The Future of UAS: Standards, Regulations, and Operational Experiences [Workshop Report]

The outcomes of "the future of UAS: standards, regulations and operational experiences" workshop, held on the 7 -8 December 2006, in Brisbane, Queensland, Australia. The goal of the workshop was to identify recent international activities in the unmanned airborne systems (UAS) airspace integration problem. The workshop attracted a broad cross-section of the UAS community, including: airspace and safety regulators, developers, operators, and researchers. The three themes of discussion were: progress in the development of standards and regulations; lessons learnt from recent operations; and advances in new technologies. This summarises the activities of the workshop and explores the important outcomes and trends as perceived by these authors.     

Evaluating sensor technology for UAS collision avoidance

The problem of "sense-and-avoid" for Unmanned Aircraft Systems (UAS) is genuinely multi-dimensional: there is a wide range of UAS sizes, speeds, and maneuverability, as well as missions for which these UAS will be used. There are also a variety of sensors that might be used for sense-and-avoid, which have widely varying capabilities to measure distance or angle to an obstacle, as well as closing rate, and time to collision. Most sensors are not able to provide all required information about the geometry of an encounter; therefore, using a combination of sensors offers one possible solution. We are investigating the concept that there may be a variety of possible sensor solutions for each distinct UAS capability or mission. By studying the breadth of UAS types and missions, and selectively testing certain sensors in the field, we are evaluating the limits to the capabilities of sensors and sensor combinations. This report is on the progress of this multi-dimensional evaluation. We have scoped the dimensions for evaluating UAS capabilities and the capabilities of sensors. We are experimentally evaluating sensor parameters on a variety of aircraft to validate the specified capabilities. This reports on our methodology for field evaluation of sensor technology and the lessons learned on evaluation platforms and capabilities.     

无人机系统安全目标水平预估方法

考虑无人机系统（UAS）与有人机运行安全特性的不同,通过事件树分析识别出对地撞击是无人机系统运行的首要风险方式。基于等效安全水平的概念,建立确定无人机系统安全目标水平的对地撞击模型,将无人机撞击动能、构型参数以及飞行环境因素综合考虑到模型中,并计算了不同无人机系统在不同运行场景下的安全目标水平以及基于我国地域人口的安全目标水平,结果表明: 在考虑运行环境的情况下,对无人机系统安全目标水平的定量要求可能跨越4～5个数量级。在此基础上,结合风险矩阵的概念,给出基于对地撞击情况的无人机系统运行风险评价矩阵,为无人机系统运行风险评价提供了一种可行思路。      

无人机系统适航标准剪裁案例分析

无人机系统的使用日益广泛,因此将无人机系统并入到现有的空域管理系统中显得尤为迫切。在技术层面,无人机系统有一系列独特的适航特点。因此,应重点发展针对无人机系统的适航标准与验证。研究了有人驾驶飞行器的适航标准(CS-23),及其通过剪裁后成为专门适用于无人机系统的适航标准(STANAG4671),这将促进无人机系统的技术更加标准化,并有利于国内无人机系统民用适航标准的发展。     

A survey of safety separation management and collision avoidance approaches of civil UAS operating in integration national airspace system

Recent years have witnessed a booming of the industry of civil Unmanned Aircraft System (UAS). As an emerging industry, the UAS industry has been attracting great attention from governments of all countries and the aviation industry. UAS are highly digitalized, informationized, and intelligent; therefore, their integration into the national airspace system has become an important trend in the development of civil aviation. However, the complexity of UAS operation poses great challenges to the traditional aviation regulatory system and technical means. How to prevent collisions between UASs and between UAS and manned aircraft to achieve safe and efficient operation in the integrated operating airspace has become a common challenge for industry and academia around the world. In recent years, the international community has carried out a great amount of work and experiments in the air traffic management of UAS and some of the key technologies. This paper attempts to make a review of the UAS separation management and key technologies in collision avoidance in the integrated airspace, mainly focusing on the current situation of UAS Traffic Management (UTM), safety separation standards, detection system, collision risk prediction, collision avoidance, safety risk assessment, etc., as well as an analysis of the bottlenecks that the current researches encountered and their development trends, so as to provide some insights and references for further research in this regard. Finally, this paper makes a further summary of some of the research highlights and challenges.     

无人机系统适航与安全性分析方法

针对无人机系统安全性需求,首先根据载人航空器适航审定规范及安全性评估依据,表明由于无人机系统的特殊性造成直接应用现有安全性评估流程和评估方法具有局限性.在此基础上提出无人机系统适航安全性评估的几点改进:①考虑无人机系统包括无人机和综合保障设备,扩大安全性评估边界进行无人机系统级的功能危险分析;②考虑无人机系统“人机分离”特点,需要对无人机系统失效状态的严重程度进行重新分级和定义;③考虑无人机系统本身受起飞质量的影响很大,强调必须根据无人机系统分类对地面撞击和空中碰撞两个关键事件进行安全性分析.结果表明:上述改进从无人机系统本身特点出发,通过给定的目标安全水平进一步确保安全性.      

Civil unmanned aircraft system operation in national airspace: A survey from Air Navigation Service Provider perspective

Unmanned Aircraft Systems (UASs) have advanced technologically and surged exponentially over recent years. Currently, due to safety concerns, most civil operations of UAS are conducted in low-level uncontrolled area or in segregated controlled airspace. As the industry progresses, both operational and technological capabilities have matured to the point where UASs are expected to gain greater freedom of access to both controlled and uncontrolled airspace. Extensive technical and regulatory surveys have been conducted to enable the expanded operations. However, most surveys are derived from the perspective of UAS own operating mechanism and barely consider interactions of their non-segregated activities with the Air Traffic Management (ATM) system. Hence, to fill the gap, this paper presents a survey conducted from the perspective of Air Navigation Service Provider (ANSP), which serves to accommodate these new entrants to the overall national airspace while continuing flight safety and efficiency. The primary objectives of this paper are to: (A) describe what typical ANSP-supplied UAS Traffic Management (UTM) architecture is required to facilitate all types of civil UAS operations; (B) identify three major ANSP considerations on how UAS can be accommodated safely in civil airspace; (C) outline future directions and challenges related with UAS operations for the ANSP.     

无人机系统互操作性标准研究

从标准跨度和范围、管理方法、分类和限制、使用方、技术途径和状态等方面重点分析了国外现行主要无人机系统互操作性标准现状,包括北约组织标准化协议和联合无人系统体系结构系列标准;并通过与国内无人机系统互操作性相关标准对比分析,提出我国无人机系统互操作性标准研究编制工作的建议.     

Enabling leg-based guidance on top of waypoint-based autopilots for UAS

This paper presents a methodology to extend the guidance functionalities of Commercial Off-The-Shelf autopilots currently available for Unmanned Aircraft Systems (UAS). Providing that most autopilots only support elemental waypoint-based guidance, this technique allows the aircraft to follow leg-based flight plans without needing to modify the internal control algorithms of the autopilot. It is discussed how to provide Direct to Fix, Track to Fix and Hold to Fix path terminators (along with Fly-Over and Fly-By waypoints) to basic autopilots able to natively execute only a limited set of legs. Preliminary results show the feasibility of the proposal with flight simulations that used a flexible and reconfigurable UAS architecture specifically designed to avoid dependencies with a single or particular autopilot solution.     

Modeling novel methodologies for unmanned aerial systems–Applications to the UAS-S4 Ehecatl and the UAS-S45 Bálaam

The rising demand for Unmanned Aerial Systems(UASs) to perform tasks in hostile environments has emphasized the need for their simulation models for the preliminary evaluations of their missions. The efficiency of the UAS model is directly related to its capacity to estimate its flight dynamics with minimum computational resources. The literature describes several techniques to estimate accurate aircraft flight dynamics. Most of them are based on system identification. This paper presents an alternative methodology to obtain complete model of the S4 and S45 unmanned aerial systems. The UAS-S4 and the UAS-S45 models were divided into four sub-models, each corresponding to a specific discipline: aerodynamics, propulsion, mass and inertia, and actuator. The‘‘aerodynamic" sub-model was built using the Fderivatives in-house code, which is an improvement of the classical DATCOM procedure. The ‘‘propulsion" sub-model was obtained by coupling a two-stroke engine model based on the ideal Otto cycle and a Blade Element Theory(BET) analysis of the propeller. The ‘‘mass and the inertia" sub-model was designed utilizing the Raymer and DATCOM methodologies. A sub-model of an actuator using servomotor characteristics was employed to complete the model. The total model was then checked by validation of each submodel with numerical and experimental data. The results indicate that the obtained model was accurate and could be used to design a flight simulator.     

基于LMI的一类非线性离散动态系统的鲁棒故障诊断

 针对一类非线性不确定离散动态系统 ,提出了一种新型鲁棒故障诊断方法。该方法不但能够对被诊断系统进行故障检测 ,而且同时能够实现故障的分离和辨识。它首先通过构造一个辅助系统 ,将故障的辨识问题转化为min max问题 ,并且通过巧妙设计辅助系统的输出增益矩阵 ,使得辅助系统与被诊断系统的状态差值方程和输出差值方程稳定 ,然后将min max问题转化成LMI问题 ,最后通过求解LMI问题来实现故障诊断。分析了故障诊断方法的鲁棒性、灵敏度和故障的辨识误差。仿真结果验证了该方法的有效性。     

飞行器体系优化设计问题

针对传统的飞行器设计与体系（SOS）设计相互独立造成的飞行器实际作战效能不足的问题,对同时考虑飞行器与体系耦合设计的飞行器体系优化设计问题展开研究。首先,根据体系工程（SOSE）原理给出了耦合飞行器设计与体系结构设计的飞行器体系优化设计问题的基本概念与通用数学定义;其次,基于多层体系架构,构建了飞行器体系设计优化模型,提出了包含问题定义、体系架构建模、学科建模、优化求解4个步骤的通用建模求解流程;最后,以巡飞/精确打击武器协同作战为例,构建了面向任务成本最低、时间最短的协同作战体系最优化问题并对其进行优化求解。与先设计飞行器后设计体系结构的解耦设计结果对比表明,解耦优化设计忽略了体系结构与飞行器的强耦合特征,无法最优化体系效能;耦合优化设计能够获得体系效能最大化的飞行器设计方案。     

一类模糊时滞系统的鲁棒二次稳定和H∞控制

研究了一类连续不确定模糊时滞系统的鲁棒二次稳定问题。首先给出不确定时滞系统的自治系统稳定的充分条件,在此基础上设计状态反馈控制器,给出全局二次可稳定的充分条件。相比已有的理论成果,更进一步考虑了系统的日。性能指标,使系统在满足二次可稳定的同时也满足H∞性能指标,并将所得的条件转化为线性矩阵不等式以便借助Matlab完成求解。最后的算例验证了方法的可行性。     

关于非线性大系统的局部状态反馈和稳定区域估计

本文研究了非线性定常大系统利用局部状态反馈的控制以及稳定区域估计问题。文中给出的方法可用来处理较为广泛的系统,特别适合于“最小强相联系统”或具有类似性质的系统。对大型望远镜,应用此方法得到了相当好的结果。     

基于事件触发的异构多智能体最优包含控制

针对异构多智能体系统的输出包含控制问题，提出一种基于边的事件触发最优控制协议，保证所有跟随者的输出能进入到由领航者的输出所形成的凸包中。同时，使系统达到最优性能，最小化控制代价。考虑到不是所有的跟随者都可获得领航者的信息，提出一种基于边的分布式事件触发观测器，估计领航者输出形成的凸包内点的轨迹。设计加权代价函数评价包含控制的性能，并将输出包含问题转化为最优状态反馈控制设计问题。利用贝尔曼方程和黎卡提方程，给出异构多智能体系统最优输出包含控制的参数设计。选择不同类型的机器人构成多智能体系统，验证算法的有效性。     

机载ADS-B技术现状与发展趋势

随着广播式自动相关监视( ADS-B )技术的发展与广泛应用,国外涌现出许多 ADS-B 设备研制商,开发出多种应用于不同平台、具有不同功能构型的 ADS灢B 产品。从搭载平台与功能构型两个视角出发,对国内外机载 ADS-B 产品进行分类;分析航线飞机、通航飞机以及无人机载 ADS灢B 产品的功能与技术特点,并针对当前 ADS-B 系统面临航空器监视应用开发、安全性、密集干扰环境下接收增强、1090ES 链路扩容等难点问题,分析讨论技术途径并提出发展建议。     

航电系统并行检测过程与检测设备解耦方法

航电系统在使用或升级改造过程中进行可靠性检测是必不可少的。特别是在当前批量航电系统大量投入使用的背景下，迫切需要能高效、快速、准确地对系统进行可靠性检测。由于航电系统安全性要求高，内置检测软件受限，需要外置检测设备通过航电系统指定接口进行检测，检测过程也不允许出现任何泄露等行为。检测设备与具体航电系统耦合，检测过程与具体检测设备耦合，难以实现批量航电系统并行检测。为此，通过引入逻辑检测设备，给出了一种航电系统并行检测分层框架，解决检测设备与被测系统耦合的问题，同时也保证了检测的安全性。通过逻辑检测设备、检测跳转机和被测主机上检测行为的描述，给出了一种面向通用航电系统并行检测的检测设备协同机制，解决检测过程与检测设备耦合的问题，从而支持多个航电系统并行检测。最后，实现了一个通用航电系统并行检测系统，并通过实际应用和实验对比验证所提方法的有效性。     

Synthesis of nonlinear nonstationary control systems by output under conditions of uncertainty

A problem of synthesizing the control laws for nonlinear nonstationary control systems by output being measured under uncertain external actions and nonlinearities that meet the sector constraints is considered.     

Joint sensor registration and track-to-track fusion for distributed trackers

Sensor registration deals with the correction of registration errors and is an inherent problem in all multisensor tracking systems. Traditionally, it is viewed as a least squares or a maximum likelihood problem independent of the fusion problem. We formulate it as a Bayesian estimation problem where sensor registration and track-to-track fusion are treated as joint problems and provide solutions in cases 1) when sensor outputs (i.e., raw data) are available, and 2) when tracker outputs (i.e., tracks) are available. The solution to the latter problem is of particular significance in practical systems as band limited communication links render the transmission of raw data impractical and most of the practical fusion systems have to depend on tracker outputs rather than sensor outputs for fusion. We then show that, under linear Gaussian assumptions, the Bayesian approach leads to a registration solution based on equivalent measurements generated by geographically separated radar trackers. In addition, we show that equivalent measurements are a very effective way of handling sensor registration problem in clutter. Simulation results show that the proposed algorithm adequately estimates the biases, and the resulting central-level trucks are free of registration errors.     

一类非线性系统的状态反馈输出跟踪研究

研究一类非线性系统的状态反馈输出跟踪控制问题。对于给定的光滑有界的参考信号,利用反步方法设计系统的跟踪控制器,使从任意初值出发的系统的输出都渐近于给定的参考信号,同时系统内部状态保持有界。仿真实例验证了研究结论的可行性。