project partners auvsi north america 10 th - 14 th august 2009 mr reece clothier prof. rodney...
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Project Partners
www.smartskies.com.au
AUVSI North America10th - 14th August 2009
Mr Reece ClothierProf. Rodney Walker
The Smart Skies Project
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Project Aims
• Develop automated separation management technologies that facilitate greater utilisation of the airspace by both manned and unmanned aircraft
– Separate 30 aircraft of varying performance types in a 10NMi radius
– Increase traffic density
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Project Objectives• To develop enabling aviation technologies:
– A global automated separation management system – A portable network enabled air traffic control radar system– A network enabled onboard computer vision systems for
avoiding dynamic & static obstacles
• To integrate, demonstrate & validate the performance of these technologies through real world flight testing – Series of 8 phased flight testing activities– Verify simulated results using real aircraft & real
communications
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Phase Two Flight Trials• Objective:
“To verify research and simulation results investigating the performance of an automated separation management system”
• High level description– Automated separation management system capable of
4D (x, y, z, t) separation assurance
– 30 separation management test scenarios involving three real manned and unmanned test aircraft and four simulated aircraft
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P2FT Concept
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ADAC• Developed by Boeing Research & Technology, the
Automated Dynamic Airspace Controller:
– Provides the infrastructure to support the automated separation management algorithms under test
– Manages communications with the predictive flight management systems (pFMS) located on all real and simulated flight test aircraft
• For phase two trials it was located in Palmdale, CA
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ARCAA Airborne Systems Laboratory
• Custom modified Cessna 172 R model
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• Novotel Span truth data system
• Conventional piloted or optional enroute lateral autopilot modes
• Onboard computing• Custom pilot display
• Communications:• Iridium, Next G (3.5G Mobile Network), UHF & VOIP
ARCAA – Fixed wing UAS
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ARCAA Flamingo UAS• Fully autonomous BVR operations• ~20kg MTOW• 4m wingspan• ~ 1 hour endurance
ARCAA UAS 2• Fully autonomous BVR operations• ~70kg MTOW• 5.2m wingspan• 6 hours endurance• Computer vision test bed
ARCAA – Helicopter UAS
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Vario Gasser UAS• Fully autonomous BVR operations• ~13kg MTOW• 1.8m rotor• 45 mins endurance
• Payloads:• Scanning Laser• Stereo vision• Onboard computing• Next G, Iridium, UHF Comms
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Sheffield Aircraft Simulator
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Test Range
• Burrandowan, 45km NW of Kingaroy, QLD, Australia
• Private 600m airstrip
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UAS v UAS
ASL v Simulated Aircraft
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Phase Two Results
• Over 13 hours of flight test data characterising the performance of the automated airspace management system
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• Continued phased development & testing– Increasing complexity in system capability & operations– Goal is to efficiently separate up to 30 aircraft
ARCAA Dynamic Sense & Act
• Vision-based algorithm – Capable of 1024-by-768 @ 160fps in realtime
• Revised algorithm – Detection rates improved from 80% to 99%. – Improved FAR
Raw (very easy case) Previous Detection & Tracking Algorithm Revised Detection & Tracking Algorithm
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ARCAA Static Sense & Act• Laser & stereo vision system onboard
UAS heli• Autonomous infrastructure inspection
trial – Dec 2009
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Mobile Aircraft Tracking System• Network enabled – radar and ADS-B system• Radar characterisation testing – Dec 09
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What’s on the horizon
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Summary
• Research & development of complex systems:– Automated air traffic management system– Sense and act systems– Network enabled mobile radar and ADS-B system– Manned and autonomous flight test systems
• Integrated and tested under real world conditions• Actively work with a forward thinking regulator to
meet the technical & operational needs of the program
• Success through collaborationwww.smartskies.com.au 20
Acknowledgments
• The Smart Skies Project is supported, in part, by the Queensland Government Smart State Funding Scheme
• Project Partners:
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More information
www.smartskies.com.au
Publications• Richard Baumeister, Regina Estkowski, Graham Spence and Reece Clothier, “Evaluation of
Separation Management Algorithms in Class G Airspace”, 2009 AIAA Guidance, Navigation, and Control (GN&C) Conference, Hyatt Regency McCormick Place, Chicago, Illinois, 10 - 13 Aug 2009
• Carnie, R., Walker, R., Corke, P., “Image processing algorithms for UAV sense and avoid”, Proceedings 2006 IEEE Conference on Robotics and Automation
• S. Hrabar and G. Sukhatme, "Vision-Based Navigation Through Urban Canyons", to appear in Journal of Field Robotics, 2009
• S. Hrabar, P. Corke and M. Bosse, "High Dynamic Range Stereo Vision for Outdoor Mobile Robotics" In ICRA, 2009
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