RTCA DO-365B-2021: 检测与避让(DAA)系统最低运行性能标准

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“RTCA DO-365B-2021.pdf”是一份由RTCA（美国航空无线电公司）发布的关于“Detect and Avoid (DAA) Systems”的Minimum Operational Performance Standards (MOPS)标准文档，适用于无人机和自主飞行器的安全导航与避障系统。本文档的核心内容是定义和规定了Detect and Avoid (DAA)系统的最低运行性能标准，旨在确保这些系统在航空领域中的安全性和有效性。DAA系统是无人驾驶航空器（UAVs）或有人驾驶飞机的重要组成部分，其主要任务是探测潜在的碰撞风险并采取避免措施，以保护空中交通的安全。 RTCA DO-365B标准详细阐述了DAA系统应具备的技术要求和性能指标，包括但不限于以下几个方面： 1. **探测能力**：DAA系统需要具有高精度和高灵敏度的传感器，如雷达、视觉传感器、红外传感器等，以便及时探测到周围的飞行器和其他障碍物。 2. **数据融合与处理**：系统需要能够整合来自不同传感器的数据，进行有效分析和处理，以提供准确的威胁评估。 3. **决策制定**：DAA系统应具备智能算法，能够根据当前飞行状态和环境信息，生成合适的避障策略。 4. **通信接口**：与ATC（空中交通管制）和其他飞行器的通信能力是DAA系统的重要组成部分，它需要支持实时数据交换和协调避让动作。 5. **可靠性与可用性**：DAA系统必须在各种飞行条件下保持高度可靠，包括极端天气、电磁干扰等情况，同时要求低故障率和高可用性。 6. **人机交互**：对于有人驾驶飞机，DAA系统应提供清晰、及时的信息给飞行员，以便他们能快速理解和执行避障决策。 7. **测试与验证**：文档将详细规定DAA系统的测试方法和标准，包括实验室测试、模拟测试以及实际飞行测试，以确保系统符合MOPS要求。 8. **兼容性与互操作性**：DAA系统需与其他空中交通管理系统和设备协同工作，因此需要考虑系统间的兼容性和互操作性。 RTCA作为一家非营利组织，致力于推动航空艺术和科学的发展，通过制定共识性的标准来解决当代航空问题。这份DO-365B标准的发布，为无人机和未来航空器的DAA系统设计和开发提供了明确的指导，有助于行业和政府共同实现安全、高效的空中交通管理目标。

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2.5.5 Verification of TCAS II Input Data (Class 2) ...................................................................... 343

2.5.6 Verification of All Surveillance Sources ............................................................................. 343

2.5.7 Verification of Alerting Prioritization .................................................................................. 344

2.5.8 Verification of Guidance Processing ................................................................................... 344

2.6 Environmental Qualification for CS DAA Processor Test Procedure (§2.3.3 Ground Testing)

.............................................................................................................................................. 344

2.6.1 Verification of Guidance Processing ................................................................................... 344

2.6.2 Environmental Qualification for CS DAA Control Panel Test Procedure – Ground .......... 345

2.6.3 Environmental Qualification for DAA Traffic Display Test Procedure – Ground .............. 345

2.7 Requirement-to-Test Procedure Application Coverage ....................................................... 345

3 MANUFACTURER CONSIDERATIONS FOR INSTALLED EQUIPMENT ........... 363

3.1 Equipment Installation ......................................................................................................... 363

3.1.1 Accessibility ......................................................................................................................... 363

3.1.2 Aircraft/Control Station Environment .................................................................................. 363

3.1.3 Display Visibility ................................................................................................................. 363

3.1.4 Dynamic Range .................................................................................................................... 363

3.1.5 Failure Protection ................................................................................................................. 363

3.1.6 Interference Effects .............................................................................................................. 364

3.1.7 Inadvertent Turnoff .............................................................................................................. 364

3.1.8 UA and CS Power Sources .................................................................................................. 364

3.2 Installed Equipment Performance Considerations ............................................................... 364

3.3 Installed Equipment Tests .................................................................................................... 365

3.3.1 Ground Tests ........................................................................................................................ 365

3.3.1.1 Equipment Function ............................................................................................................. 365

3.3.1.2 Interference Effects .............................................................................................................. 365

3.3.2 Flight Evaluation Test Procedures ....................................................................................... 366

4 AIRCRAFT OPERATIONAL PERFORMANCE CHARACTERISTICS .................. 367

5 MEMBERSHIP .................................................................................................................. 369

A APPENDIX A OPERATIONAL SERVICES AND ENVIRONMENT DESCRIPTION

A-1

A.1 Introduction .......................................................................................................................... A-1

A.1.1 OSED References and ICAO Standards And Recommended Practices and Procedures ..... A-2

A.2 Environment ......................................................................................................................... A-6

A.2.1 Airspace ............................................................................................................................. A-10

A.2.2 Extended Operations .......................................................................................................... A-17

A.2.3 Airspace Traffic Density .................................................................................................... A-19

A.2.4 Altitudes ............................................................................................................................. A-21

A.2.5 Flight Rules ........................................................................................................................ A-24

A.2.6 Intruders ............................................................................................................................. A-25

A.2.7 Meteorological, Topographical, and Environmental Conditions ....................................... A-33

A.2.8 Equipment Environment .................................................................................................... A-34

A.3 DAA System Description ................................................................................................... A-36

A.3.1 Top-level Architecture ....................................................................................................... A-40

A.4 DAA Actors and Activities ................................................................................................ A-57

A.4.1 Actors ................................................................................................................................. A-57

A.4.2 Activity Diagrams .............................................................................................................. A-57

A.4.3 DAA Activity Descriptions ................................................................................................ A-60

A.4.4 Activity Diagram for DAA Class 2 and Class 3 Resolution Advisories ............................ A-70

A.4.5 Roles and Responsibilities ................................................................................................. A-75

A.4.6 Impact on Communications with ATC .............................................................................. A-82

A.5 Nominal Scenarios ............................................................................................................. A-83

A.5.1 UA and Overtaking IFR Traffic Receiving IFR Separation Services from ATC .............. A-85

A.5.2 ATC Calls Out Visual Flight Rules (VFR) Traffic to Remote Pilot .................................. A-87

A.5.3 Remote Pilot Calls Out VFR Traffic to ATC and Coordinates Maneuver ........................ A-89

A.5.4 UA Climbing IFR through Class G Airspace and Encounters VFR Traffic ...................... A-91

A.5.5 Non-towered Airport in Class G Airspace Involving One-In, One-Out Procedures .......... A-94

A.5.6 Operations in Class A; DAA System Supporting Enhanced Communications with ATC A-98

A.5.7 Class E VFR Intruder Separated Vertically by 500' ........................................................... A-99

A.5.8 ATC Issues Instructions to IFR Intruder .......................................................................... A-101

A.5.9 ATC Issues Alternate Maneuver Unacceptable to the Remote Pilot ............................... A-104

A.5.10 Intruder Maneuvers after RWC Maneuver Has Begun; Causes Change in RWC Maneuver A-

106

A.5.11 Controller Instructs Intruder ............................................................................................. A-109

A.5.12 Overtake by VFR/Non-Cooperative with No Alert ......................................................... A-110

A.5.13 IMC Transition to VMC Operation with EO/IR Surveillance with Short Alert .............. A-112

A.5.14 UA Departing Class D with VFR Intruder ....................................................................... A-115

A.5.15 UA Arrival with GPS Approach in Class D with VFR Intruder ...................................... A-118

A.5.16 Intruder Visually Separates from UA .............................................................................. A-121

A.5.17 Non-cooperative Intruder Visual Separation from Climbing HALE UA ........................ A-124

A.5.18 Cooperative Intruder Separated from Climbing HALE UA ............................................ A-127

A.5.19 Non-cooperative Intruder Causes UA to be Re-vectored for Second Approach ............. A-129

A.5.20 UA Linear Infrastructure Survey through Class D Airspace ........................................... A-131

A.5.21 DAA Separation on Final ................................................................................................. A-133

A.5.22 UAS Traffic Monitoring .................................................................................................. A-136

A.5.23 Power Line Inspection ..................................................................................................... A-140

A.6 Off-Nominal Scenarios .................................................................................................... A-144

A.6.1 UA Encounters VFR Traffic and Maneuvers Prior to ATC Approval............................. A-144

A.6.2 Collision Avoidance RA (with No Automation).............................................................. A-148

A.6.3 Automated Collision Avoidance RA (Optional Capability) ............................................ A-151

A.6.4 Remote Pilot Loses C2 Link with UA ............................................................................. A-153

A.6.5 Automated Collision Avoidance RA during Loss of C2 Link (Optional Capability) ...... A-156

A.6.6 Remote Pilot Loses Communications with ATC (Lost ATC Comms, but Not Lost C2 Link)

.......................................................................................................................................... A-159

A.6.7 Remote Pilot Can't Control the UA and Can't Communicate with ATC or the Intruder . A-163

A.6.8 DAA Equipment Failure .................................................................................................. A-165

A.6.9 UA Maneuvers to Regain DWC ...................................................................................... A-167

A.6.10 UA Actions On Loss of GB Surveillance Data ................................................................ A-170

A.6.11 VFR Intruder Blunder in Non-towered Airport Traffic Pattern ....................................... A-172

A.6.12 Aircraft Blunder in Towered Airport Traffic Pattern ....................................................... A-175

A.6.13 DAA Spacing on Instrument Approach with Missed Approach ...................................... A-178

A.7 Assumptions ..................................................................................................................... A-181

A.8 Operational Requirements ................................................................................................ A-183

A.8.1 Operational Requirements Sources and Organization ..................................................... A-183

A.8.2 Operational Requirement List .......................................................................................... A-186

B APPENDIX B ACRONYMS, ABBREVIATIONS AND DEFINITIONS .................... B-1

xii

B.1 Acronyms and Abbreviations ............................................................................................... B-1

B.2 Definitions .......................................................................................................................... B-18

C APPENDIX C DEVELOPMENT OF DETECT AND AVOID WELL CLEAR ......... C-1

C.1 Background .......................................................................................................................... C-1

C.2 Development of DAA Well Clear for En Route .................................................................. C-1

C.2.1 SaRP Well Clear Efforts ...................................................................................................... C-1

C.2.2 FAA White Paper on DAA Well Clear ................................................................................ C-3

C.2.3 Implications of the En Route DWC Definition .................................................................... C-4

C.2.4 En Route DWC .................................................................................................................... C-4

C.3 Terminal DWC Development .............................................................................................. C-5

C.3.1 Fast-Time Simulation of Terminal DWC Variations ........................................................... C-5

C.3.2 TOPS 1a and 1b results ........................................................................................................ C-6

C.3.3 TOPS2 Results ..................................................................................................................... C-8

C.3.4 DTA Definition .................................................................................................................. C-12

C.4 Non-Cooperative DWC ...................................................................................................... C-12

C.4.1 Metrics ............................................................................................................................... C-13

C.4.2 Encounter Sets .................................................................................................................... C-13

C.4.3 Selection of Four Candidate DWCs ................................................................................... C-14

C.4.4 Evaluation with Open-loop and Closed-Loop Fast-Time Simulations .............................. C-15

C.4.5 Human-in-the-Loop Simulation Results ............................................................................ C-18

C.4.6 Selection of the En Route Non-Cooperative DWC ............................................................ C-19

C.5 Mathematical DWC Definitions ........................................................................................ C-20

C.6 Conclusion ......................................................................................................................... C-21

C.7 References .......................................................................................................................... C-22

D APPENDIX D UAS MANEUVER PERFORMANCE REQUIREMENTS ................. D-1

D.1 Introduction .......................................................................................................................... D-1

D.2 Domain/Assumptions ........................................................................................................... D-1

D.2.1 DAA Turn Maneuvers ......................................................................................................... D-1

D.2.2 DAA Vertical Maneuvers .................................................................................................... D-2

D.2.3 Derivation of Maneuver Initiation Requirements for DAA Vertical Maneuvers ................ D-3

D.3 En Route DAA Well Clear ................................................................................................... D-7

D.3.1 Assumptions ......................................................................................................................... D-7

D.3.2 Application ........................................................................................................................... D-8

D.4 Non-Cooperative DAA Well Clear .................................................................................... D-14

D.4.1 Assumptions ....................................................................................................................... D-14

D.4.2 Application ......................................................................................................................... D-15

D.5 Terminal DAA Well Clear ................................................................................................. D-21

D.5.1 Assumptions ....................................................................................................................... D-21

D.5.2 Application ......................................................................................................................... D-22

D.6 References .......................................................................................................................... D-27

E APPENDIX E LATENCY ANALYSIS ............................................................................ E-1

E.1 Definitions and Terminology ............................................................................................... E-1

E.2 Data Flow for Latency Calculation ...................................................................................... E-3

E.2.1 Latency Example for Class 6 DAA System ......................................................................... E-3

E.2.2 Latency Example for Class 7 DAA System ......................................................................... E-5

xiii

E.2.3 Latency Example for Class 8 DAA System ......................................................................... E-6

E.3 Specific Latency Allocations ............................................................................................... E-7

E.3.1 Surveillance Sources ............................................................................................................ E-7

E.3.2 Tracker Latency ................................................................................................................... E-9

E.3.3 GNSS Latency...................................................................................................................... E-9

E.3.4 Alerting Latency .................................................................................................................. E-9

E.3.5 C2 Link System Latency .................................................................................................... E-10

E.3.6 Guidance and Display Latency .......................................................................................... E-10

E.3.7 Additional Total Latency Between Tracker and Display ................................................... E-10

E.3.8 C2 Link System Uplink Latency (Formerly Command-to-Execute Latency) ................... E-10

E.4 Interoperability Considerations of Class 2 and Class 3 Systems ....................................... E-10

E.4.1 Class 2 TCAS II Interoperability Considerations .............................................................. E-10

E.4.2 Class 3 ACAS Xu Interoperability Considerations ............................................................ E-10

F APPENDIX F EXAMPLE FUNCTIONAL DESCRIPTION FOR AIRBORNE

SURVEILLANCE DATA PROCESSOR (ASDP) SUBSYSTEM ...................................................... F-1

F.1 Introduction .......................................................................................................................... F-1

F.2 Assumptions ......................................................................................................................... F-1

F.3 Airborne Track Processing Subsystem ................................................................................ F-2

F.4 Radar Tracker ....................................................................................................................... F-3

F.4.1 Track Initiation ..................................................................................................................... F-4

F.4.2 Track Establishment ........................................................................................................... F-11

F.4.3 Extended Kalman Filter ..................................................................................................... F-12

F.5 AST Tracker ....................................................................................................................... F-20

F.5.1 Track Measurement/Association ........................................................................................ F-21

F.5.2 Track Initiation ................................................................................................................... F-21

F.5.3 Track Establishment ........................................................................................................... F-23

F.5.4 Polar Filter Update ............................................................................................................. F-25

F.5.5 Extended Kalman Filter Update ......................................................................................... F-28

F.6 Tracker for Sensor Messages with Full State information ................................................. F-44

F.7 Inter-Sensor Linking .......................................................................................................... F-44

F.7.1 ADS-B Link Update ........................................................................................................... F-46

F.7.2 Radar Link Update ............................................................................................................. F-46

F.7.3 AST Link Update ............................................................................................................... F-47

F.7.4 GBSS Link Update ............................................................................................................. F-47

F.8 Best Sensor Selection ......................................................................................................... F-57

F.9 Track Management ............................................................................................................ F-60

F.9.1 Common Time Track Extrapolation .................................................................................. F-60

F.10 Adding Bias Effects to Error Covariance ........................................................................... F-61

F.10.1 Radar Tracker ..................................................................................................................... F-62

F.10.2 AST Tracker – Horizontal .................................................................................................. F-64

F.10.3 Altitude Tracker ................................................................................................................. F-64

G APPENDIX G DAA ALERTING LOGIC AND MANEUVER GUIDANCE FOR UAS

REFERENCE IMPLEMENTATION ................................................................................................... G-1

G.1 Conceptual Overview of the DAIDALUS Reference Implementation ................................ G-1

G.2 High-Level Functional Block Diagram of the DAIDALUS Reference Implementation ..... G-1

G.2.1 Hazard Tables and Alerters .................................................................................................. G-3

G.2.2 Detection Logic .................................................................................................................... G-3

xiv

G.2.3 Guidance-Processing Logic ................................................................................................. G-4

G.2.4 Alerting Logic ...................................................................................................................... G-8

G.3 Data Requirements for DAIDALUS Reference Implementation......................................... G-8

G.4 Mathematical Description of the DAIDALUS Reference Implementation ....................... G-12

G.4.1 Nomenclature ..................................................................................................................... G-12

G.4.2 Geometric Assumptions ..................................................................................................... G-13

G.4.3 DWC Logic ........................................................................................................................ G-14

G.4.4 Detection Logic .................................................................................................................. G-14

G.4.5 Guidance Processing Logic ................................................................................................ G-16

G.4.6 Alerting Logic .................................................................................................................... G-21

G.5 Verification and Validation ................................................................................................ G-22

G.6 Sensor Uncertainty Mitigation ........................................................................................... G-23

G.7 References .......................................................................................................................... G-24

H APPENDIX H RIGHT OF WAY ..................................................................................... H-1

H.1 Introduction .......................................................................................................................... H-1

H.2 References ............................................................................................................................ H-1

H.2.1 ROW References .................................................................................................................. H-2

H.2.2 References for Modeling & Simulation Analysis ................................................................ H-2

H.3 Quantified Right of Way ...................................................................................................... H-3

H.3.1 Vertically Converging Encounters ....................................................................................... H-3

H.3.2 Horizontally Unambiguous Encounters ............................................................................... H-4

H.3.3 Horizontally Ambiguous Encounters ................................................................................... H-4

H.3.4 QROW Summary for Ambiguous Encounters ................................................................... H-12

I APPENDIX I TCAS II GUIDANCE MATERIAL .......................................................... I-1

I.1 Introduction ........................................................................................................................... I-1

I.2 Antenna Installation Guidance .............................................................................................. I-1

I.3 Antenna Installed Performance ............................................................................................. I-1

I.4 Interference Limiting ............................................................................................................ I-2

J APPENDIX J CLASS 3 RESOLUTION ADVISORY (RA) TYPES AND OUTPUTS J-1

J.1 Mapping Vertical RAs to Control Station Outputs and Displays ......................................... J-2

J.2 Mapping Horizontal RAs to Control Station Outputs and Displays ................................... J-15

K APPENDIX K CLASS 3 DAA SYSTEM-SPECIFIC REQUIREMENT

EXPLANATIONS AND EXEMPTIONS ............................................................................................. K-1

K.1 Class 3 DAA Equipment (ACAS Xu) Overview ................................................................. K-6

K.2 Ownship State Data(§2.2.2.1.1) ........................................................................................... K-7

K.3 ATAR Intruder Data (§2.2.2.1.2) ......................................................................................... K-7

K.4 Active Surveillance Intruder Data (§2.2.2.1.3) .................................................................... K-7

K.5 ADS-B In Intruder Data (§2.2.2.1.4) ................................................................................... K-8

K.6 Surveillance Equipment Operating Status and Health Data (§2.2.2.1.6) ............................. K-8

K.7 Prioritized Track Data (§2.2.2.2.1) ...................................................................................... K-8

K.8 Relative Horizontal Position (§2.2.2.2.1.8) .......................................................................... K-8

K.9 Relative Horizontal Velocity (§2.2.2.2.1.11) ....................................................................... K-8

K.10 Relative Altitude (§2.2.2.2.1.13) .......................................................................................... K-8

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