15 Automatic Ground Collision Avoidance
15 Automatic Ground Collision Avoidance
15 Automatic Ground Collision Avoidance
• No attempt to eject.
AFRL-WS 06-0093
Auto GCAS Development History
Advanced Fighter Technology Integration (AFTI F-16)
State
Info
INS ARM FLCS
TRN Collision
Position Detect
Vector
DTED SCAN
Controls
Displays
6 arc Sec
~600’
Auto-CA Architecture
(98% Solution)
TPA FLCS
EGI
Collision
Detect
SRTM SCAN
Controls
Displays
6 Arc Sec
DTED Accuracy Error
(Large Error)
DTED Accuracy Error
(Large Error)
Nuisance Criteria
Error Budget
Nuisance Threshold
Mission
Command Guidance
Nuisance Criteria
“Error Budget”
NUISANCE CRITERIA TESTING
Error Budget
1) Keep errors as small as possible - They add up quick
2) Assess the errors
• Non Issue Errors
• Small errors can be “padded” to guarantee protection and
retain nuisance free operation - Avoid padding pads!
(sTotal)2= (sDTED)2 + (sTPA)2 + (sNAV)2
• Large errors require a tradeoff
• Nuisance Free Operation (Do not interfere)
• Provide Protection (Avoid collisions)
3 Arc S
DTED Management
Is an Ongoing Requirement
SRTM
3 4
Terrain Survey Results
5
1 2
SRTM
Max Pre SRTM
400 400
Avg
200 200
0 0
1 2 3 4 5 6 7 1 2 3 4 5 6 7
Min
-200 -200
-400 -400
-600 -600
-800
-800
-1000
-1000
Needles DTED
1” SRTM v 1/3” NED
Resulting Difference
Elevation Shift is from 0ft to 436 feet. SRTMF DTED was only shifted up not down.
DTED Conclusions
• Pre-SRTM DTED
– Unsuitable for Nuisance free operation below 500’/200’
(Rough/Smooth Terrain)
– Get SRTM data from NGA
• SRTM Data
– Capable of supporting 200’/100’ Nuisance free operations
(rough/smooth terrain)
– Enhancements required to provide full protection over select features
in a low level mode. DTED Management!
• SRTM Inaccuracy
– Average Error (Small)– Add Pad
– Errors on Peaks (Large but isolated) – Tradeoff in favor of protection in
HI, in favor of nuisance free in LO
– Foliage Study Ongoing
DTED Resolution
DTED Resolution
DTED Resolution Induces Errors
Result: Nuisance fly-ups for terrain that is
actually well below aircraft
6 Arc Second
3 Arc Sec – No Nuisance
3 Arc Second
1 Arc Second
DTED Resolution Drives Scan Width
Result: Scans non factor terrain
First DTED Post scanned
If Scan pattern optimized
Aircraft Position
Encoded DTED gives higher resolution
where needed & smaller file size
r
Origin
o
Radius
Very Accurate, Very Small Size Poor Accuracy, Very Large Size
“Encoded” CONUS
328 Kbytes
31
Coupler Challenge
• Large store matrix
• No “active g-limiter”
• CAT I vs. CAT III
• Large lateral asymmetries
• Lateral:
Roll-Through logic improved to prevent dwells inverted
G-limiter as a function of roll rate
Transonic Improvements
External wing tank rolling g limits >.95M with fuel
4 New design:
Nose continues to
drop while inverted
3
-1
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
“Lateral” Escape