UAS Control From a Moving Platform - A Preliminary Simulator Study
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1 UAS Control From a Moving Platform - A Preliminary Simulator Study Lt Col Wes Olson, Cadet Elizabeth DeLauer & Cadet Cory Fale United States Air Force Academy
2 Background As UAS operations continue to expand, operational needs may dictate airborne control of UASs Dec 2003 Navy demo of Fire Scout controlled from P3C AIP Several other possible platforms possible C-130 variants, JSF? Will control platform motion affect UAS control?
3 Spatial Disorientation (Self, Ercoline, Olson, Tvaryanas; 2006) Spatial Disorientation (SD) Definition: A failure to sense correctly the attitude, motion and/or position of the aircraft with respect to the surface of the earth (Benson 1999) Even though the UAS operator is not located in the vehicle, he or she can still experience spatial disorientation - Control interference may be initial manifestation of insipient spatial disorientation Example : Mishap pilot (MP) was conducting a night visual approach and landing. Thinking he was on the runway, MP released back pressure on the control stick while still 12 feet above the runway. The MUAV touched down nose gear first.
4 Spatial Disorientation Model (Self, Ercoline, Olson, Tvaryanas; 2006) Operator Platform (OP) SD Mobile (OP M) Stationary (OP-S) Visual Reference (VR) Fully Autonomous (CM-FA) Exocentric (VR-EX) Supervisory Control (CM-SC) External View (VR-EV) Egocentric (VR-EG) Manual Control (CM-MC) Control Method (CM)
5 Previous Research Reed (1977) Cue Conflicts in controlling RPVs from a moving platform Motion limited to simulated turbulence Results Platform motion not easily ignored Incompatible motions interfered with control More errors, longer response times Previous flight experience did not mitigate these effects Need for motion simulation in training
6 Study Goal Preliminary exploration of the effects of control platform motion on vehicle control Hypotheses Presence of both visual and motion cues would exacerbate observed difficulties Motion incompatible with UAS flight path will be most disruptive
7 Design Subjects - 10 military pilots on Faculty/Staff at USAFA Averaged over 10 years of flight experience across a variety of platforms Tasks Simulated UAS flight task (Microsoft Flight Simulator 2004) Vertical Task = constant 1,000 fpm rate climb and descent; constant heading Turning Task = constant 30 o bank angle turn to right and left; constant altitude
8 Apparatus - Simulator Simulator General Aviation Trainer (GAT II) Front Panel visual Motion in roll, pitch, yaw Simulator motion was controlled by experimenter
9 Apparatus UAS Task UAS Task Microsoft Flight Simulator 2004 Displayed on Dell Latitude laptop 17 display screen Aero model = Mooney Bravo Joystick for UAS control FSUIPC Data program (2Hz) VVI, Altitude, Heading, Bank
10 Task
11 Design Independent Variables (all within subjects) Platform motion 3 levels Baseline (no motion/no visual) Motion only (no visual) Visual + Motion Direction of motion 3 levels Compatible Motion of simulator in same direction as UAS flight task Incompatible - Motion of simulator opposite to UAS flight task E.g., simulator descending in vertical climb task Neutral Simulator motion in different plane of motion E.g., simulator turning during vertical task; climbing or descending during turning task Dependent Measures Vertical Task - VVI error, Heading error Turning Task Altitude error, Bank angle error
12 Procedure 10 min Practice Experimental Trials 1 7 Pseudo-Randomized Baseline (no motion/visual) Vertical Task Horizontal Task Motion Only - compatible Vertical Task Horizontal Task Motion Only - incompatible Vertical Task Horizontal Task Visual + Motion - Compatible Vertical Task Horizontal Task Motion Only - Neutral Vertical Task Horizontal Task Visual + Motion - Incompatible Vertical Task Horizontal Task Visual + Motion - Neutral Vertical Task Horizontal Task
13 Results Repeated Measures ANOVA on control error measures Vertical Error Measures (Altitude, Vertical Velocity) showed significant and marginally significant effects Platform Motion Baseline < Motion Only < Visual + Motion Direction of Motion Compatible < Incompatible < Neutral Bank Angle Error also affected Platform motion Motion only < Baseline, Visual + Motion Will discuss by task Vertical Task VVI error and Heading Error Turning Task Bank Angle Error and Altitude Error
14 Subj# (All) Task (All) Vertical Task 1,000 fpm climb and descent VVI - MSE Average of Performance Measurement Baseline MC MI MN VMC VMI VMN Main Effect p =.137 Condition VMN > All except MN VMI > VMC Platform M= Motion V = Vis + Motion Motion C = Compatible I = Incompatible N = Neutral
15 Subj# (All) Task (All) Vertical Task 1,000 fpm climb and descent Heading - MSE 25 Average of Performance Measurement Baseline MC MI MN VMC VMI VMN Main Effect p =.443 Condition Platform M= Motion V = Vis + Motion Motion C = Compatible I = Incompatible N = Neutral
16 Subj# (All) Task (All) Turning Task 30 o bank turn BANK - MSE 200 Average of Performance Measurement Baseline MC MI MN VMC VMI VMN Main Effect p =.031 Condition Baseline > MC, MN MC < all but MN VMC > MN, MC VMN > all but MI Platform M= Motion V = Vis + Motion Motion C = Compatible I = Incompatible N = Neutral
17 Subj# (All) Task (All) Turning Task 30 o bank turn ALT - MSE 9000 Average of Performance Measurement Baseline MC MI MN VMC VMI VMN Main Effect p =.008 Condition VMN > all but VMC, VMN VMC > MC, Baseline MN> MI, Baseline Platform M= Motion V = Vis + Motion Motion C = Compatible I = Incompatible N = Neutral
18 Discussion Control platform motion type and direction does affect UAS manual control Pitch axis control degraded, especially when platform motion is in a different plane of motion from UAS control task Pitch axis autopilot may mitigate some effects Motion in different plane most disruptive Trend towards visual + motion resulting in most control interference Further study necessary will take into a C-150 in Fall 06 Larger sample size Turbulence? Other UAS tasks
19 ???????? Lt Col Wes Olson (719) DSN
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FSFlyingSchool for X-Plane 10 Manual Web: www.fsflyingschool.com Support: [www.fsflyingschool.com/forum] Forum: [www.fsflyingschool.com/forum] Sales: [[email protected]] Published: February 01 2012