Broadcasting of a Digitally Coded List of Transponder Equipped Aircraft Scanned by FAA Ground Radars as a Means of Collision Avoidance, Navigation, Air Traffic Structuring, and Airfield Approach

An air traffic control system is proposed in which 1) all aircraft are equipped wit transponders, 2) FAA radar sites broadcast a digitally coded list of the identity, altitude, and coordinates of aircraft scanned, 3) each aircraft on receiving this list converts it into a PPI display with the blip of that aircraft branded and blips of off-altitude aircraft blanked, and 4) superimposed on this display are projected maps of airways appropriate to the particular radar and the aircraft altitude. This system could provide a fairly complete capability for air traffic control, structuring, navigation, and collision avoidance at a cost of about 3000 dollars per aircraft. It would replace most navigational and communication equipment now in use and could be operational in several years.     

某型运输机机载防撞系统交联方案研究

为了减少和避免飞机相撞的危险,飞机上需要加装机载防撞系统,但是机载防撞系统不是一个独立的系统,需要与其他机载设备交联。通过分析机载防撞系统交联关系以及与机载设备的接口特性,给出了某型运输机机载防撞系统与原机设备交联的实施方案。     

Collision Avoidance System Synchronization

The collision avoidance synchronization system provides a method by which over 1000 aircraft can be accommodated in a 250-mile radius. Information is exchanged at a data rate of once every 3 seconds. Master-time synchronization permits one-way ranging between aircraft with an rms range error of less than 120 feet (36.6 meters) when both use the same master. A maximum error of less than 1000 feet (304.8 meters) rms between two aircraft occurs when each is tied back to a different master and each is at the limits of a hierarchy air-to-air synchronization extension system. An asynchronous backup mode of operation is provided to permit system operation in low-density areas beyond coverage of the master system time.     

Slot Length and Line-of-Sight Protection

The reasoning which led to the particular slot structure defined for the collision avoidance system specified by the Air Transportation Association Collision Avoidance System Technical Working Group is discussed. The objectives were to choose a slot length that would 1) minimize the probability of interference, 2) maximize the capacity of the information channel (as measured by the number of messages received in a unit of time). Interference can be manifested by the garbling of either the collision avoidance message or the synchronization signals.     

Spectral Energy Requirements and Adjacent-Channel Crosstalk in CAS

Four-frequency channels avoid the prior slot interference that handicaps single-frequency collision avoidance systems of equal message-slot capacity. Crosstalk between adjacent frequency channels is adequately limited If the receiver response to adjacent-channel signals is attenuated at least 52 dB. With 5-MHz channel separation, 48-dB crosstalk rejection was achieved in a test receiver by restricting the RF pulse rise time and decay time to 0.2 ?s minimum. Crosstalk resulting from biphase modulation can be effectively attenuated by limiting the minimum envelope transition time to 0.2 ?s. The effect of pulse rise time and decay time on the energy density spectrum is discussed.     

地形冲突回避控制原理的研究

地形冲突是指飞行器与地面之间的相对位置发生矛盾,可能导致可控飞行撞地事故(CFIT)发生的潜在危险现象。在飞机飞行过程中,飞行员瞬间丧失知觉是飞行员自身因素导致飞行事故的一个重要问题,这个问题困扰着所有飞高性能战斗机的空军及其飞行员人员。丧失空间方向感又是一个更为严重的问题,它影响着空军和民航的飞行员人员。为了防止由于自身因素引起的飞行员和飞机的巨大损失,研究自动地形冲突回避系统是必要的。通过对地形冲突回避控制原理三种方案的研究分析表明:一种不需要飞行员涉入,一种需要飞行员涉入,即所谓人在回路之中,一种需要对外发射信号。     

无人机自主防撞关键技术与应用分析

无人机与有人机在多机种和不同合作程度下共享空域飞行是未来的发展趋势,防撞问题成为制约无人机飞出隔离空域的关键挑战。结合现有飞机防撞体系,从无人机防撞特殊性出发分析无人机自主防撞需求,提出无人机自主防撞系统的框架,归纳分析两大主要关键技术——感知探测技术和防撞算法,以及二者的不同应用范围和主要问题,在此基础上提出无人机自主防撞管理体系架构,总结探讨无人机自主防撞关键技术的发展趋势。     

基于混合整数线性规划的飞行器防撞轨迹规划

给出了飞行器防撞最优轨迹的混合整数线性规划(MILP)设计方法。将飞行器模型近似化为以恒定速度和有限转弯速率运动在两维平面上的质点，把最小时间表述与防撞约束相结合，形成MILP问题进行轨迹的最优化设计。通过两个仿真计算表明，模型近似是有效的。     

Inflight path planning replacing pure collision avoidance, usingADS-B

This paper proposes a method of collision avoidance planning using automatic dependent surveillance-broadcast (ADS-B) and dynamic programming (DP). It in essence allows air traffic control (ATC) within the cockpit for remote or uncontrolled airspace and is a step toward Free Flight. This paper reviews the approach to collision avoidance in the aircraft industry and to similar problems in other industries. DP is one solution method used in other industries for the problem of path planning to avoid collisions with fixed obstacles. The solution proposed here for the aircraft case uses DP applied to the moving obstacle case. The problem is first simplified by assuming fixed obstacles for the cost minimisation algorithms. These fixed obstacles are then moved with time and the minimisation process is started again. Although this method works well in most cases, situations can be constructed where this method fails, allowing a collision. A modified approach is proposed, where the movement of obstacles is included more explicitly in the cost minimisation algorithm. This modification allows solutions which are complete and ensures safe maneuvres and should be considered as an aid to the Traffic alert and Collision Avoidance System (TCAS)     

一种航空直流设备综合检测仪的研制

研制了一种航空直流设备综合检测系统,实现了对被测数据的滤波、放大、整形、脉冲保持和A/D转换的功能,对数据进行平均和恒虚警算法处理,对算法的实时性效果进行了验证和分析,对检测仪的工程应用价值进行客观评估,且已作为专用设备用于电磁阀、电动机构、控制活门等直流设备的性能验证和分析.该系统由PC104、SCM、FPGA、直流设备测试电路等构成,可对航空直流设备性能参数进行检测和故障诊断.对系统的硬件、软件结构和有关实验结果进行了介绍.     

Advances in Zener Diode Vehicular and Aircraft Transient Suppressors

The prime purpose of this paper is to describe the advances in Zener diode transient suppressors for ground vehicle and aircraft application. The evolution of the transient suppressor development for the U.S. Army is presented with emphasis on space, weight, and cost considerations. Improvements including an electronic thermal switch and a "battle override" switch are also described. A futuristic transient suppressor of modular design developed for use as an integral part of the equipment being protected is functionally described.     

Detection of obstacles in the flight path of an aircraft

The National Aeronautics and Space Administration (NASA), along with members of the aircraft industry, recently developed technologies for a new supersonic aircraft. One of the technological areas considered for this aircraft is the use of video cameras and image-processing equipment to aid the pilot in detecting other aircraft in the sky. The detection techniques should provide high detection probability for obstacles that can vary from subpixel to a few pixels in size, while maintaining a low false alarm probability in the presence of noise and severe background clutter. Furthermore, the detection algorithms must be able to report such obstacles in a timely fashion, imposing severe constraints on their execution time. Approaches are described here to detect airborne obstacles on collision course and crossing trajectories in video images captured from an airborne aircraft. In both cases the approaches consist of an image-processing stage to identify possible obstacles followed by a tracking stage to distinguish between true obstacles and image clutter, based on their behavior. For collision course object detection, the image-processing stage uses morphological filter to remove large-sized clutter. To remove the remaining small-sized clutter, differences in the behavior of image translation and expansion of the corresponding features is used in the tracking stage. For crossing object detection, the image-processing stage uses low-stop filter and image differencing to separate stationary background clutter. The remaining clutter is removed in the tracking stage by assuming that the genuine object has a large signal strength, as well as a significant and consistent motion over a number of frames. The crossing object detection algorithm was implemented on a pipelined architecture from DataCube and runs in real time. Both algorithms have been successfully tested on flight tests conducted by NASA.     

民用飞机失速特性研究

民用飞机失速特性和失稳特性的优劣直接影响飞机的安全性。从平尾修形、外侧缝翼缝道参数、内侧缝翼分离面等几个方面考虑,深入研究了失速特性和失稳特性的影响因素。本研究结果,为一般民用飞机失速特性设计提供切实有效的措施。     

Periodic event-triggered formation control for multi-UAV systems with collision avoidance

In this paper, periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles (UAVs). Firstly, based on the Artificial Potential Field (APF) method, a novel sliding manifold is proposed for controller design, which can solve the problem of collision avoidance. Then, the event-triggered strategy is applied to the distributed formation control of multi-UAV systems, where the evaluation of the event condition is continuous. In addition, the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound. Next, a periodic event-triggered mechanism is developed for formation control based on the continuous event-triggered mechanism. The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors, which can reduce the control cost. The stability of the control system is proved by the Lyapunov function method. Finally, some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.     

Distributed formation control of multiple aerial vehicles based on guidance route

Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints, such as nonholonomic and velocity constraints. The guidance-route-based strategy has been demonstrated to be applicable to fixed-wing aircraft. However, it requires a global coordinator and there exists control lag, due to its own natures. For this reason, this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned issues. First, a hop-count scheme is introduced to achieve distributed implementation, in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local information. Next, the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape control. In addition, the stall protection and collision avoidance are also considered. Finally, three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.     

Avionics cost of ownership

The cost of ownership of avionics includes not only the development and acquisition cost, but also the yearly operating and support (O and S) (maintenance) cost of hardware, software, and support equipment. This paper presents an avionics cost of ownership methodology developed for USAF, its data sources, and business metrics computed for USAF decision makers as we move toward operating avionics as a business. The business model is used to determine which existing avionics are candidates for replacement with new technology and to prioritize the replacements. These avionics are often used on multiple aircraft types which necessitates analysis of the causes of the high cost of ownership on each type. Databases are used to document the processing functions, data flow, and constraints of the item being analyzed. These constraints include physical, environmental, electrical, and data interfaces. Databases containing alternatives are evaluated against standard mission scenarios for aircraft utilizing these high cost avionics to determine their impact on performance, O and S costs, and mission effectiveness. The results of the foregoing analyses steps are then used in life cycle cost analyses which consider different retrofit scenarios for each alternative for each aircraft type against the avionics being analyzed for replacement. The alternatives are prioritized and a risk analysis performed considering technical, schedule, and cost growth risks. The avionics cost of ownership methodology described in this paper processes data from USAF maintenance organizations. This has revealed the very large expenditures being made to support highly unreliable avionics. These methods can be applied to all military and commercial aircraft systems to determine not only the cost of ownership of existing systems, but also the cost of ownership of new systems when they are retrofit     

民用飞机机载跑道入侵预警系统仿真验证

民用飞机在低能见度的机场跑道滑行时,存在发生跑道入侵的风险。国内外民航史记载了数次因跑道入侵事件导致的飞机在机场地面相撞而机毁人亡的严重事故。近年来,越来越多的人选择飞机作为长途出行的交通工具,使得全球大型国际机场的年吞吐量剧增,导致跑道入侵事件时有发生。各国民用航空管理组织对跑道入侵事件的关注度持续上升,航空公司需要在机上安装一套地面避撞系统,来避免跑道入侵事件的发生。本验证项目基于某大型机场的动态地图建立了一个机载跑道入侵预警系统原型,建立了飞机在机场滑行的平面四向运动模型,设定了不同安全等级的跑道入侵预警算法,定义了多种飞机跑道入侵场景,最终在MATLAB/Simulink和FlightGear中进行二维平面仿真和三维立体仿真,验证了系统解决方案的有效性和算法的正确性。     

Collision free 4D path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach

In this paper, a four-dimensional coordinated path planning algorithm for multiple UAVs is proposed, in which time variable is taken into account for each UAV as well as collision free and obstacle avoidance. A Spatial Refined Voting Mechanism(SRVM) is designed for standard Particle Swarm Optimization(PSO) to overcome the defects of local optimal and slow convergence.For each generation candidate particle positions are recorded and an adaptive cube is formed with own adaptive side length to indicate occupied regions. Then space voting begins and is sorted based on voting results, whose centers with bigger voting counts are seen as sub-optimal positions. The average of all particles of corresponding dimensions are calculated as the refined solutions. A time coordination method is developed by generating specified candidate paths for every UAV, making them arrive the same destination with the same time consumption. A spatial-temporal collision avoidance technique is introduced to make collision free. Distance to destination is constructed to improve the searching accuracy and velocity of particles. In addition, the objective function is redesigned by considering the obstacle and threat avoidance, Estimated Time of Arrival(ETA), separation maintenance and UAV self-constraints. Experimental results prove the effectiveness and efficiency of the algorithm.     

一种实用的地形回避/地形跟踪算法

给出了一套地形回避/地形跟踪算法,即动态规划法与线性规划算法,根据即时的飞行任务、地形数据、威胁区信息与天气情况等,可以实时在线地规划出有人驾驶或无人自主控制的飞行器的三维最优飞行轨迹。该算法与软件包在F-16战机的地形回避/地形跟踪系统的升级改造中得到了成功应用。     

考虑运动学约束的不规则目标遗传避碰规划算法

 针对复杂环境下不规则目标的路径规划问题,提出了一种带有运动学约束的遗传避碰规划算法。以舰载机在航母甲板上的路径规划问题作为研究对象,并且该算法可推广至其他具有此类约束的路径规划问题中,它较好地解决了目标形状复杂、障碍环境复杂、目标运动时带有回转半径约束等特殊问题。在传统遗传路径规划算法的基础上,针对性地设计了三维位置和姿态混合编码、三段法路径解码、轨迹包围盒的碰撞检测及距离计算等方法,并在遗传操作中引入惩罚项和修补策略来辅助算法寻优。最后,为得出复杂环境下的最优路径,基于VC++平台对算法进行了仿真验证。结果表明,在复杂障碍环境下,本文提出的算法可求得最优避碰路径,并满足预先设定的目标回转半径约束,能够有效地解决此类目标的避碰路径规划问题。