Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden...

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Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 [email protected]

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Page 1: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test

Keith SchweikhardNASA Dryden Flight Research [email protected]

Page 2: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Program Objective

To make one demonstration fully automatic engagement (probe plugging the drogue) between the F-18 and the Omega Air B707 tanker using the Autonomous Airborne Refueling System.

Page 3: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Technical Background

➢ High Risk Technology➢ Technology Demonstration not Development Program➢ Low Cost➢ Compressed Development Schedule➢ Reduced number of test conditions➢ Reduced redundancy/ error correction in the system.

Page 4: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Project Timeline

➢ March 05 Proposal Kickoff Meeting @ DFRC➢ 05-05-05 DARPA Kickoff Meeting➢ 05-18-05 Technical Kickoff Meeting➢ 07-12-05 System Requirements Review➢ 08-30-05 Preliminary Design Review➢ 10-19-05 Critical Design Review➢ 10-24-06 Risk Reduction Flight➢ 03-02-06 Hardware Arrives at Dryden➢ 04-04-06 Flight Readiness Review➢ 05-18-06 Airworthiness and Flight Safety Review Board➢ 06-12-06 Tech Brief (Surrogate Tanker)➢ 06-16-06 through 06-29-06 Surrogate Tanker Flights➢ 07-06-06 Tech Brief (Omega Tanker)➢ 07-11-06 through 08-30-06 Omega Tanker Flights➢ 08-30-06 Project Completion

Page 5: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

System Architecture

Data Link

Pitch StickRoll StickDelta Throttle

Rudder = 0

Command/StatusInformation

Push Button Display

Tanker Pallet

Production Support Flight Control Computers

Receiver System

Video Input

Page 6: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Refueling Geometry

20'

100'

TrailPosition

Closure

HoldPosition

Precontact1&2

Position

Capt

Page 7: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

AARD Modes and States

Precont1

Precont2

Trail

Closure

Capture

Hold

Unplug

Retreat

Miss

Init

Standby

Ready

Relative GPS

Relative GPS + Tracker

Page 8: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Accuracy Design Targets

➢ Station Keeping Mode.➔ ±6.5' longitudinal position➔ ±6.5' vertical position➔ ±10' lateral position

➢ Capture Mode ➔ System must be able to reliably guide/control receiver aircraft

within ±11” of desired location, in the conditions intended for demonstration, 95% of the time

➔ Requirement driven by basket dimensions: 32” outside diameter➔ Project pilot estimates plug success rate at 95% if the probe is

positioned inside 4” from outside edge of drogue

Page 9: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Guidance & Control Block Diagram

CoordinateTransformation

SensorPre-

processing(Spike

detection

andfiltering)

RFCS

From

NavigationProcessing

TankerAttitude/

Rates Refueling FrameComputations

Drogue Motion

Compensation (DMC)Computations

Average DrogueLocation

Computation

Guid ance

CommandsComputatio ns

Vertical

Controller

LateralController

LongitudinalController

Relative Pos/

Vel/Acc (NED)

Filtered

Attitude/RatesRe lative Position to Mean

Drogue Location

Probe Velo city/Acceleration relative

to nominal or mean drogue location(R efueling Frame)

Xc/Yc/Zc

DeltaThrottle

Command

Roll Stick

Command

Pitch StickCommand

Rudder Stick

Command (=zero)

Relative Position toNominal Drogue

(Refueling Frame)

Instantaneous

DroguePosition(NED)

CoordinateTransformation

+-

+

-FilteredAttitude/

Rates

T anker Filtered Attitude and Rates

Receiver Attitude and RatesTo Navigation

Processing

A PrioriGuidance

Trajectory

Vc

X/Y/ZDM C

X/Y/ZAG T

Page 10: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Omega Tanker Risk Reduction

➢ Approach to plug on left and right drogues using the cockpit and pylon camera

➢ Tanker pitch/ roll/ yaw maneuvers

➢ Varying approach rates/ trajectories

➢ Survey of capture and miss locations on the drogue

➢ Varying plug attempts at different diameters from the center of the drogue

Page 11: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Surrogate Tanker Flights Surrogate tanker was used to increase test efficiency

➔ Lower cost per hour to fly➔ Easier to schedule.

Tested engage/ disengage/ reversion modes.

Commanded Autonomous modes through Precontact 1

Gathered system performance data using sine and step inputs

Gathered system performance data for a variety of gains

Tracked Surrogate tanker through a turn in Trail and Precontact 1

Page 12: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Longitudinal Axis Results

Page 13: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Lateral Axis Results

Page 14: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Vertical Axis Results

Page 15: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Omega Tanker Flights

Tested engage/ disengage/ reversion modes.

Commanded mode transitions through unplug

Gathered/ tuned the video tracking algorithm.

Page 16: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Video Tracker Performance

QuickTime™ and aYUV420 codec decompressor

are needed to see this picture.

Page 17: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

First Plug Attempt

QuickTime™ and aYUV420 codec decompressor

are needed to see this picture.

Page 18: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Second Plug Attempt

QuickTime™ and aYUV420 codec decompressor

are needed to see this picture.

Page 19: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Success

QuickTime™ and aYUV420 codec decompressor

are needed to see this picture.

Page 20: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Control Position Comparison

Page 21: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Where Do we go from here

➢ Follow on activity planned for Oct 06 through Apr 07➢ Added Objectives for the follow on activity

➔ Optimal tuning of controller and Drogue Motion Compensation to improve performance and robustness of the system in the capture phase

➔ Expand the envelope to include plugs and unplugs in steady turns➔ Receiver autonomous rendezvous with the tanker from up to 2nm

and ±60° off tanker heading➔ Improve robustness of the video tracker system in the area of

drogue recognition, expanded search and acquisition

Page 22: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Summary

➢ Designed, developed and successfully tested a prototype system to autonomously perform probe to drogue refueling.

➢ Demonstrated autonomous station keeping behind the tanker in both level flight as well as through a 20° banked turn.

➢ Demonstrated acquisition and tracking capability of the video tracking subsystem.

Page 23: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

Questions?

Page 24: Results of NASA/DARPA Automatic Probe and Drogue Refueling Flight Test Keith Schweikhard NASA Dryden Flight Research Center 661-276-3411 keith.a.schweikhard@nasa.gov.

System Architecture

NASAInstrumentation

System(AIMS)

InputSignal

Management

ControlLaws

OutputSignal

SelectedFader logic

ActuatorSignal

Management

DisengageLogic

ReplicationCLAW

Executive

Dual Port Ram

A/D

D/A

DiscreteInput

1553I/O

SurfaceActuatorAnalog

Interface

Flight Control Computers

PushButtonDisplay

PilotLightPanel

InstrumentationHandler

Operating System

Executive Process

DisplayHandler

AARDHandlerEthernet

I/O

1553Input

1553Output

RS 422I/O

DiscreteOutput

Pilot Vehicle Interface

Operating System

NavProcesses

DataLink

Processes

D/A

EthernetI/O

AARD Controller

GPSAnt

DataLinkAnt

Camera(2)

AnalogInputs

ControlPositions

SLIC

Bus 1

DataRecorderIMU

CockpitAnalogInputs

Operating System

NavProcesses

VideoProcesses

DataLink

Processes

PVIProcesses

GNCProcesses

SimulationInterfaceProcesses

DataRecorder

IMU

DataLinkAnt

GPSAnt

Tanker Pallet

AnalogMultiplex

Card


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