Roberto Sabatini

A new avionics based GNSS integrity augmentation system: Part 1 - fundamentals

The aviation community has very stringent navigation integrity requirements that apply to a variety of manned and Unmanned Aerial Vehicle (UAV) operational tasks. This paper presents the results of the research activities carried out by the Italian Air Force Flight Test Centre (CSV-RSV) in collaboration with the Nottingham Geospatial Institute (NGI) and Cranfield University (CU) in the area of Avionics-Based Integrity Augmentation (ABIA) for mission- and safety-critical Global Navigation Satellite System (GNSS) applications. Based on these activities, suitable models were developed to describe the main causes of GNSS signal outage and degradation in flight, namely: antenna obscuration, multipath, fading due to adverse geometry and Doppler shift. Adopting these models in association with suitable integrity thresholds and guidance algorithms, the ABIA system delivers integrity caution (predictive) and warning (reactive) flags, as well as steering information to the pilot and electronic commands to the aircraft/UAV flight control system. These features allow real-time avoidance of safety-critical flight conditions and fast recovery of the required navigation performance in case of GNSS data losses. This paper presents the key ABIA concepts, architecture and mathematical models. A successive paper will address the ABIA integrity thresholds criteria and detailed results of a TORNADO simulation case-study.

A New Avionics-Based GNSS Integrity Augmentation System: Part 2 – Integrity Flags

This paper presents the second part of the research activities carried out to develop a novel Global Navigation Satellite System (GNSS) Avionics-Based Integrity Augmentation (ABIA) system for manned and Unmanned Aerial Vehicle (UAV) applications. The ABIA systems architecture was developed to allow real-time avoidance of safety-critical flight conditions and fast recovery of the required navigation performance in case of GNSS data losses. In more detail, our novel ABIA system addresses all four cornerstones of GNSS integrity augmentation in mission- and safety-critical avionics applications: prediction (caution flags), avoidance (optimal flight path guidance), reaction (warning flags) and correction (recovery flight path guidance). Part 1 (Sabatini et al., 2012) presented the ABIA concept, architecture and key mathematical models used to describe GNSS integrity issues in aircraft applications. This second part addresses the ABIA caution and warning integrity flags criteria and presents the results of a simulation case study performed on the TORNADO Interdiction and Strike (IDS) aircraft.

Experimental flight testing of night vision imaging systems in military fighter aircraft

This paper describes the research and experimental flight test activities conducted by the Italian Air Force Official Test Centre (RSV), in collaboration with Alenia Aermacchi and Cranfield University, in order to confer night vision imaging systems (NVIS) capability to the Italian TORNADO Interdiction and Strike and Electronic Combat and Reconnaissance aircraft. The activities included design, development, test, and evaluation activities, including night vision goggle (NVG) integration, cockpit instruments, and external lighting modifications, as well as various ground test sessions and a total of 18 flight test sorties. RSV and Litton Precision Products were responsible for coordinating and conducting the installation of the internal and external lights. Particularly, an iterative process was established allowing in-site rapid correction of the major deficiencies encountered during the ground and flight test sessions. Both single-ship (day/night) and formation (night) flights were performed, with testing activities shared among the test crews involved, allowing for a redundant examination of the various test items by all participants. An innovative test matrix was developed and implemented by RSV for assessing the operational suitability and effectiveness of the various modifications implemented. Also important was the definition of test criteria for Pilot and Weapon Systems Officer workload assessment during the accomplishment of various operational tasks during NVG missions. Furthermore, the specific technical and operational elements required for evaluating the modified helmets were identified, allowing an exhaustive comparative evaluation of the two proposed solutions (i.e., HGU-55P and HGU-55G modified helmets). The initial compatibility problems encountered were progressively mitigated by incorporating modifications in both front and rear cockpits at various stages of the test campaign. This process allowed considerable enhancement of the TORNADO NVIS configuration, giving good medium- to high-level NVG operational capability to the aircraft. Further developments also include the internal/external lighting for the Italian TORNADO “Mid-Life Update” and other programs such as AMX aircraft internal/external light modification/testing and the activities addressing low-altitude NVG operations with fast jets (e.g., TORNADO, AMX, MB-339CD), with a major issue being the safe ejection of aircrew with NVG and NVG modified helmets. Two options have been identified for solving this problem, namely, the modification of the current Gentex HGU-55 helmets and the design of a new helmet incorporating a reliable NVG connection/disconnection device (i.e., a mechanical system fully integrated in the helmet frame) with embedded automatic disconnection capability in case of ejection. Other relevant issues to be accounted for in these new developments are the helmet dimensions and weight, the NVG usable field of view as a function of eye-relief distance, and the helmets center of gravity (moment arms) with and without NVG (effect on aircrew fatigue during training and real operational missions).

4-Dimensional Trajectory Negotiation and Validation System for the Next Generation Air Traffic Management

As part of the ENDEAVOUR project (Evolutionary Network-Centric Technologies for Four Dimensional Trajectory (4DT) Based Operations in Europe: ATM and Avionics Systems for Intent Validation, Real-Time Optimisation and Uncertainty-Resilient Operations), a novel 4DT Planning, Negotiation and Validation (4-PNV) system was developed for integration into the next generation Communications, Navigation and Surveillance/Air Traffic Management (CNS/ATM) environment. The 4-PNV system provides 4DT negotiation and validation capabilities for the Next Generation ATM, in combination with the Next Generation of Flight Management Systems (NG-FMS) and Next Generation Air-to-ground Data-Link (NG-ADL) that are also being developed. The NGFMS generates globally optimal trajectories based on environmental and operational weightings, meeting the combined objectives of the Single European Sky ATM Research (SESAR) and Clean Sky Joint Technology Initiative for Aeronautics and Air Transport programmes. The 4-PNV system receives multiple options of 4DT intents from each aircraft equipped with NG-FMS, and validates them through real-time negotiation, resolving traffic conflicts, thus establishing optimal and safe trajectory solutions for each aircraft.

Next Generation Flight Management System for Real-Time Trajectory Based Operations

This paper presents the concept of operations, architecture and trajectory optimisation algorithms of a Next Generation Flight Management System (NG-FMS). The NG-FMS is developed for Four Dimensional (4D) Intent Based Operations (IBO) in the next generation Communications, Navigation, Surveillance and Air Traffic Management system (CNS+A) context. The NG-FMS, primarily responsible for the aircraft navigation and guidance task, acts as a key enabler for achieving higher level of operational efficiency and mitigating environmental impacts both in manned and unmanned aircraft applications. The NG-FMS is interoperable with the future ground based 4DT Planning, Negotiation and Validation (4-PNV) systems, enabling automated Trajectory/Intent Based Operations (TBO/IBO). After the NG-FMS architecture is presented, the key mathematical models describing the trajectory generation and optimisation modes are introduced. A detailed error analysis is performed and the uncertainties affecting the nominal trajectories are studied to obtain the total NG-FMS error budgets. These are compared with the Required Navigation Performance (RNP) values for the various operational flight tasks considered.

Real-Time Trajectory Optimisation Models for Next Generation Air Traffic Management Systems

This paper presents models and algorithms for real-time 4-Dimensional Flight Trajectory (4DT) operations in the next generation Communications, Navigation, Surveillance/Air Traffic Management (CNS/ATM) systems. In particular, the models are employed for multi-objective optimisation of 4DT intents in ground-based 4DT Planning, Negotiation and Validation (4-PNV) systems and in airborne Next Generation Flight Management Systems (NG-FMS). The assumed timeframe convention for offline and online air traffic operations is introduced and discussed. The adopted formulation of the multi-objective 4DT optimisation problem includes a number of environmental objectives and operational constraints. In particular, the paper describes a real-time multi-objective optimisation algorithm and the generalised expression of cost function adopted for penalties associated with specific airspace volumes, accounting for weather models, condensation trails models and noise models.

A Laser Obstacle Warning and Avoidance System for Unmanned Aircraft Sense-and-Avoid

This paper presents an overview of the research activities performed to develop a new scaled variant of the Laser Obstacle Avoidance and Monitoring (LOAM) system for small-to-medium size Unmanned Aircraft (UA) platforms. This LOAM variant (LOAM+) is proposed as one of the non-cooperative sensors employed in the UA Sense-and-Avoid (SAA) system. After a brief description of the LOAM system architecture, the mathematical models developed for obstacle avoidance and calculation of alternative flight path are presented. Additionally, a new formulation is adopted for defining the uncertainty volumes associated with the detected obstacles. Simulation case studies are carried out to evaluate the performances of the avoidance trajectory generation and optimisation algorithms, which demonstrate the ability of LOAM+ to effectively detect and avoid fixed low-level obstacles in the intended path.

Airborne laser systems for atmospheric sounding in the near infrared

This paper presents new techniques for atmospheric sounding using Near Infrared (NIR) laser sources, direct detection electro-optics and passive infrared imaging systems. These techniques allow a direct determination of atmospheric extinction and, through the adoption of suitable inversion algorithms, the indirect measurement of some important natural and man-made atmospheric constituents, including Carbon Dioxide (CO2). The proposed techniques are suitable for remote sensing missions performed by using aircraft, satellites, Unmanned Aerial Vehicles (UAV), parachute/gliding vehicles, Roving Surface Vehicles (RSV), or Permanent Surface Installations (PSI). The various techniques proposed offer relative advantages in different scenarios. All are based on measurements of the laser energy/power incident on target surfaces of known geometric and reflective characteristics, by means of infrared detectors and/or infrared cameras calibrated for radiance. Experimental results are presented relative to ground and flight trials performed with laser systems operating in the near infrared (NIR) at λ = 1064 nm and λ = 1550 nm. This includes ground tests performed with 10 Hz and 20 KHz PRF NIR laser systems in a variety of atmospheric conditions, and flight trials performed with a 10 Hz airborne NIR laser system installed on a TORNADO aircraft, flying up to altitudes of 22,000 ft above ground level. Future activities are planned to validate the atmospheric retrieval algorithms developed for CO2 column density measurements, with emphasis on aircraft related emissions at airports and other high air-traffic density environments.

A new approach to eye-safety analysis for airborne laser systems flight test and training operations

Abstract A new method for evaluating the hazards associated with the use of airborne laser systems operating in the visible and near infra-red portions of the electromagnetic spectrum is presented in this paper. Particularly, safety issues of state-of-the-art Nd:YAG laser target designators are thoroughly investigated, in order to identify operational procedures and limitations for employment of such equipment at the test ranges during execution of both trials and training missions. Innovative procedures and algorithms are presented that allow a complete verification of laser-safety for airborne systems whilst operating at the test ranges. Finally, a PC based simulation program is described, together with some simulation results. Most of the results presented here have been developed for airborne laser target designators, but they also apply to most airborne laser systems including range finders and beam riders operating in the visible and near-infrared portions of the electromagnetic spectrum.

Low-cost navigation and guidance systems for unmanned aerial vehicles - part 1: Vision-based and integrated sensors

Abstract In this paper we present a new low-cost navigation system designed for small size Unmanned Aerial Vehicles (UAVs) based on Vision-Based Navigation (VBN) and other avionics sensors. The main objective of our research was to design a compact, light and relatively inexpensive system capable of providing the Required Navigation Performance (RNP) in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN were compared and the Appearance-Based Approach (ABA) was selected for implementation. Feature extraction and optical flow techniques were employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we addressed the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, as well as the aiding from Aircraft Dynamics Models (ADMs). In particular, by employing these sensors/models, we aimed to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) was developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures were implemented. The first used VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also included the ADM (computations performed at 100 Hz) to provide augmentation of the attitude channel. Simulation of these two modes was accomplished in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc.). Simulation of the first integrated navigation system architecture (VBN/IMU/GPS) showed that the integrated system can reach position, velocity and attitude accuracies compatible with CAT-II precision approach requirements. Simulation of the second system architecture (VBN/IMU/GPS/ADM) also showed promising results since the achieved attitude accuracy was higher using the ADM/VBS/IMU than using VBS/IMU only. However, due to rapid divergence of the ADM virtual sensor, there was a need for frequent re-initialisation of the ADM data module, which was strongly dependent on the UAV flight dynamics and the specific manoeuvring transitions performed