TCAS Alerting Descriptive Directive Descriptive Descriptive Directive Lateral & Vertical Vertical Heading Bands Heading Bands “Turn Heading ###” FT3 Capabilities GCS Tone DAA Alerting (VSCS) DAA Alerting (DAIDALUS Display) DAA Alerts TCAS Alerting Directive Descriptive Descriptive Descriptive Heading Bands Heading Bands Lateral & Vertical Vertical FT4 Similarities GCS Alerts DAA Alerting TCAS Alerting DAA Alerting TCAS Alerting TCAS Alerting Additional commands available Descriptive Directive Descriptive Directive Directive Descriptive Vertical Bands Vertical Commands Vertical Bands Vertical Commands WCR DAA alerts displayed on HUD Aural Alerts (May be muted) for 1 flight . Aural Alerts FT4 Differences

Winconverter with DCPA* plot enabled

*DCPA: Distance at Closest Point of Approach

Configuration: RUMS

ARC

RUMS client (Internet Browser) RUMS messaging Traffic Ownship RUMS Server DAA Alerts uasgw2 WCR TCAS RA RUMS messaging

AFRC

Flight Data DAA, TCAS RA RUMS RUMS client

LVC GW

VPN

RUMS messaging messaging (Internet Browser) gateway4 Web client/server

Configuration: Video Streaming

LaRC

DAIDALUS Epiphan Video client Stream (Internet Browser) Appliance RTP video client (IP Address) DAIDALUS Stream

VPN DAIDALUS Stream

VSCS Stream

ARC

Video Server VSCS Stream VIDS uasvsvr VSCS video stream DAIDALUS Stream DAIDALUS video stream

VPN

AFRC

VSCS DAIDALUS Computer Computer VSCS Stream DAIDALUS Stream Epiphan Epiphan Monitor Monitor Appliance Appliance

Data Collection Archiving

ARC Central Data Server Encrypted file transfer through secure VPN AFRC LVC Intruder On - Board VSCS JADEM DGPS Quad Video DAIDALUS Ikhana On - Board SAAP Gateway Data Gateway Data Collector Logger GCS Logger Data Test Logs CPDS DGPS

Reference: Flight Test Series 4 Data Management Plan, FT4 IT&E DMP - 001

Flight Test 4 Flight Schedule

• Seeking approval from Tech Brief Board to fly FT4 Flight Test Series using current available integrated and tested version of LaRC provided DAIDALUS software.

FT4 Plan A (Baseline Version of DAIDALUS only) April May June 4 - 8 11 - 15 18 - 22 25 - 29 2 - 6 9 - 13 16 - 20 23 - 27 30 - 3 6 - 10 13 - 17 20 - 24 27 - 1 Sys Check Flts Env Exp /Training JADEM Flts Radar Flts CPDS Flts TCAS Flts HW Flts SC - 228 Flts No Fly (3 - day DAIDALUS Flts wk) • LaRC working to update DAIDALUS software (final version) to be able to flight test with final version.

• Project approach: • Software needs to be delivered by 5/23 in order to meet FT4 completion milestone (L1) of 6/30/16.

• 2 - 3 weeks of regression testing • Mini - tech updates • Complete DAIDALUS flights at the end of June FT4 Plan B (Final Version of DAIDALUS available by May 23) April May June 4 - 8 11 - 15 18 - 22 25 - 29 2 - 6 9 - 13 16 - 20 23 - 27 30 - 3 6 - 10 13 - 17 20 - 24 27 - 1 Sys CheckFlts Env Exp /Training JADEM Flts Radar Flts CPDS Flts TCAS Flts HW Flts SC - 228 Flts

Backup

Backup Charts

Background Information

• During the FT3 Data Review, the IT&E co - PE from Ames identified a timing discrepancy

in the ownship 1 Hz message containing position data (latitude, longitude) from Ikhana

when compared to:

– 10 Hz & 50 Hz ownship

messages on Ikhana

1 Hz data

– Independent GPS data

50 Hz data

from Ikhana

1 Hz data depicts Ikhana at this Latitude ~2 sec earlier than 50 Hz data Graphs from Jim Murphy presentation ‘FT3_data_analysis_v7.pptx’

Representation of Timing Discrepancy

Range perceived by DAA Algorithm

Actual range

• Intruder position at ~90 seconds Timeline 90 Seconds (Corrective Self Separation Alert) 0.5 nmi • Intruder extrapolated to this position by the DAA algorithm since it’s using the DTIF ownship time as • Ownship position at T reference: ~ ( 90 - ~2 Seconds) • DTIF reports this position with time T 0 - ~ 2 seconds

Data Collection Archiving

GA Dropbox Separate Dropbox used (SAAP) for CPDS data to allow Encrypted file transfer Foreign National through https protocol Stakeholder access CPDS Dropbox data (CPDS) AFRC LVC Intruder On - Board DGPS CPDS Quad Video Ikhana On - Board SAAP SAAP DGPS

Reference: Flight Test Series 4 Data Management Plan, FT4 IT&E DMP - 001

Data Collection Archiving

Honeywell DAPTIV Encrypted file transfer through https protocol AFRC LVC Intruder On - Board DGPS Quad Video Ikhana On - Board SAAP DGPS

Reference: Flight Test Series 4 Data Management Plan, FT4 IT&E DMP - 001