Calspan In-Flight Simulation Projects SAE Presentation Oct 2008 Learjet – Automated Aerial Refueling Learjet – Sense &a

1. Flight Research Calspan In-Flight Simulation ProjectsSAE PresentationOct 2008Learjet – Automated Aerial Refueling Learjet – Sense & Avoid Flight Test

2. AAR Sponsored by AFRL Other Major Participating Organizations: NAVAIR, Boeing, Northrop Grumman, Rockwell Collins, Titan Utilizing Learjet as “surrogate” UAV to host sensors & control systems Objectives: Clear Learjet to operate in refueling position around KC-135 No actual hook-up Gather PGPS data Evaluate acceptability of sensors PGPS & Datalink (TTNT) Installed & Checkout Servo-Throttle in LJ Evaluate control laws for automated refueling - Station Keeping Hold relative Tanker-to-LJ positions at engage Straight & Level 30º Banked Turns & Racetracks Evaluate Autonomous trajectory control Between Observation, Pre-Contact, Contact, Breakaway Done 2004 Done 2005 Done 2007 In 2009 Learjet Automated Aerial Refueling (AAR) Done 2006 Evaluate Redundancies & Contingencies

3. Learjet AAR • Initial Test Flight Tests: • Sep 2004 • At Niagara Falls with 107th ANG KC-135 • Cleared LJ to operate with KC-135 • Gathered data for PGPS & EO sensors • 8 flights, 12 Flt-Hrs • Second Flight Test: • Sep 2005 • At NAWCWD China Lake, CA • Datalink tests • Tactical Targeting Network Technology (TTNT) • Checked out Servo -Throttle • 7 Flights, 10 Flt-Hrs

4. Learjet AAR • Third Flight Test: • Jul/Aug 2006 • At Niagara Falls with 107th ANG KC-135 • Very efficient operations • Dedicated aircraft / crews / facilities • AUTONOMOUS Station-Keeping • Safety Pilot flew to various refueling positions, then engaged simulation • AAR GPS-based Control Laws in Boeing Flight Control Computer - FCC • FCC interfaced with Learjet VSS through sensors & commands to control elevator, aileron, rudder, throttle. • Held relative Tanker-to-LJ engaged positions - VERY precise • Straight & Level, 30º Banked Turns, & Racetrack patterns • Light to Moderate Turbulence • Gathered IR Camera data for “Hybrid” system • Flew 20 Flights, 30 Flt-Hrs

5. Learjet AAR • Fourth Flight Test: • Jul/Sep 2007 • At Niagara Falls with 107th ANG KC-135 • AUTONOMOUS Transitions and Station-Keeping • Safety Pilot flew to Transition Point (1500 ft in trail), then engaged simulation for remainder of flight. • AAR Control Laws flew transitions between positions: • Initiated by test engineer. • Autonomous Transitions during: • Straight & Level, 30º Banked Turns, & Racetrack patterns • Station Keeping at all positions • Flew 19 Flights, 32 Flt-Hrs: • On one flight: stayed engaged 75 minutes, >20 minutes at Contact

6. Learjet AAR • Fifth Flight Test: • July 2009 • At Forbes Field, KS with 190th Kansas ANG KC-135 • Test of AAR RELNAV system redundancy and contingencies • Multiple TTNT datalinks in Tanker. • Multiple INS/GPS systems in Learjet Surrogate Receiver. • Safety Pilots will manually fly all refueling positions. • Fly ~ 10 Flights, 20 Flt-Hrs

7. Learjet AAR Positions Around Tanker

8. Learjet AAR Positions Around Tanker

9. Learjet AAR LJ in Contact Position in Turn

10. Learjet AAR LJ Test Engineer Control/Display LJ Pilots’ View

11. NON-COOPERATIVE • Detect with Cameras • COOPERATIVE • TCAS or Mode-C • Detectable • Coordinated Collision Avoidance Learjet Sense & Avoid Flight Test • UAV Sense & Avoid in National Air Space. • Autonomously Detect and Avoid intruder aircraft in terminal environment. • Cooperative & Non-Cooperative Intruders • Equivalent Level-of-Safety as piloted operations. • Equivalent Level-of-Behavior as piloted operations.

12. Learjet Sense & Avoid Flight Test • AFRL – Sponsor • Northrop Grumman (NGC) – Prime contractor • Calspan – Installations and Flight Test in Learjet • Simulate UAV (Global Hawk-like) dynamics • Backup Intruder (LJ3 & LJ4) • Defense Research Associates (DRA) – Camera system, detector, tracker • Bihrle – Provides avoidance software • FAA – Provides “Intruders” (Convair-580 & King Air) & ADS-B • ICx – Provides radar (AI-130 used in helos for tower & cable detection) • Cooperative Intruder (TCAS-II and ADS-B Equipped) • Utilizes Resolution Advisory (RA) commands • Non-Cooperative Intruder (No transponders, Uses only cameras) • EO 3-Camera System • Radar • Intrusion Scenarios: • One & Two Intruder scenarios: Level head-on, cross-track, climb/descend head-on, overtake, cross-track.

13. Learjet Sense & Avoid Flight Test • Phase I • Oct ‘07 – Jan ‘07, 22 Flights – 39 Hours • Used EO cameras and IR cameras • Phase II • Apr/May ‘08, Nov ‘08, Apr ‘09 • Using Radar data fused with EO Camera data. • Radar provides better range data than cameras. • Improved detection and false alarm rejection. • Phase III • Later in 2009 • Will use a new prototype Global Hawk SAA radar to replace ICx AI-130.

14. Learjet Sense & Avoid Flight Test Typical Multiple Intrusion Scenarios King Air is 0.2 nm beyond Learjet when Learjet crosses CPA 0.2 nm 0.2 nm  0.5 nm  0.5 nm 0.5 nm Learjet: 150 KIAS King Air: 150 KIAS Convair: 150 KIAS

15. Learjet Sense & Avoid Flight Test Modified LJ Radome with EO 3-Camera & ICx Radar Installation

16. Learjet Sense & Avoid Flight Test