Merkzettel Warenkorb
Produktbild: Sense and Avoid in UAS

Sense and Avoid in UAS Research and Applications

Aus der Reihe Aerospace Series (PEP)

165,99 €

inkl. gesetzl. MwSt., Versandkostenfrei

Lieferung nach Hause

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

19.04.2012

Herausgeber

Plamen Angelov

Verlag

John Wiley & Sons

Seitenzahl

380

Maße (L/B/H)

25,1/17,4/2,2 cm

Gewicht

712 g

Auflage

2. Auflage

Sprache

Englisch

ISBN

978-0-470-97975-4

Beschreibung

Rezension

"This book is a good introductory book for anyone interested in unmanned aerial systems and presents in a very comprehensive manner the challenges associated with the basic task of sense and avoid." ( T he A eronautical J ournal , 1 January 2014)

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

19.04.2012

Herausgeber

Plamen Angelov

Verlag

John Wiley & Sons

Seitenzahl

380

Maße (L/B/H)

25,1/17,4/2,2 cm

Gewicht

712 g

Auflage

2. Auflage

Sprache

Englisch

ISBN

978-0-470-97975-4

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: [email protected]

Kundinnen und Kunden meinen

0 Bewertungen

Informationen zu Bewertungen

Zur Abgabe einer Bewertung ist eine Anmeldung im Konto notwendig. Die Authentizität der Bewertungen wird von uns nicht überprüft. Wir behalten uns vor, Bewertungstexte, die unseren Richtlinien widersprechen, entsprechend zu kürzen oder zu löschen.

Die Bewertungen sind nach Format, Anzahl Sterne und Datum sortiert.

Verfassen Sie die erste Bewertung zu diesem Artikel

Helfen Sie anderen Kund*innen durch Ihre Meinung

Kundinnen und Kunden meinen

0 Bewertungen filtern
Die Leseprobe wird geladen.
  • Produktbild: Sense and Avoid in UAS
  • Preface xv

    About the Editor xix

    About the Contributors xxi

    Part I Introduction

    1 Introduction 3

    George Limnaios, Nikos Tsourveloudis and Kimon P. Valavanis

    1.1 UAV versus UAS 3

    1.2 Historical Perspective on Unmanned Aerial Vehicles 5

    1.3 UAV Classification 9

    1.4 UAV Applications 14

    1.5 UAS Market Overview 17

    1.6 UAS Future Challenges 20

    1.7 Fault Tolerance for UAS 26

    References 31

    2 Performance Tradeoffs and the Development of Standards 35

    Andrew Zeitlin

    2.1 Scope of Sense and Avoid 35

    2.2 System Configurations 36

    2.3 S&A Services and Sub-functions 38

    2.4 Sensor Capabilities 39

    2.4.1 Airborne Sensing 39

    2.4.2 Ground-Based Sensing 41

    2.4.3 Sensor Parameters 41

    2.5 Tracking and Trajectory Prediction 42

    2.6 Threat Declaration and Resolution Decisions 43

    2.6.1 Collision Avoidance 43

    2.6.2 Self-separation 45

    2.6.3 Human Decision versus Algorithm 45

    2.7 Sense and Avoid Timeline 46

    2.8 Safety Assessment 48

    2.9 Modeling and Simulation 49

    2.10 Human Factors 50

    2.11 Standards Process 51

    2.11.1 Description 51

    2.11.2 Operational and Functional Requirements 52

    2.11.3 Architecture 52

    2.11.4 Safety, Performance, and Interoperability Assessments 52

    2.11.5 Performance Requirements 52

    2.11.6 Validation 53

    2.12 Conclusion 54

    References 54

    3 Integration of SAA Capabilities into a UAS Distributed

    Architecture for Civil Applications 55

    Pablo Royo, Eduard Santamaria, Juan Manuel Lema, Enric Pastor and Cristina Barrado

    3.1 Introduction 55

    3.2 System Overview 57

    3.2.1 Distributed System Architecture 58

    3.3 USAL Concept and Structure 59

    3.4 Flight and Mission Services 61

    3.4.1 Air Segment 61

    3.4.2 Ground Segment 65

    3.5 Awareness Category at USAL Architecture 68

    3.5.1 Preflight Operational Procedures: Flight Dispatcher 70

    3.5.2 USAL SAA on Airfield Operations 72

    3.5.3 Awareness Category during UAS Mission 75

    3.6 Conclusions 82

    Acknowledgments 82

    References 82

    Part II Regulatory Issues and Human Factors

    4 Regulations and Requirements 87

    Xavier Prats, Jorge Ramirez, Luis Delgado and Pablo Royo

    4.1 Background Information 88

    4.1.1 Flight Rules 90

    4.1.2 Airspace Classes 91

    4.1.3 Types of UAS and their Missions 93

    4.1.4 Safety Levels 96

    4.2 Existing Regulations and Standards 97

    4.2.1 Current Certification Mechanisms for UAS 99

    4.2.2 Standardization Bodies and Safety Agencies 102

    4.3 Sense and Avoid Requirements 103

    4.3.1 General Sense Requirements 103

    4.3.2 General Avoidance Requirements 106

    4.3.3 Possible SAA Requirements as a Function of the Airspace Class 108

    4.3.4 Possible SAA Requirements as a Function of the Flight Altitude

    and Visibility Conditions 109

    4.3.5 Possible SAA Requirements as a Function of the Type of Communications Relay 110

    4.3.6 Possible SAA Requirements as a Function of the Automation Level of the UAS 111

    4.4 Human Factors and Situational Awareness Considerations 112

    4.5 Conclusions 113

    Acknowledgments 114

    References 115

    5 Human Factors in UAV 119

    Marie Cahillane, Chris Baber and Caroline Morin

    5.1 Introduction 119

    5.2 Teleoperation of UAVs 122

    5.3 Control of Multiple Unmanned Vehicles 123

    5.4 Task-Switching 124

    5.5 Multimodal Interaction with Unmanned Vehicles 127

    5.6 Adaptive Automation 128

    5.7 Automation and Multitasking 129

    5.8 Individual Differences 131

    5.8.1 Attentional Control and Automation 131

    5.8.2 Spatial Ability 134

    5.8.3 Sense of Direction 135

    5.8.4 Video Games Experience 135

    5.9 Conclusions 136

    References 137

    Part III SAA Methodologies

    6 Sense and Avoid Concepts: Vehicle-Based SAA Systems (Vehicle-to-Vehicle) 145

    Stepan Kopriva, David Sislak and Michal Pechoucek

    6.1 Introduction 145

    6.2 Conflict Detection and Resolution Principles 146

    6.2.1 Sensing 146

    6.2.2 Trajectory Prediction 147

    6.2.3 Conflict Detection 148

    6.2.4 Conflict Resolution 149

    6.2.5 Evasion Maneuvers 150

    6.3 Categorization of Conflict Detection and Resolution Approaches 150

    6.3.1 Taxonomy 150

    6.3.2 Rule-Based Methods 151

    6.3.3 Game Theory Methods 152

    6.3.4 Field Methods 153

    6.3.5 Geometric Methods 154

    6.3.6 Numerical Optimization Approaches 156

    6.3.7 Combined Methods 158

    6.3.8 Multi-agent Methods 160

    6.3.9 Other Methods 163

    Acknowledgments 166

    References 166

    7 UAS Conflict Detection and Resolution Using Differential Geometry Concepts 175

    Hyo-Sang Shin, Antonios Tsourdos and Brian White

    7.1 Introduction 175

    7.2 Differential Geometry Kinematics 177

    7.3 Conflict Detection 178

    7.3.1 Collision Kinematics 178

    7.3.2 Collision Detection 180

    7.4 Conflict Resolution: Approach I 182

    7.4.1 Collision Kinematics 183

    7.4.2 Resolution Guidance 186

    7.4.3 Analysis and Extension 188

    7.5 Conflict Resolution: Approach II 191

    7.5.1 Resolution Kinematics and Analysis 192

    7.5.2 Resolution Guidance 193

    7.6 CD&R Simulation 195

    7.6.1 Simulation Results: Approach I 195

    7.6.2 Simulation Results: Approach II 199

    7.7 Conclusions 200

    References 203

    8 Aircraft Separation Management Using Common Information Network SAA 205

    Richard Baumeister and Graham Spence

    8.1 Introduction 205

    8.2 CIN Sense and Avoid Requirements 208

    8.3 Automated Separation Management on a CIN 212

    8.3.1 Elements of Automated Aircraft Separation 212

    8.3.2 Grid-Based Separation Automation 214

    8.3.3 Genetic-Based Separation Automation 214

    8.3.4 Emerging Systems-Based Separation Automation 216

    8.4 Smart Skies Implementation 217

    8.4.1 Smart Skies Background 217

    8.4.2 Flight Test Assets 217

    8.4.3 Communication Architecture 219

    8.4.4 Messaging System 221

    8.4.5 Automated Separation Implementation 223

    8.4.6 Smart Skies Implementation Summary 223

    8.5 Example SAA on a CIN - Flight Test Results 224

    8.6 Summary and Future Developments 229

    Acknowledgments 231

    References 231

    Part IV SAA Applications

    9 AgentFly: Scalable, High-Fidelity Framework for Simulation, Planning and Collision Avoidance of Multiple UAVs 235

    David Sislak, Premysl Volf, Stepan Kopriva and Michal Pechoucek

    9.1 Agent-Based Architecture 236

    9.1.1 UAV Agents 237

    9.1.2 Environment Simulation Agents 237

    9.1.3 Visio Agents 238

    9.2 Airplane Control Concept 238

    9.3 Flight Trajectory Planner 241

    9.4 Collision Avoidance 245

    9.4.1 Multi-layer Collision Avoidance Architecture 246

    9.4.2 Cooperative Collision Avoidance 247

    9.4.3 Non-cooperative Collision Avoidance 250

    9.5 Team Coordination 252

    9.6 Scalable Simulation 256

    9.7 Deployment to Fixed-Wing UAV 260

    Acknowledgments 263

    References 263

    10 See and Avoid Using Onboard Computer Vision 265

    John Lai, Jason J. Ford, Luis Mejias, Peter O'Shea and Rod Walker

    10.1 Introduction 265

    10.1.1 Background 265

    10.1.2 Outline of the SAA Problem 265

    10.2 State-of-the-Art 266

    10.3 Visual-EO Airborne Collision Detection 268

    10.3.1 Image Capture 268

    10.3.2 Camera Model 269

    10.4 Image Stabilization 269

    10.4.1 Image Jitter 269

    10.4.2 Jitter Compensation Techniques 270

    10.5 Detection and Tracking 272

    10.5.1 Two-Stage Detection Approach 272

    10.5.2 Target Tracking 278

    10.6 Target Dynamics and Avoidance Control 278

    10.6.1 Estimation of Target Bearing 278

    10.6.2 Bearing-Based Avoidance Control 279

    10.7 Hardware Technology and Platform Integration 281

    10.7.1 Target/Intruder Platforms 281

    10.7.2 Camera Platforms 282

    10.7.3 Sensor Pod 286

    10.7.4 Real-Time Image Processing 288

    10.8 Flight Testing 289

    10.8.1 Test Phase Results 290

    10.9 Future Work 290

    10.10 Conclusions 291

    Acknowledgements 291

    References 291

    11 The Use of Low-Cost Mobile Radar Systems for Small UAS Sense and Avoid 295

    Michael Wilson

    11.1 Introduction 295

    11.2 The UAS Operating Environment 297

    11.2.1 Why Use a UAS? 297

    11.2.2 Airspace and Radio Carriage 297

    11.2.3 See-and-Avoid 297

    11.2.4 Midair Collisions 298

    11.2.5 Summary 299

    11.3 Sense and Avoid and Collision Avoidance 300

    11.3.1 A Layered Approach to Avoiding Collisions 300

    11.3.2 SAA Technologies 300

    11.3.3 The UA Operating Volume 303

    11.3.4 Situation Awareness 304

    11.3.5 Summary 304

    11.4 Case Study: The Smart Skies Project 305

    11.4.1 Introduction 305

    11.4.2 Smart Skies Architecture 305

    11.4.3 The Mobile Aircraft Tracking System 307

    11.4.4 The Airborne Systems Laboratory 310

    11.4.5 The Flamingo UAS 311

    11.4.6 Automated Dynamic Airspace Controller 311

    11.4.7 Summary 312

    11.5 Case Study: Flight Test Results 312

    11.5.1 Radar Characterisation Experiments 312

    11.5.2 Sense and Avoid Experiments 319

    11.5.3 Automated Sense and Avoid 324

    11.5.4 Dynamic Sense and Avoid Experiments 326

    11.5.5 Tracking a Variety of Aircraft 326

    11.5.6 Weather Monitoring 331

    11.5.7 The Future 332

    11.6 Conclusion 333

    Acknowledgements 333

    References 334

    Epilogue 337

    Index 339