Conflict(free(trajectory(op0misa0on(for(complex( - - PowerPoint PPT Presentation

Conflict(free(trajectory(op0misa0on(for(complex( departure(procedures((

6th(ICRAT(Conference,(Istanbul,(Turkey(

San$%Vilardaga( san0.vilardaga@ctae.org( ASCAMMFCTAE,(Aerospace(Research( and(Technology(Centre,(Barcelona( Xavier%Prats% xavier.prats@upc.edu( UPC,(Technical(University(of(Catalonia,( Barcelona(

Taking research further

Introduc0on(

• SESAR(and(NextGen(aim(at(improvement(of(air(

traffic(efficiency(

• Hence(new,(enhanced,(opera0ons(

– Con0nuous(Climb(Departures((CCD)( – Con0nuous(Cruise(Climb((CCC)( – Con0nuous(Descent(Approaches((CDA)(

• However,(…(

Problema0c(

Huge(variety(of(aircraT( and(configura0ons( Uncertainty(along( conflic0ng(areas( Impact(on(Air(Traffic( Capacity(

Proposed(solu0ons(in(the(literature(

• Dynamic(speed(requests(
• Mul0ple(different(FPA(phases(
• Requested(Time(of(Arrival((RTA)(at(a(specific(

point(

• etc.(
• All(accep0ng(subFop0mal(trajectories(

Objec0ve(

• Dynamic(4D(trajectory(op0miser(
• Complex((and(realis0c)(lateral(and(ver0cal(

trajectories(

– Waypoints( – Flight(phases(

• Self(separa0on(from(surrounding(traffic(

Methodology(

Methodology(

Ini0al(climb( Clean(config.( Constant(Mach(

Methodology(

• Op0mal(Control(Theory(

– Dynamics( – State( – Control( – Objec0ve( – Constraints( – Solved(with(colloca0on(methods(and(NLP(

Dynamics(

• PointFMass(model(
• Calm(winds(
• Flat(nonFrota0ng(earth(
• Specific(A320(performance(model(

– Aerodynamic(and(propulsive(forces( – Fuel(consump0on(

State(Variables(

x = [ v γ χ n e h ]

= ˙ v =

1 m(T − D − mg sin γ)

= ˙ γ =

g v(nz cos φ − cos γ)

= ˙ χ =

g v sin φ cos γ nz

= ˙ n = v cos γ cos χ = ˙ e = v cos γ sin χ ˙ h = v sin γ = ˙ s = v cos γ

Control(Variables(

u = [ nz φ π ].

nz = L mg

Objec0ve(Func0on(

X X ✓ ◆ FF = neδ √ θ

3

X

i=0 3

X

j=0

cF F

ij

✓N1 √ θ ◆i M j J(t) = Z tf

t0

FF(x, u, p, t) dt.

Opera0onal(Constraints(

Constraint Definition Operating airspeeds VMCA ≤ vCAS(t) ≤ VMO No deceleration allowed ˙ v(t) ≥ 0 No descent allowed ˙ h(t) ≥ 0 Procedure Design Gradient (PDG) h(t) ≥ 0.033s(t) Load factor 0.85 ≤ nz(t) ≤ 1.15 Bank angle −25 ≤ φ(t) ≤ 25

General(problem(formula0on(

• Ini0al(guess((C++)(
• Discre0sa0on(with(direct(colloca0on(method(

(GAMS)(

• NLP(solver(interface((GAMS)(
• Results((C++)(

Phase(1( Phase(2( Phase(3(

General(problem(formula0on(

!%

WP1( WP2( WP3( 30(s( 50(s( 70(s( 60(s( 40(s( 67(s(

Separa0on(assurance(

• Self(separa0on(strategies((ASAS)(
• Collabora0ve(scenario(

– Fully(coopera0ve( – Semi(coopera0ve( – Non(coopera0ve(

• Target(modelling(
• Separa0on(geometry(

Separa0on(assurance(

Intruder Ownship

no eo ho to Trajectory Optimiser ADS-B In ADS-B Trajectory Optimiser Spline fitting

OwnshipTrajectory initial state initial state

no eo ho to

IntruderTrajectoryREAL Flight Plan Intent information Position Speed Flight Plan

Trajectory Predictor

IntruderTrajectoryPRED Position Speed

Out Out Out

Intent info.

Estimated Intruder Performance

Separa0on(formula0on(

!%

Intruder(representa0on(

• Separate(a(moving(vehicle(from(a(moving(

target(

• Separa0on(of(ownship(4D(posi0on(with(

respect(to(target(4D(geometry(…(

• …(at(specific(ownship(0mes(of(sample!(
• Use(of(polynomial(fifng((splines)(

Intruder(representa0on(

• nintruder(t)(
• eintruder(t)(
• hintruder(t)(

0me( 0me( 0me(

• Horizontal(vs(Ver0cal(disjunc0on(

(Cylinder( (( (Superegg(

Separa0on(geometry(

gh(t) ≥ 0 ∨ gv(t) ≥ 0

✓∆n2 + ∆e2 dh

2

◆p + ✓∆h2 dv

2

◆p ≥ 1

Fixed(lateral(routes(

• Due(to(constraints(in(ATC(or(strategic(

deconflic0on(

Results(

Results(

0( 1( 2( 3( 4( 5( 6( 7( 8( 9( 10( 260( 280( 300( 320( 340( 360(

Results(

Results(

Conclusions(

• Generic(op0misa0on(framework(
• Op0mal(control(formula0on(
• Flexible(defini0on(of(complex(routes(
• SemiFcoopera0ve(separa0on(assurance(
• Can(be(integrated(in(many(scenarios(

Further(work(

• Conformance(monitoring(

Conformance Monitoring Trajectory Predictor

Estimated intruder performance

Residuals > Threshold Yes No

Replanning New Ownship Trajectory

Intents change? No Yes Time to conflict Expected system error

Pos Pos+Vel Pos Pos+Vel Intent info.

Compute Threshold

Intruder Trajectory

Ownship

In (from intruder)

ADS-B Continue as planned Continue as planned

Ownship performance data

Aircraft category Intent info.

Further(work(

• Conformance(monitoring(

Vertical error (ft)

150 300 450 600

Along path distance (NM)

5 10 15 20 25 30 Aggregate prediction Initial prediction (t=0) Prediction at t=95s Prediction at t=171s Prediction at t=273s

More(info(in(ATIO(Conference(

June(2014,(Atlanta,(Georgia(

Further(work(

Thank(you(for(your(aken0on(

Any(Ques0ons?(

San$%Vilardaga( san0.vilardaga@ctae.org( ASCAMMFCTAE,(Aerospace(Research( and(Technology(Centre,(Barcelona( Xavier%Prats% xavier.prats@upc.edu( UPC,(Technical(University(of(Catalonia,( Barcelona(

Taking research further