J-UCAS Multi-ship Coordinated Flight Testing at Edwards - Acgsc.org
J-UCAS Multi-ship Coordinated Flight Testing at Edwards - Acgsc.org
J-UCAS Multi-ship Coordinated Flight Testing at Edwards - Acgsc.org
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J-<strong>UCAS</strong> <strong>Multi</strong>-<strong>ship</strong><strong>Coordin<strong>at</strong>ed</strong> <strong>Flight</strong><strong>Testing</strong> <strong>at</strong><strong>Edwards</strong>Kevin A. Wise, Ph.D.Senior Technical FellowJ-<strong>UCAS</strong> X-45 XProgramBoeing is a trademark of Boeing Management Company.Copyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.01
Outline Program Overview–X-45A , X-45CX <strong>Multi</strong><strong>ship</strong> Form<strong>at</strong>ion Control Videos–Block Block 1-2-31–Gradu<strong>at</strong>ion Gradu<strong>at</strong>ion Demo–VignetteVignetteCopyright © 2004 Boeing. All rights reserved.
J-<strong>UCAS</strong> X-45 XMissionsEAISRPD SEADStrikeCopyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.06
X-45A System Upd<strong>at</strong>e X-45A First <strong>Flight</strong> – May 02 Block 1 Complete – Feb 03 Block 2 Complete – Aug 04 Guided Weapon Release & First <strong>Multi</strong>-Ship <strong>Flight</strong> First X-45C Engine Delivery – Nov 04 Block 3 Complete – Feb 05 3-D/4-D <strong>Multi</strong>-Ship Demos (Nov 04) SATCOM Handoff to SEA MCS (Dec 04) FAO-AOR Handoff (Jan 05) Peacekeeper Mission Demo (Feb 05) Spiral 0 Complete – Aug 05 PD SEAD Gradu<strong>at</strong>ion Demo (Aug 05)X-45A <strong>Flight</strong> Summary• 64 <strong>Flight</strong>s• 63 <strong>Flight</strong> hours• >120 T-33 T<strong>Flight</strong>sSSB Weapons Drop(April 2004)Copyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution Unlimited
Spiral 0 Demo End-St<strong>at</strong>ePD SEAD CONOPS<strong>Multi</strong>-Vehicle <strong>Coordin<strong>at</strong>ed</strong>/Distributed <strong>Flight</strong>Dynamic Retasking ReplanningWeapon Release• Fixed Geometry Taxi• Autonomous Ground Ops<strong>Multi</strong>-Vehicle Oper<strong>at</strong>ions– Inter-Vehicle Comm– Dynamic/Reactive Taxi– <strong>Coordin<strong>at</strong>ed</strong> <strong>Flight</strong>• Rendezvous• Tactical Form<strong>at</strong>ions• CAP/Loiter P<strong>at</strong>terns• Collision Avoidance– Contingency Management– Distributed Control– Dynamic Retasking/Replanning– Cooper<strong>at</strong>ive targetingEnd-toto-End Demonstr<strong>at</strong>ions– Single-<strong>ship</strong> Preemptive Destruction– Single-<strong>ship</strong> Reactive DestructionCopyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.9
J-<strong>UCAS</strong> X-45 XSystem Fe<strong>at</strong>uresFAOMCSAORMission Control St<strong>at</strong>ion Task Alloc<strong>at</strong>ion by Phase of Mission Dynamic Mission Planning andReplanning Single Oper<strong>at</strong>or Controls <strong>Multi</strong>pleVehicles Robust secure LOS, BLOS andintra-flight C2 Dynamic Distributed Control <strong>Multi</strong>ple Levels of Autonomy Uses The<strong>at</strong>er and N<strong>at</strong>ionalInform<strong>at</strong>ion SourcesAir Vehicle ~36,500 lb Gross Weight ~18,000 lb Empty Weight ~0.8 Mach / 40,000 ft altitude 1100-1300 nm comb<strong>at</strong> radius Current and advanced weapons Electronic Attack (EA) Payloads ESM and On-Board SAR Targeting Affordable Stealth to the Next LevelF-16F-117UCAV36 ft.Support System Supportable LO High Sortie Gener<strong>at</strong>ion R<strong>at</strong>es No Hydraulics Simul<strong>at</strong>ion Based Training Lean Logistics Integr<strong>at</strong>ed Vehicle HealthManagement (IVHM)49 ft.Copyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.10
Distributed Adaptive Control InterfacesExternal InterfacesInternal InterfacesLong Haul InterfacesSpace interfacesFriendly AreaOper<strong>at</strong>ionsGPSSpace Pl<strong>at</strong>formsISR Pl<strong>at</strong>formsIBSGBSSATCOMMaintenanceControlServicing/LoadingBase SupplyMCSOtherShootersCAOCArea of ResponsibilityCopyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.11
X-45C Air Vehicle Configur<strong>at</strong>ion4 ft33 ft49 ft39 ftGross Weight: 36,500 lbOp Empty Weight: 18,000 lbFuel Volume: 14,000 lbPayload Capability: 4,500 lbOper<strong>at</strong>ing Altitude: 40,000 ftCruise Mach: 0.8F404-GE-102D EngineAll numbers are approxim<strong>at</strong>eCopyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.12
Payload FlexibilityKeyQuantity1 – BRU 61 Bomb Rack 22 – GBU-31 JDAM 23 – GBU-32 JDAM 24 – GBU-38 JDAM 257565 – Internal Aux Fuel Tank 26 – Missionized Payload 17 – GBU-39 SDB 8-124321 1234Copyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.13
Next Phase HighlightsCooper<strong>at</strong>ive Manned / UCAV Oper<strong>at</strong>ionsDeploymentMission PlanningGround Oper<strong>at</strong>ionsCopyright © 2004 Boeing. All rights reserved.DeployedMCS X-45C Performance– <strong>Flight</strong> envelope/weapons drops– Survivability/affordability B<strong>at</strong>tlespace Interoperability– Safe oper<strong>at</strong>ion with manned aircraftduring ground and flight oper<strong>at</strong>ions– Use off-board targeting info <strong>Multi</strong>-Vehicle Oper<strong>at</strong>ions Supportability– Deployment/weapon loading/turn time– LO maintainability evalu<strong>at</strong>ion– Simul<strong>at</strong>ion based training– Integr<strong>at</strong>ed Vehicle Health Management(IVHM)PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.14
Autom<strong>at</strong>ed Aerial RefuelingProgram Description Autom<strong>at</strong>ed Aerial Refueling is a jointAFRL/ DARPA/Boeing program to developAAR capability for UCAVs <strong>Flight</strong> valid<strong>at</strong>e safe control in flow field ofmanned tanker Demo MCS oper<strong>at</strong>or/tanker/UCAV communic<strong>at</strong>ion,join-up to pre-contact position, connect, disconnect,post-AR procedures, emergency proceduresBenefits Enhances J-<strong>UCAS</strong> Jutility to the Warfighter Extends range and enables rapid global force projection Shortens response to Time Sensitive Targets (TST) –allows response from forward orbit Maintains in-the<strong>at</strong>er force projection/presence usingfewer assets (increased persistence) Enable J-<strong>UCAS</strong> Jdeployment and <strong>at</strong>tack with mannedaircraft without the need for forward staging areas(response to anti-access access str<strong>at</strong>egy)Copyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.15
PUBLIC RELEASEApproved for Public Release Case #4609 - Distribution Unlimited2005.05.1516WP Steering Along Mission Plan ProvidesAutonomous Mission Execution CapabilityLOC P<strong>at</strong>h May Coincidewith Nominal RoutePreviousWaypointGo To WPCmdNew MissionP<strong>at</strong>h LinkageNext+1Waypoint“New” Next+1 WaypointLvl 0 & 1 & 2 & 3WP Turn Radius Based on Speed,Acceler<strong>at</strong>ion Limits, and HeadingChangeCurrentWaypointChangeCM Level“New” Next WaypointLvl 0 & 1 & 2 & 3NextWaypoint Lvl 0 / 1NextWaypointLvl 3“New” CurrentWaypointNextWaypointLvl 2Cont. Levels0 = Nominal1 = LOC2 = RTB3 = EmergNext+1Waypoint Lvl 0 / 1• Immedi<strong>at</strong>e WP Transition onGo-to-WP Cmd• WP Transition Thru CurrentWP on Cont Lvl Change• Oper<strong>at</strong>or Must “Reset”Contingency Level to Returnto Nominal Mission P<strong>at</strong>h
PUBLIC RELEASEApproved for Public Release Case #4609 - Distribution Unlimited2005.05.1517Waypoint Guidance Turn GeometryTurn Termin<strong>at</strong>ionDR TTTurn Radius Based on VehicleAcceler<strong>at</strong>ion CapabilityDR TAYnom = 0.85*AYClim2VR inertialT = ( ft )AYnomR TDR Tψ TDistance from Waypoint to StartTurn Compute from Turn GeometryDRTurn Initi<strong>at</strong>ionDRT=RT* tanRearth( ψ) T2 ( rad )u Tcurr prevθu Tcurr prev− θDistance to Waypoint Computedfrom Radial & Tangential Vectors⎡ ⎢u⎣R⎛ − ⎜ u⎝• ucurrprev⎞ ⎟u⎠currprev90 = cos( θ) = sin( 90 − θ) ≅ DRRNN⎤ ⎥ • uT⎦currprev
PUBLIC RELEASEApproved for Public Release Case #4609 - Distribution Unlimited2005.05.1518X-45A Form<strong>at</strong>ion Control Approach• Virtual Lead Aircraft Propag<strong>at</strong>ing Along Mission Plan Provides CommonPosition & Velocity Reference for Each Aircraft• Virtual Lead Can Propag<strong>at</strong>e in 3D (Mission Plan Speed) or 4D (Time ofArrival Control) Mode• Vehicles Perform St<strong>at</strong>ion Keeping by Maintaining Unique Offsets Rel<strong>at</strong>ive toVirtual Lead• Crosstrack, Altitude and Downtrack Offsets Specified for Each AV• Offsets Can be Modified While in Form<strong>at</strong>ion• Vehicles Report St<strong>at</strong>e & Tracking Error Info Over Inter-vehicle Comm (IVC)Link to Ensure Safe Separ<strong>at</strong>ion• Vehicles Perform Speed Adjustments to Preserve Ellipsoidal SafeSepar<strong>at</strong>ion Boundary Around Each Vehicle• Prioritized Over St<strong>at</strong>ion KeepingApproach Requires Limited Set of IVC D<strong>at</strong>a. Supported by Existing CommAssets
PUBLIC RELEASEApproved for Public Release Case #4609 - Distribution Unlimited2005.05.15214Dnav2515 Route Employedfor <strong>Coordin<strong>at</strong>ed</strong> <strong>Flight</strong> Ops4D94D84D74D6Break Form<strong>at</strong>ion• Autonomous on AV2Due to Simul<strong>at</strong>edLoss of IVC• Oper<strong>at</strong>orCommanded on AV1A24D104D11A1Upd<strong>at</strong>e Geometry to15 kft Trail Form<strong>at</strong>ionEngage 12 kftTrail Form<strong>at</strong>ion4D44D5Start Nav4D14D124D13P64D14D24D144D3End Nav 4D14Link to arrival/A14D3A4Dnav25154D1-4D14Name IDAltitude[feet]Velocity[knots] TOA [sec]4D1 69 15000 277 04D2 70 15000 277 1074D3 71 15000 277 2404D3A 72 15000 277 3414D4 73 15000 277 4414D5 74 15000 277 5344D6 75 15000 277 5934D7 76 15000 277 7624D8 77 15000 277 917.05664D9 78 15000 277 10574D10 79 15000 277 11164D11 80 15000 277 11894D12 81 15000 277 13084D13 82 15000 277 13524D14 83 15000 277 1454
Throttle and Brake Modul<strong>at</strong>ion:Form<strong>at</strong>ion Taxi ScenarioVehicle 1 Speeds (f t/s)Vehicle 2 Speeds (f t/s)Collective Brake CmdDif f erential Brake CmdPLA (deg.)252015105035302520151050100806040200806040200-20-40-6050454035302520Throttle and Brake UsageAV1 Vel cmdAV1 Speed58800 590005920059400596005980060000AV2 Vel cmdAV2 Speed58800 59000592005940059600598006000058800 59000592005940059600598006000058800 59000592005940059600598006000058800 590005920059400596005980060000UTC Time (sec.)AV1_F23_G02_T72 & T73AV2_F05_G07_T72 & T73Brakes activ<strong>at</strong>eto slow to 750 ft.DT offsetPUBLIC RELEASEApproved for Public Release Case #4609 - Distribution UnlimitedAV1AV2Throttle and brake responseduring closure to 500 ft DT offset2005.05.1523
Summary J-<strong>UCAS</strong> X-45 Xis a revolutionary force enabler for affordable21st Century airpower– Rapidly field a weapon system th<strong>at</strong> integr<strong>at</strong>es distributed adaptivecontrol technology and robust communic<strong>at</strong>ions with a next gener<strong>at</strong>ionstealth pl<strong>at</strong>form Spiral 0 X-45A Xflight demonstr<strong>at</strong>ions proceeding– Basic functionality (Flt envelope, Comm, Nav) check-out complete– Block 3 flights complete (single oper<strong>at</strong>or/multi-vehicle; coordin<strong>at</strong>edflight with two air vehicles)– Block 4 flights begin April 05 Capability Demonstr<strong>at</strong>ion Program phase proceeding– Significant increase in payload and range/persistence from original concept– Addresses gaps in Joint warfighting capabilitiesCopyright © 2004 Boeing. All rights reserved.PUBLIC RELEASEApproved for Public Release Case # 42485- Distribution UnlimitedCC040133.24
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