02 전병규(630~638).hwp

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1 SCADE 를활용한항공기공중충돌회피시스템 -II 의통합시뮬레이터설계 전병규 *, 임상석 * Byung-Kyu Jun *, Sang-Seok Lim * 요약 SCADE (TCAS-II). TCAS-II. TCAS-II. Abstract In this paper, we propose a new SCADE-based integrated simulator for aircraft mid-air collision avoidance. The new simulator is designed to provide a convenient simulation environment for analyzing the limitations of the existing collision avoidance system(cas) and for realizing more realistic collision environment into the CAS performance evaluation. Furthermore, we have developed a scenario editor for TCAS-II performance analysis to simulate actual flight environment which is difficult to experiment. The performance of the proposed simulator for typical collision scenarios is demonstrated by simulation using the proposed scenario editor. Key words : TCAS-II, ACAS, DO-178B, SCADE I. 서론.,, ICAO, FAA, RTCA, EASA, EUROCAE [1][2]. RTCA DO-185B. [3]. 30 * (School of Avionics, Telecommunication and Computer Eng., Korea Aerospace University) 1 (First Author) : : ( ) : ( : ) :

, ; SCADE -II 631 2000 [4]. (Incident), [5][6]. TCAS (Traffic alert and Collision Avoidance System)-II..... 2 TCAS-II. 3 TCAS-II SCADE DO-178B. 4 SCADE TCAS-II, 5. Ⅱ.

2 , ; SCADE -II [4]. (Incident), [5][6]. TCAS (Traffic alert and Collision Avoidance System)-II TCAS-II. 3 TCAS-II SCADE DO-178B. 4 SCADE TCAS-II, 5. Ⅱ. TCAS-II TCAS ACAS(Airborne Collision Avoidance System)., TCAS I, II, III TCAS-II Version-7. TCAS-II. TCASII - Version 7 RTCA DO-185B, [7]. 2-1 TCAS-II의동작원리 TCAS-II. 그림 1. τ-공간및거리테스트 Fig. 1. The range test in τ-space. τ- ( τ-space) CPA (Closest Point of Approach). TA, RA. TA (Traffic Advisory). RA(Resolution Advisory) TCAS-II. TA. TA RA 1., (Intruder) TA TA( ). RA

632 13 5 2009 10 (Threat) RA( ). (a) TCAS 디스플레이에사용되는심볼 그림 2. 고도테스트에서의수직분리 Fig. 2. Vertical Separation in altitude test.

2-2 TCAS-II 경보 TCAS-II 2.,. TA RA. TCAS-II PFD(Primary Flight Display). ND(Navigation Display).

3(a) TCAS-II 3(b) TCAS-II PFD TCAS-II VSI(Vertical Speed Indicator). PFD VSI TCAS-II ND PFD. 3-1 SCADE Ⅲ.

3 (Threat) RA( ). (a) TCAS 디스플레이에사용되는심볼 그림 2. 고도테스트에서의수직분리 Fig. 2. Vertical Separation in altitude test. ( 2). (Vertical Separation) (Altitude Threshold). 2. τ Sensitivity Level(SL) [7]. SL TA RA τ, DMOD. 2-2 TCAS-II 경보 TCAS-II 2.,. TA RA. TCAS-II PFD(Primary Flight Display). ND(Navigation Display). (b) TCAS 수직속도지시기및 TCAS 통합 PFD 그림 3. TCAS 심볼및수직속도지시기 Fig. 3. The symbols for TCAS display and VSI. 3(a) TCAS-II 3(b) TCAS-II PFD TCAS-II VSI(Vertical Speed Indicator). PFD VSI TCAS-II ND PFD. 3-1 SCADE Ⅲ. SCADE 와 DO-178B SCADE (Safety-Critical Application Development Environment) Esterel Technologies,,,, (Mission-Critical). DO-178B, IEC 61508,

, ; SCADE -II 633 EN 50128., (Readability).,. C. (Glue code). C (Traceability) [8][9]. SCADE. SCADE SCADE.

DO-178B (Object Code).,. 그림 4. SCADE 에서사용하는기초연산모듈 Fig. 4. The Elementary modules in SCADE.

4 , ; SCADE -II 633 EN , (Readability).,. C. (Glue code). C (Traceability) [8][9]. SCADE. SCADE SCADE.,.,.. SCADE SCADE Suite SCADE Display. 3-2 RTCA DO-178B. RTCA DO-178B (Life-Cycle) [10]. DO-178B (Object Code).,. 그림 4. SCADE 에서사용하는기초연산모듈 Fig. 4. The Elementary modules in SCADE. SCADE 4 그림 5. DO-178B 의소프트웨어생명주기 Fig. 5. The software life cycle in DO-178B. DO-178B A E 5 A,,

634 13 5 2009 10. E (Entertainment system). 5 DO-178B. (Planning Process). SCADE RM Gateway DOORS SCADE,. (Development Process) SCADE.. (Integral Process).,,. SCADE, (Model Test Coverage Analysis).

5 E (Entertainment system). 5 DO-178B. (Planning Process). SCADE RM Gateway DOORS SCADE,. (Development Process) SCADE.. (Integral Process).,,. SCADE, (Model Test Coverage Analysis).. IV. SCADE기반의 TCAS-II 시뮬레이터설계 SCADE TCAS-II. TCAS-II. TCAS-II TCAS-II. SCADE Suite TCAS-II Logic Computer 6. 그림 6. TCAS-II 컴퓨터의최상위레벨흐름도 Fig. 6. Top-level flow chart of TCAS-II Computer. SCADE SCADE DO-178B. DO-185B TCAS-II. SCADE.. ( 6). 6 (Tracking). TCAS-II. TA RA 2.1

, ; SCADE -II 635. RA. 7 SCADE TCAS-II. 6..,. 8 SCADE. 8. 6 TCAS-II. 그림 9. TCAS-II 통합시뮬레이션환경 Fig. 9. TCAS-II integrated simulation environment. 시뮬레이션 5-1 TCAS-II 통합시뮬레이션환경 그림 7.

6 , ; SCADE -II 635. RA. 7 SCADE TCAS-II. 6..,. 8 SCADE TCAS-II. 그림 9. TCAS-II 통합시뮬레이션환경 Fig. 9. TCAS-II integrated simulation environment. 시뮬레이션 5-1 TCAS-II 통합시뮬레이션환경 그림 7. 제안된 TCAS-II 시뮬레이터의최상위레벨 Fig. 7. Top-level of the proposed TCAS-II simulator. 그림 8. SCADE 기초연산모듈로구성한최하위레벨 Fig. 8. The Lowest-level of the simulator consisted of SCADE elementary operators. TCAS-II SCADE TCAS-II C Code M/S Visual C++ MFC.,,,, M/S MFC, SCADE C Code. C Code SCADE., TCAS-II 9. TCAS-II,., Change View Point

636 13 5 2009 10. M/S MFC. SCADE Display TCAS-II DO-185B., VSI. RA.,, TCAS-II. Log result RA.

DO-185B TCAS-II MOPS (Minimum Operational Performance Standards).

7 M/S MFC. SCADE Display TCAS-II DO-185B., VSI. RA.,, TCAS-II. Log result RA., TTS(Text-To-Speech). TCAS-II. DO-185B TCAS-II MOPS (Minimum Operational Performance Standards). (a) 탐지영역에있는항공기 5-2 통합시뮬레이터에의한 TCAS-II 특성분석, (a). 10(b) - - TA. 10(c) - - (RA).. (b) TA 발생 (c) RA 발생 그림 10. TCAS Display 현시화면. Fig. 10. TCAS Display 5-3 알고리듬의변경에따른회피성능의개선 (UAVs)

8 , ; SCADE -II 637 TCAS-II., (MVS) 600fpm TCAS-II. TCAS-II RA, NMAC(Near Mid-Air Collision). RA τ.. DO-185B EN02TS02.DAT, 0s, RoC(Rate of Climb) 5ft/s 600fpm. 11. τ. ⅤI. 결론 TCAS SCADE. TCAS., RTCA DO-185B τ.. TCAS. 참고문헌 그림 11. τ 값변경에따른충돌회피결과 Fig. 11. Avoidance result by modifying τ-value. τ TCAS-II RA τ 20 CPA 530ft ALIM(Altitude Limit), τ ft. [1],,, (CNS/ATM),, 2 1, pp , [2], CNS/ATM,, 26 4, pp , [3] A. D. Zeitlin, T. Arino and J. Kuchar, Improving the Resolution Advisory Reversal Logic of the Traffic Alert and Collision Avoidance System, Proc. of 25th Digital Avionics Systems Conference, IEEE/AIAA, Oct [4] H. Ranter, Airliner Accidents Statistics 2006, Aviation Safety Network, Jan [5] [6],,, 31, pp. 9-21,

638 13 5 2009 10 [7] "Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance System II (TCAS II)", RTCA, Inc. - RTCA DO-185B, Vol. 1 and 2, Mar.

1992 [9] "Software Considerations in Airborne Systems and Equipment Certification", RTCA, Inc. - RTCA DO-248B, Oct. 2001 [10] http://www.faa.

9 [7] "Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance System II (TCAS II)", RTCA, Inc. - RTCA DO-185B, Vol. 1 and 2, Mar [8] "Software Considerations in Airborne Systems and Equipment Certification", RTCA, Inc. - RTCA DO-178B, Dec [9] "Software Considerations in Airborne Systems and Equipment Certification", RTCA, Inc. - RTCA DO-248B, Oct [10] 전병규 ( 田秉圭 ) : ( ) : 관심분야 :, CNS/ATM, SVS, TCAS, TAWS 임상석 ( 林尙石 ) : ( ) : Ottawa Univ. ( ) : Ottawa Univ. ( ) 1976 ~ 1982 : 1990 ~ 1992 : Canada Royal Military College, R.A ~ 1995 : DREO Canada, Research Scientist 1995 ~ : 관심분야 :, CNS/ATM, SVS, TCAS,

High Resolution Disparity Map Generation Using TOF Depth Camera In this paper, we propose a high-resolution disparity map generation method using a lo

High Resolution Disparity Map Generation Using TOF Depth Camera In this paper, we propose a high-resolution disparity map generation method using a low-resolution Time-Of- Flight (TOF) depth camera and