Mission Planner Algorithm for Urban Air Mobility Initial Performance Characterization

In this paper, an initial characterization was performed of the Mission Planner algorithm developed by NASA for Urban Air Mobility (UAM) operations research. The algorithm plans conflict-free trajectories for flights to support a given set of UAM passenger trips. The UAM trips are planned in an on-demand, first-come, first-served manner, such that any given trip is subject to the constraints imposed by previously planned trips. For this analysis, the mission planning algorithm considered only the trajectory constraints from previously-planned trips in one test condition and added vertiport constraints for the second test condition. The conflict and constraint resolution strategies used by the Mission Planner were characterized by their percentage contribution to planning iterations, their percentage effectiveness in those iterations, and their contributions to the departure delay applied to each UAM trips flight. With the exception of the climb and descent vertical speed strategies, most strategies showed reasonable or good performance in all test scenarios. In the test condition with vertipad constraints enabled, both the total number of iterations executed, and the number of flights that required planning iterations, was reduced for all scenarios. This was the result of the natural conditioning of the traffic achieved with scheduling and the additional information available to the Mission Planner from the vertiport scheduler. The next steps for this work will include improvements to the mission planning strategies and analyses with additional constraints and under other demand scenarios

Stratway: A Modular Approach to Strategic Conflict Resolution

In this paper we introduce Stratway, a modular approach to finding long-term strategic resolutions to conflicts between aircraft. The modular approach provides both advantages and disadvantages. Our primary concern is to investigate the implications on the verification of safety-critical properties of a strategic resolution algorithm. By partitioning the problem into verifiable modules much stronger verification claims can be established. Since strategic resolution involves searching for solutions over an enormous state space, Stratway, like most similar algorithms, searches these spaces by applying heuristics, which present especially difficult verification challenges. An advantage of a modular approach is that it makes a clear distinction between the resolution function and the trajectory generation function. This allows the resolution computation to be independent of any particular vehicle. The Stratway algorithm was developed in both Java and C++ and is available through a open source license. Additionally there is a visualization application that is helpful when analyzing and quickly creating conflict scenarios

A study of workstation computational performance for real-time flight simulation

With recent advances in microprocessor technology, some have suggested that modern workstations provide enough computational power to properly operate a real-time simulation. This paper presents the results of a computational benchmark, based on actual real-time flight simulation code used at Langley Research Center, which was executed on various workstation-class machines. The benchmark was executed on different machines from several companies including: CONVEX Computer Corporation, Cray Research, Digital Equipment Corporation, Hewlett-Packard, Intel, International Business Machines, Silicon Graphics, and Sun Microsystems. The machines are compared by their execution speed, computational accuracy, and porting effort. The results of this study show that the raw computational power needed for real-time simulation is now offered by workstations

A Mathematical Analysis of Air Traffic Priority Rules

This paper analyzes priority rules, such as those in Part 91.113 of the Federal Aviation Regulations. Such rules determine which of two aircraft should maneuver in a given conflict scenario. While the rules in 91.113 are well accepted, other concepts of operation for NextGen, such as self separation, may allow for different priority rules. A mathematical framework is presented that can be used to analyze a general set of priority rules and enables proofs of important properties. Specific properties considered in this paper include safety, effectiveness, and stability. A set of rules is said to be safe if it ensures that it is never the case that both aircraft have priority. They are effective if exactly one aircraft has priority in every situation. Finally, a set of rules is called stable if it produces compatible results even under small changes to input data

The Chorus Conflict and Loss of Separation Resolution Algorithms

The Chorus software is designed to investigate near-term, tactical conflict and loss of separation detection and resolution concepts for air traffic management. This software is currently being used in two different problem domains: en-route self- separation and sense and avoid for unmanned aircraft systems. This paper describes the core resolution algorithms that are part of Chorus. The combination of several features of the Chorus program distinguish this software from other approaches to conflict and loss of separation resolution. First, the program stores a history of state information over time which enables it to handle communication dropouts and take advantage of previous input data. Second, the underlying conflict algorithms find resolutions that solve the most urgent conflict, but also seek to prevent secondary conflicts with the other aircraft. Third, if the program is run on multiple aircraft, and the two aircraft maneuver at the same time, the result will be implicitly co-ordinated. This implicit coordination property is established by ensuring that a resolution produced by Chorus will comply with a mathematically-defined criteria whose correctness has been formally verified. Fourth, the program produces both instantaneous solutions and kinematic solutions, which are based on simple accel- eration models. Finally, the program provides resolutions for recovery from loss of separation. Different versions of this software are implemented as Java and C++ software programs, respectively

The Stratway Program for Strategic Conflict Resolution: User's Guide

Stratway is a strategic conflict detection and resolution program. It provides both intent-based conflict detection and conflict resolution for a single ownship in the presence of multiple traffic aircraft and weather cells defined by moving polygons. It relies on a set of heuristic search strategies to solve conflicts. These strategies are user configurable through multiple parameters. The program can be called from other programs through an application program interface (API) and can also be executed from a command line

Considerations of Unmanned Aircraft Classification for Civil Airworthiness Standards

The use of unmanned aircraft in the National Airspace System (NAS) has been characterized as the next great step forward in the evolution of civil aviation. Although use of unmanned aircraft systems (UAS) in military and public service operations is proliferating, civil use of UAS remains limited in the United States today. This report focuses on one particular regulatory challenge: classifying UAS to assign airworthiness standards. Classification is useful for ensuring that meaningful differences in design are accommodated by certification to different standards, and that aircraft with similar risk profiles are held to similar standards. This paper provides observations related to how the current regulations for classifying manned aircraft, based on dimensions of aircraft class and operational aircraft categories, could apply to UAS. This report finds that existing aircraft classes are well aligned with the types of UAS that currently exist; however, the operational categories are more difficult to align to proposed UAS use in the NAS. Specifically, the factors used to group manned aircraft into similar risk profiles do not necessarily capture all relevant UAS risks. UAS classification is investigated through gathering approaches to classification from a broad spectrum of organizations, and then identifying and evaluating the classification factors from these approaches. This initial investigation concludes that factors in addition to those currently used today to group manned aircraft for the purpose of assigning airworthiness standards will be needed to adequately capture risks associated with UAS and their operations

A Mathematical Basis for the Safety Analysis of Conflict Prevention Algorithms

In air traffic management systems, a conflict prevention system examines the traffic and provides ranges of guidance maneuvers that avoid conflicts. This guidance takes the form of ranges of track angles, vertical speeds, or ground speeds. These ranges may be assembled into prevention bands: maneuvers that should not be taken. Unlike conflict resolution systems, which presume that the aircraft already has a conflict, conflict prevention systems show conflicts for all maneuvers. Without conflict prevention information, a pilot might perform a maneuver that causes a near-term conflict. Because near-term conflicts can lead to safety concerns, strong verification of correct operation is required. This paper presents a mathematical framework to analyze the correctness of algorithms that produce conflict prevention information. This paper examines multiple mathematical approaches: iterative, vector algebraic, and trigonometric. The correctness theories are structured first to analyze conflict prevention information for all aircraft. Next, these theories are augmented to consider aircraft which will create a conflict within a given lookahead time. Certain key functions for a candidate algorithm, which satisfy this mathematical basis are presented; however, the proof that a full algorithm using these functions completely satisfies the definition of safety is not provided

An Efficient Universal Trajectory Language

The Efficient Universal Trajectory Language (EUTL) is a language for specifying and representing trajectories for Air Traffic Management (ATM) concepts such as Trajectory-Based Operations (TBO). In these concepts, the communication of a trajectory between an aircraft and ground automation is fundamental. Historically, this trajectory exchange has not been done, leading to trajectory definitions that have been centered around particular application domains and, therefore, are not well suited for TBO applications. The EUTL trajectory language has been defined in the Prototype Verification System (PVS) formal specification language, which provides an operational semantics for the EUTL language. The hope is that EUTL will provide a foundation for mathematically verified algorithms that manipulate trajectories. Additionally, the EUTL language provides well-defined methods to unambiguously determine position and velocity information between the reported trajectory points. In this paper, we present the EUTL trajectory language in mathematical detail

The Search for Effective Algorithms for Recovery from Loss of Separation

Our previous work presented an approach for developing high confidence algorithms for recovering aircraft from loss of separation situations. The correctness theorems for the algorithms relied on several key assumptions, namely that state data for all local aircraft is perfectly known, that resolution maneuvers can be achieved instantaneously, and that all aircraft compute resolutions using exactly the same data. Experiments showed that these assumptions were adequate in cases where the aircraft are far away from losing separation, but are insufficient when the aircraft have already lost separation. This paper describes the results of this experimentation and proposes a new criteria specification for loss of separation recovery that preserves the formal safety properties of the previous criteria while overcoming some key limitations. Candidate algorithms that satisfy the new criteria are presented