Sensor and Tracker Requirements Development for Sense and Avoid Systems for Unmanned Aerial Vehicles
Sensor and Tracker Requirements Development for Sense and Avoid Systems for Unmanned Aerial Vehicles
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DOI：
10.2514/6.2013-4971
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发表时间：
2013-08
期刊：
影响因子：
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通讯作者：
J. Boskovic;Joseph A. Jackson;R. Mehra
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文献类型：
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作者：
J. Boskovic;Joseph A. Jackson;R. Mehra
无人机感知与避免(SAA)系统是反馈控制回路中相互作用模块的复杂集合。由于系统的复杂性，相关需求的开发带来了强大的技术挑战。典型的SAA系统模块包括传感器和相关跟踪器、量测到航迹关联和预测模块，以及决策和规避机动生成子系统。顶层系统性能指标通常用避免近中空碰撞概率(NMAC)来表示。在这方面的一个重要问题是如何将这一要求传递给其他SAA子系统和部件，包括无人机的最低机动性要求。在这篇文章中，我们通过几个简单的例子，展示了如何根据计算机模拟研究，结合最坏情况分析和穷举蒙特卡罗搜索，得出传感器和跟踪器的要求。
Sense and Avoid (SAA) systems for Unmanned Aerial Vehicles (UAV) represent a complex collection of interacting modules within a feedback control loop. Due to the system complexity, the development of associated requirements poses a strong technical challenge. Typical SAA systemmodules include sensors and associated trackers, measurement-to-track association and prediction modules, and decision making and avoidance maneuver generation subsystems. Top level system performance metrics is commonly expressed in terms of probability of avoidance of Near Mid Air Collisions (NMAC). An important question in this context is as to how to flow down this requirement to other SAA subsystems and components, including the minimum maneuverability requirements for the UAV. In this paper we show through several simplified examples how the sensor and tracker requirements can be derived based on computer simulation studies combining worst-case analysis with exhaustive Monte-Carlo search.