This proposal outlines a feature-rich end-to-end Sense and Avoid (SAVD) system, henceforth called
Benefit: Open and Extensible Architecture The SAVD solution includes a compact open-system Service Oriented Architecture (SOA) based software solution that easily integrates with current and future air and ground based sensor systems. Additionally, the system integrates with generic predictive flight path algorithms and automated collision detection and avoidance services. Flexible and extensible, the architecture is build to adapt to the dynamic nature of the ever-changing CNS/ATM rule set - allowing such changes to not affect the overall architecture. The loosely coupled layers of the SOA based paradigm allow for upgrades or substitutions to the sensor pieces of the SAVD without major disruptions to the overall system. Flexible Configurations - Ground Only, Air Only, Ground & Air The SAVD System will be capable of being deployed in multiple configurations: 1. The control-segment based configuration (requires NO modifications to the aircraft) can be used to accommodate smaller UAS(s) that have little to no excess payload room or legacy aircraft that do not have the luxury of being able to retrofit any new airborne payload solutions. 2. The airborne only configuration can be used to outfit smaller, possibly expendable UAS(s) that do not have control segments or UAS(s) designed for fully autonomous clandestine operations. 3. Finally the joint airborne and control segment configuration can be used on the majority of the UAS(s) being developed today, who have sufficient payload capacity (2lbs) and constant control segment connectivity. CNS/ATM Compliance The SAVD system provides the ability to avoid other aircraft operating in the same airspace forces an air vehicle to be CNS/ATM compliant. Utilizing optimization algorithms, the maneuver is generated given the state of the aircraft, the tracks of the detected intrusion aircraft, the surrounding airspace restrictions and terrain. As track information for the intrusion aircraft is updated, the optimization algorithms will be adjusted with the new constraints, potentially updating the maneuver. Using the constraints of the airspace, the SAVD System will not only be able to maneuver out of the way of traffic but it will also be able to employ the strict rules for CNS/ATM compliance (holding patterns, approach and landing procedures, etc.). Viral Data Sharing The SAVD system implements a viral data dissemination network that can provide real-time information that can be extremely useful to other manned or unmanned aircraft. For every UAV that relays sensor data (SAVD Airborne tracking data, ADS-B, TCAS, etc) to the control segment is essentially providing new and/or confirming vehicle tracking data to the rest of the fleet that may be controlled by the single control segment. Intuitive 4D (geospatial + time) User Interface In an effort to maximize usability and airspace awareness, the SAVD system will implement a 4D view of the airspace volume around the aircraft. The fourth dimension presents a 3D, geospatial view, plus temporal control that the operators dont have in most modern systems. Being able to see the predicted future of the airspace volume as well as the past will give the operators the foresight needed to take action or alert others of their aircrafts intentions. Users will have the ability to selectively display aircraft, track information, routing, terrain, weather and other information. Cost and Weight Designed to minimize weight and size, while maximizing visual range and processing power, the aircraft component of the SAVD system utilizes two 120 gram mvBlueFox cameras, an Ipod Nano size main-board and processor, and an air-worthy ruggedized chassis and harness. The SAVD system is suitable for high-speed, high-agility flight and while providing the ability to detect and avoid traditionally shaped aircraft or even amorphously shaped small objects such as parachutes and hot air balloons. Built on mostly commercially off the shelf hardware products, the SAVD system is affordable, costing less than $3000 per unit.
Keywords: aerial, aerial, Unmanned, UAS, Automated, Visualization, Systems, Airborne, UAV
