1. 1 11 1 Flight Test Results of the Head-Up Synthetic Vision Display For the Quarterly Review of the NASA/FAA Joint University Program for Air Transportation Research Friday October 18 th, 2002 Presented By: Douglas Burch Principal Investigator: Dr. Michael Braasch Avionics Engineering Center Ohio University, Athens Project Sponsor: Joint University Program

2. 2 Introduction General Aviation instrumentation has undergone little change in the past 50 years. Major advancements have been made in the areas of inertial navigation and high accuracy GPS. VMC into IMC flight continues to be one of the two major areas producing the largest number of GA fatalities. On average one spatial disorientation accident occurred every eleven days from 1987 to 1996.

3. 3 Overview Motivation Behind Head-Up Synthetic Vision Display (HUSVD) Modern Synthetic Vision Systems vs. Prototype Display System Prototype HUSVD System Overview Flight Tests HUSVD New Architecture Attitude and Heading Reference System (AHRS) Multi-View HUSVD

4. 4 No Longer Known as the eHUD Enhanced Vision Often Refers to a System that Incorporates Some Type of Infrared Sensor or Thermal Imaging Sensor to Augment a Virtual Display Head-Up Display or HUD Often Refers to a Collimated Symbolic Display The Head-UP Synthetic Vision Display (HUSVD) System is Neither Enhanced or Collimated

5. 5 Motivation Behind HUSVD Provide Visual Cues in IMC Increase Situational Awareness in IMC Reduce Pilot Training and Currency Requirements for Flight in IMC Reduce Instrument Fixation During the Approach Cost-Effective Head-Up Synthetic Vision Display

6. 6 Typical Synthetic Vision System Architecture Aircraft Attitude Sensor Aircraft Position Sensor Display Processor Panel-Mounted Display Position Attitude Display Processor Panel-Mounted Display

7. 7 Prototype HUSVD System Architecture Attitude/Position Sensor Data Processor Head-Up Display Display Processor Head-Up Display Position Attitude The prototype HUSVD was flight tested on th 18 th of July 2002

8. 8 Pseudo-Attitude Determination (Velocity Vector Based Attitude Determination) Developed at the Massachusetts Institute of Technology by: Dr. Richard P. Kornfeld Dr. R. John Hansman Dr. John J. Deyst The information on the following slides, regarding Velocity Based Attitude, was taken from “The Impact of GPS Velocity Based Flight Control on Flight Instrumentation Architecture” Report No. ICAT-99-5, June 1999.

9. 9 Pseudo-Attitude Flight Path Angle : γ Pseudo-Roll Angle : φ F B: Body-fixed orthogonal axes set which has its origin at the aircraft center of gravity. γ VgVg ZbZb YbYb XbXb Local Horizontal Reference Plane φ GPS Antenna

10. 10 10 Pseudo-Attitude Over Time

11. 11 11 Current eHUD Configuration Novatel 20Hz Receiver Head-Up Display 700 MHz Laptop Windows 2000 GPS Antenna

12. 12 12 Data Processor and Display Processor 700 MHz Laptop Running Windows 2000 Attitude Determination Algorithm Performed in C++ DLL Display Written in Visual Basic Graphics Produced Using Revolution 3D Graphics Engine Three-Dimensional representation of the outside world

13. 13 13 Image Layers

14. 14 14 Synthetic Vision Comparison Two separate test flights on UNI Runway 25. There is a slight altitude difference between the two approaches. Synthetic perspective is very compelling.

15. 15 15 Flight Test Aircraft

16. 16 16 Combiner Material: Lexan 9034

17. 17 17 Projector Mounting

18. 18 18 Equipment Installation

19. 19 19 HUSVD: Climb-Out

20. 20 20 HUSVD: Down-Wind Leg

21. 21 21 HUSVD: Shooting Approach

22. 22 22 HUSVD: Continuing Approach

23. 23 23 HUSVD: Continuing Approach

24. 24 24 HUSVD: Continuing Approach

25. 25 25 HUSVD: Continuing Approach

26. 26 26 HUSVD: Before Touch-Down

27. 27 27 HUSVD: Touch-Down

28. 28 28 Lessons Learned Discrepancy in Size or Object Placement is an Immediate Distraction Synthetic Vision Head-Up and Head-Down Display Perspectives are Very Different Dynamic “Tuning” of HUSVD is Needed Object Size Needs to be Increased Lexan 9034 Promising Combiner Material LCD Projector Provides Navigation Quality Image in Various Lighting Conditions

29. 29 29 New System Architecture

30. 30 30 Crossbow AHRS400CC-100 http://www.xbow.com

31. 31 31 AHRS Static Evaluation

32. 32 32 Velocity Vector Pseudo-Attitude

33. 33 33 AHRS/GPS Integration AHRS Provides Robust Roll and Pitch AHRS Roll and Pitch will Drift Over Time Creating a Bias Complementary Kalman Filter will be used to Integrate the Single-Antenna GPS Attitude with the AHRS Measurements GPS Ground Track will be Used to Approximate the Yaw

34. 34 34 Multi-View Head-Up Synthetic Vision Display System

35. 35 35 Current Work Expand System to Include Both Forward-Looking and Left-Looking Views Flight Test in which Multi-View HUSVD is used to Navigate Aircraft from Climb-out to Approach Upgrade Synthetic Vision Software

36. 36 36 Questions

37. 37 37 References Kornfeld, R.P., Hansman, R.J., Deyst, J.J., The Impact of GPS Velocity Based Flight Control on Flight Instrumentation Architecture. MIT International Center for Air Transportation, Cambridge, MA. Report No. ICAT-99- 5, June 1999. Jennings, C., Alter, K.W., Barrows, A.K., Per Enge, J., D. Powell, 3-D Perspective Displays for Guidance and Traffic Awareness. Presented Sep 1999 at the ION GPS Conference, Nashville, TN. 1999 Nall Report, AOPA Air Safety Foundation, http://www.aopa.org http://www.aopa.org Crossbow Technology, Inc. AHRS400 Series User’s Manual, 41 E. Daggett Dr., San Jose, CA 95134, http://www.xbow.com http://www.xbow.com

38. 38 38 Contact Information Graduate Research Associate: Douglas Burch douglasburch@ieee.org Principal Investigator: Dr. Michael Braasch mbraasch@oucsace.cs.ohiou.edu