NEWLY ENACTED INTENT CHANGES TO ADS-B MASPS: EMPHASIS ON OPERATIONS, COMPATIBILITY, AND INTEGRITY Richard Barhydt Anthony W. Warren NASA Langley Research Center Boeing Air Traffic Management Hampton, Virginia Seattle, Washington Abstract in congested airspace, 9'1° flight plan consistency checking, ll and conformance monitoring. _2-_6 Significant changes to the intent reporting structure in the Minimum Aviation System Performance Standards One means by which aircraft can exchange intent (MASPS) for Automatic Dependent Surveillance information with each other and with ground systems Broadcast (ADS-B) 1 have recently been approved by is through Automatic Dependent Surveillance RTCA Special Committee 186. The re-structured intent Broadcast (ADS-B). The original Minimum Aviation formats incorporate two major changes to the current System Performance Standards (MASPS) for ADS-B MASPS (DO-242): addition of a Target State (TS) report (DO-242) establishes minimum information that provides information on the horizontal and vertical requirements and performance specifications for intent targets for the current flight segment and replacement of broadcast over ADS-B. 1 RTCA Special Committee the current Trajectory Change Point (TCP) and TCP+I 186 has recently completed a new revision to this reports with Trajectory Change (TC) reports. TC reports document, to be published as DO-242A. Several include expanded information about TCPs and their changes to this document compared to the original connecting flight segments, in addition to making MASPS should increase the operational utility of provisions for trajectory conformance elements. New aircraft intent information. Intent elements supported intent elements are designed to accommodate a greater by established avionics standards are introduced in range of intent information, better reflect operational use DO-242A. Other elements are provisioned for and capabilities of existing and future aircraft avionics, possible incorporation into future MASPS revisions, and aid trajectory synthesis and conformance monitoring as avionics systems are able to support them. The systems. These elements are expected to benefit near- intent changes focus on establishing reporting term and future Air Traffic Management (ATM) structures that are more compatible with existing applications, including separation assurance, local traffic aircraft and avionics architectures, increasing flow management, and conformance monitoring. The confidence that an aircraft will follow its broadcast current MASPS revision (DO-242A) implements those intent, and expanding the domain of potential ATM intent elements that are supported by current avionics applications that can benefit from intent information. standards and data buses. Additional elements are provisioned for inclusion in future MASPS revisions (beyond DO-242A) as avionics systems are evolved. ADS-B Architecture Chan_es Related to Intent Information Introduction Information exchanged over ADS-B is assembled by the receiving aircraft or ground station into reports that Aircraft intent information refers to the intended future are made available to user applications. Two major trajectory of an aircraft and isexpected to offer significant changes to the ADS-B reports that contain intent benefits to many evolving Air Traffic Management (ATM) information include: operations. Proposed air-air applications of intent information include in-trail spacing 2and conflict detection, 1. Addition of a Target State (TS) report that prevention, and resolution. 3'4 Intent information has been provides information on the horizontal and vertical found to be beneficial in several experiments requiring targets for the current flight segment. The primary TS pilots to maintain adequate separation from other aircraft. 5- report elements include the target altitude and target 7 Intent information is also expected to enable advanced heading or track. Target altitude is the aircraft's air-ground applications such as sequencing and merging of intended level-off altitude if in a climb or descent, or terminal area flow streams, s use of precision trajectory the aircraft's current intended altitude if it is being separation concepts for aircraft arrival and departure flows commanded to hold altitude. Target heading and target track angle are the aircraft's commanded lateral 1 American Institute of Aeronautics and Astronautics directioanndareusediftheaircrafitsbeingcontrolletodan Table 2a. DO-242A Target State Report (Primary air referenceheadingor groundreferencetrack, Elements) respectively. Target State Report 2. ReplacemeonftthecurrenTtrajectorCyhangPeoint Target Heading or Target Track Angle (TCP)andTCP+IreportswithTrajectorCyhang(eTC) Horizontal Target Source Indicator reportsA. TCrepordtescribeosneTCPanditspreceding Horizontal Mode Indicator flightsegment.For fly-byturns,it alsoprovides Target Altitude informatiofonrthefollowinfglightsegmenTt.Creportasre Target Altitude Capability designetdo accommodaategreaterrangeof intent Vertical Target Source Indicator informationandto betterreflectoperationuasl eand Vertical Mode Indicator capabilitieosfexistinagndfutureaircrafatvionics. Figure1 showstherelationshibpetweeninformation provideidnTSandTCreportfsoranaircrafftlyingasimple Table 2b. DO-242A Trajectory Change Report trajectorbyetweeanreanavigatio(RnNAVw) aypointTsh. e (Primary Elements) targettracktowaypoinAtBCandthetargeatltitudfeorthe activeflightsegmeanrteprovideidntheTSreport.Three Trajectory Change Report TCreportgsiveinformatioonnwaypoinAtsBC,DEFa,nd TC Latitude GHI. Notethatthisfigureonlyrepresenotnsetypeof TC Longitude trajectory. Horizontal TC Type Track to TCP Track from TCP Turn Radius _.,o 6*°'''**'''''l°"°l'''" ..... """" ""°'°°"'°'"°°ooo, Reserved for Horizontal Conformance ...o.'_'_ ABC DEF °°"'.o,. Horizontal Command/Planned Flag ....." J Jk _IL "%, TC Altitude Vertical TC Type Reserved for Altitude Constraint Type Reserved for Able/Unable Altitude Constraint aypom s GHI Reserved for Vertical Conformance "_ _ TS Report Information Vertical Command/Planned Flag Time to Go ....... TC Report Information Figure 1.TS and TC Report Information Intent Availability Due to Control State A 2000 FAA-Eurocontrol sponsored Technical Tables 1 and 2 summarize the main differences in intent Interchange Meeting (TIM) on intent information information content between the original ADS-B MASPS included a recommendation in its outbriefing to, (DO-242) and the MASPS update (DO-242A). These "Study the relationships between aircraft control elements are described in later sections. Note that these lists loops and intent parameters. ''18 This recommendation do not contain all of the TS and TC report elements. A is important, in part, because the amount of intent more detailed description of all elements, as well as information available for data exchange depends information related to the broadcast and management of strongly on the transmitting aircraft's current control intent reports is contained in a separate document.17 state and equipment. These relationships were evaluated in several Boeing 777 simulator sessions Table 1.DO-242 Intent Information (Primary Elements) and through a review of Airbus vertical flight modes. 19The TS and TC reports are designed to take TCP and TCP+I advantage of intent information available when TCP Latitude aircraft are operated in either simple or complex control states. TCP Longitude TCP Altitude TCP Time to Go The three primary control states, referred to here as manual (no flight director), target state, and trajectory are shown in Figure 2. With each additional outer 2 American Institute of Aeronautics and Astronautics loop, it is possible for an aircraft to communicate more Figure 2 shows typical equipment available on information about future states and flight segments. While transport category aircraft that is capable of providing operating with target state control, a single set of the associated information. Other flight hardware commanded states is available. The TS report provides may also be able to generate this information. More target altitude and target heading or track angle. Future sophisticated equipment is needed to transmit outer MASPS revisions could incorporate target airspeed and loop information, whereas inner loop information on target vertical speed, if deemed necessary to support ATM current target states may be difficult to transmit for applications. In the outermost loop corresponding to older analog aircraft. An MCP or FCU is the primary trajectory control, the aircraft has knowledge of multiple interface between the pilot and autopilot when not trajectory change points and connecting flight segments. operating in Flight Management System (FMS) TC reports provide this information. In the trajectory automated modes. These interfaces allow the pilot to control state, the TS report provides target state select target states such as altitude, heading, vertical information corresponding to the current flight segment. speed, and airspeed. Since only the next target state is allowed in each axis, pilots often use the MCP or Most commercial aircraft have several flight modes FCU for short-term tactical flying. Conversely, the corresponding to the target state and trajectory control FMS allows the pilot to select a series of target states states shown in Figure 2. Flight modes are normally or flight segments through a keypad-based Control selected through the Mode Control Panel (MCP) or Flight Display Unit (CDU). A pilot may program an entire Control Unit (FCU). They include choices such as hold route complete with multiple waypoints, speed, current heading, hold current altitude, and maintain track altitude, and time restrictions, and desired speeds between RNAV waypoints. The pilot can concurrently along different flight segments. Because the FMS choose lateral and vertical flight modes that correspond to allows definition of consecutive flight segments, it is different control states, leading to different intent frequently used for long-term strategic flying. availability in the horizontal and vertical axes. Horizontal and vertical guidance commands may be followed Complex paths may be created when an aircraft's manually using a flight director display mode, rather than trajectory is generated with both MCP/FCU and FMS through direct autopilot commands. No distinction is made flight modes. Such a situation can occur when the between flight director and autopilot operation, since this lateral and vertical modes correspond to different information cannot be differentiated from ADS-B output control states or when an autopilot target value reports. affects an FMS planned trajectory. The latter case is most common when the MCP/FCU selected altitude lies between the aircraft's current altitude and the Trajectory Pilot programmed FMS altitude. In this case, the aircraft Control Target State will level out at the selected value, i.e. selected (TC Reports) Control altitude acts as a limit value on the planned climb or (TS Reports) (noFD) MCoannturoall T descent. 2° MFloigdhet CCoonnttrrooll PUannitel/ Cor rols Displays Both single state (TS report) and multiple state (TC report) intent information offer a potential benefit to airborne conflict management, separation assurance, surveillance, and conformance monitoring FlightPlan State Manual applications. Single state intent is available in almost Commands Commands Control all flight modes, while 4D TCPs are only available [ ' when equipped aircraft are using sophisticated FMS Longer Term Trajectory Information Available and RNAV systems. The addition of TS reports enable the broadcast of intent information across a Flight greater range of flight modes and control states. Management AAuutotoptihlorot/tFtlDe Ii System Effects of Avionics System Evolution on Intent l Current State Broadcast Current Path One of the challenges in developing and evolving FD: Flight Director intent information for ADS-B is that most current aircraft avionics, including many advanced digital Figure 2. Aircraft Control States FMS based systems, do not output much intent 3 American Institute of Aeronautics and Astronautics information on avionics buses for downstream use by as the intended end of a vertical transition is allowed avionics other than that directly used to communicate to as a TCP. RNAV systems that only output 2D TCPs the pilot or to navigate, guide, or control an airplane. DO- and time to TCP are also allowed. The TC report 242A intent changes address this situation intwo ways: (1) structure can support additional TC types as avionics allowing aircraft which output some intent information to buses and aircraft systems are evolved and additional communicate such intent when appropriate through the TS intent information becomes available for broadcast. and TC report formats, and (2) providing intent provisioning in the report formats for future evolution and implementation of more comprehensive intent data. These Improved Path Integrity changes provide an incremental approach to intent broadcasting by allowing for partial broadcast of limited In order to use intent information for traffic intent in DO-242A, while accommodating evolution to separation applications, the receiving aircraft or more comprehensive intent data as avionics systems are ground station must be able to assess the transmitting upgraded and intent structures refined in future ADS-B aircraft's ability to conform to its broadcast intent. MASPS revisions. Intent related changes to the ADS-B MASPS address this path integrity issue in three ways: The new TS report makes provisions for broadcast of target altitude and target heading or track angle data used 1. Clearly distinguishing between intent states that for current path guidance. Since full implementation of are actual targets for the autoflight system (command target state data may depend on FMS or autopilot mode trajectory) and those that merely represent a pilot's information not currently available on any avionics bus, plan or preference (planned trajectory). DO-242A intent structures support partial implementations of target states based on information which is available for 2. Providing TC type fields that allow users to input to an ADS-B transmit system. For example, if only assess uncertainty in reported TCP locations and autopilot based selected altitude is available for target specify path characteristics for trajectory synthesis altitude reporting, then an aircraft is allowed to broadcast routines. such information with appropriate status indicators, even if the next intended level-off altitude may be an unknown 3. Establishing provisions for each aircraft to FMS target value. The fact that the aircraft can only transmit its horizontal and vertical path conformance. broadcast selected altitude is transmitted through the target altitude capability element, to avoid having the receiving system interpret selected altitude as the probable next Command and Planned Traiectories level-off state. Target source indicators in the TS report distinguish between the aircraft system (FMS, MCP/FCU Each broadcast TC report has elements to indicate or aircraft current state) driving the autopilot commanded whether the horizontal or vertical TC components are states. Horizontal and vertical mode indicators determine part of the aircraft's command or planned trajectory, whether the aircraft is acquiring or capturing/maintaining as defined below. the corresponding target state. The command traiectorv refers to the path the aircraft Horizontal and vertical TC type fields included in the TC will fly if the pilot does not engage anew flight mode report specify the flight segment and endpoint change type. nor change the targets for the active or upcoming They are used to aid interpretation of the data elements flight modes. The command trajectory may include used for synthesis of consecutive path segments. The TC multiple flight mode transitions. Changes to the report enacted in DO-242A makes provisions for TC types command trajectory normally result from a pilot that have standard TCP and flight segment parameters and input. However, a non-programmed mode transition are available as potential outputs on an ARINC data bus, may also occur that causes the aircraft to leave the such as that defined by the 702A Characteristic. 2° The command trajectory, e.g. reversion to speed priority horizontal flight segment types include Course-to-Fix on descent if the intended vertical path results in an (CF), Track-to-Fix (TF), and Direct-to-Fix (DF) leg types, over-speed condition. and Fly-By and Radius-to-Fix (RF) turn segments. Fly- over turns to a specified end fix can also be modeled by The planned traiectorv includes intent information appropriate use of the above turn types in conjunction with that is conditional upon the pilot engaging a new a DF or TF flight segment. The vertical flight segments flight mode. Without pilot input, the aircraft will include initial climb to Top-of-Climb, flight at cruise only fly toward the command trajectory targets. altitude to Top-of-Descent, i.e. start of the descent phase, and some level-off transitions. In addition, target altitude 4 American Institute of Aeronautics and Astronautics Figure3illustratethsedifferencbeetweetnhecommandtheFMSdescepnatthandwillleveol utattheendof andplannetdrajectoriefosrasimpledescesnctenarioIn. descentT.heprogrammFeMd Spathbeyondthe thiscaset,heaircrafitsflyingalateraalndverticaFlMS selecteadltituderepresenatsplannedtrajectory. paththatincludeasplanneadltitudleevel-ofafttheEndof Typically,selectedaltitudeindicatesan ATC Descen(tE/D). TheMCP/FCUselecteadltitudelies clearanaceltitudeI.nthiscaseth, epilotmaychoose betweentheaircraft'scurrenat ltitudeandtheE/D. toflydirectlytotheendofdescenatssoonasa Assumintghepilotdoesn'cthangteheaircraft'sflight clearantcoetheplanneadltitudiesreceived. modeortargetsth,eaircrafwtillflyontheFMSdescent pathuntilreachinthgeselecteadltitudaendthenleveol ff. ThispathisthecommantrdajectoryIf.thepilotresettshe MCPtargeattorbelowtheE/Daltitudperiortoreaching theselecteadltitudeth,eaircrafwtillcontinuteoflyalong Constant 090 Track throughout Descent Top of FL350 _ Descent (1) MCP/FCU Selected Altitude (15,000 ft) MCP/FCU Altitude../_... Level-off (2) "°°....°.°..° ft) Command Trajectory ""°°"_!_ Altitude Constraint (3,000 mmmmmmmmm Planned Trajectory J End of Descent, ABC (3) Figure 3.FMS Descent Showing Command and Planned Trajectories These trajectory definitions are also expandable to aircraft TCP Position Uncertainty sending intent information from non-FMS flight planning systems. For example, a LORAN or GPS navigation TC type fields allow the receiving system to assess system on a general aviation airplane can be programmed the flight segment "leg" type and accuracy of to contain multiple waypoints. This path represents a reported TC latitude, longitude, and altitude values. planned lateral trajectory. It does not guarantee that the Many change points can occur along an operational aircraft will fly that path, but represents information trajectory that do not occur at known 3D positions. relevant to the pilot's long-term plan. For example, an aircraft may be climbing in a constant vertical speed mode towards atarget altitude Both the command and planned trajectories may provide (see Figure 4). In this case, the aircraft may not take useful information for separation assurance and flow actual wind conditions into account when predicting management applications. The command trajectory, the level-off location. Level-off prediction in a climb however, is considered to represent the aircraft's current may also depend on changing aircraft performance. intent and therefore has broadcast priority over planned These uncertainties make it difficult to predict an TCPs. This strategy was also explicitly expressed at the accurate 3D level-off point. 2000 Intent TIM. 21 The TC report structure enables the receiving system to clearly distinguish between the Figure 5 illustrates other TC types having uncertain command and planned trajectories. 3D locations. In this example, the aircraft isflying at constant heading to intercept a flight plan route, while climbing to a new altitude. The flight plan 5 American Institute of Aeronautics and Astronautics interceppot int(TCP#1)isdependeonntwindparametersPath Conformance Information thatmaynotbeaccurateklnyownforintercepptredictions. WaypoiAntBC(TCP#2)hasadefine2dDlateraplosition, In addition to TCPs, points involving an altitude howevethrecrossinagltitudiesn'tprecisedlyefinedd,ue constraint (At, At or Above, or At or Below) are towindandaircrafpterformancTeh.esuencertaintaielsso provisioned for future MASPS revisions even if they existforthelevel-ofpfoint(TCP#3). OnlyWaypoint may not involve a trajectory change. These points DEF(TCP#4)hasaprecis3eDlocationT. Ctypefields influence trajectory predictions even if no level-off mayenabltehereceivinagirorgrounsdystemtoestablish occurs at the altitude constraint, and provide value for alowecronformanecxepectatifoonratransmittinagircraft conformance monitoring applications. They also thathaslesscertaiTnCPsalongitsflightpath2.2 form the basis for implementing vertical RNP using altitude "window" constraints in future RNP ToaccounfotrTCPpositionuncertaintieasn,ewTCP systems. 1° An altitude constraint "able/unable" definitionis establishefodrDO-242A":A Traiectorv element provides the own aircraft's assessment of its Chan_e Point may be described as a point where an ability to meet the next altitude constraint. anticipated chan_e in the aircraft's velocity vector will cause an intended chan_e in traiectorv." This definition Horizontal and vertical mode indicators in the TS replaces that currently used in DO-242 (p. 39). The older report provide status information on whether the definition only recognizes TCPs that have a well-defined aircraft is acquirin_ (transitioning toward) the target 3D location. Under DO-242A, aircraft would not be state or is capturin_ or maintainin_ the target. These required to report predicted TC position and altitude parameters are expected to provide verification of information if those data are unknown. This allowance predicted trajectory changes and to be useful for makes provisions for avionics systems that are unable to trajectory conformance monitoring. provide conditional waypoint predictions, such as path intercepts and anticipated level-off points. Space in the TC report is reserved for each aircraft to assess its horizontal and vertical path conformance. It is anticipated that future ATM applications may use Level-off horizontal and vertical RNP bounds to specify Target Altitude (8,000 ft) trajectory conformance.l° The conformance elements indicate whether the aircraft is within the specified trajectory bounds. For non-RNP aircraft, other measures of conformance may be specified. Velocity_ Support for Near-term and Future ATM Applications Figure 4. Climb at Constant Vertical Speed to MCP/FCU Selected Altitude Many current and evolving ATM applications related to separation assurance, traffic flow management, and conformance monitoring could potentially Path Intercept Point benefit from the newly enacted intent information. ABC Level-off The TS and TC report intent structures provide more detailed path prediction and conformance monitoring information, while accounting for limitations due to avionics architecture and aircraft control states. • ,_,, atFL210 090 Track Altitude clearance verification is a potential near- 030 Heading term use for the enhanced intent information. Several European agencies are investigating the use of selected and target altitude information under the CWoanydpiotiionntal Constant Heading 4 Downlink of Airborne Parameters (DAP) program. 16 '''''" Segment The aircraft's selected altitude, dialed into the MCP WaFyMpoSint _- FMS Flight Plan or FCU, is considered to most closely represent the ATC clearance altitude. 16 Controllers can compare the clearance altitude with that selected by the pilot to Figure 5. Constant Vertical Speed Climb and Constant help ensure that aircraft do not fly through their Heading to Intercept FMS Flight Plan assigned altitudes, ram16 The selected altitude is 6 American Institute of Aeronautics and Astronautics currentlyavailableonARINC429avionicsbuse2s°. Conflicptrobesusedbygroundstationcsurrently Selecteadltitudedoesnotaccounfotrintermedialetevel- havedifficultypredictinvgerticaclonflictsd,ueto offsthatmayoccuwr hentheaircrafitsbeingcontrollebdy significavnetrticaplathuncertain9tyT.headditioonf theFMS.TheADS-Bdefinitioonftargeatltitudcelosely TCtypeinformatiopnrovidedin theTCreport matchethsatusedbyEurocontr1o6l.'2T3argeatltitudeis shouladllowtrajectorgyeneratotorsbetterrecognize presumetodbeadvantageoinusreducinfgalsealarms andaccounfotrinherenutncertaintiseusc,haswind generatebdy verticalconflictdetectionalgorithms.andaircrafpterformancthea,texistatsomeTCPs. Withoutintermediatelevel-offinformation,these NewTCreportparameteersnablingown-aircraft algorithmmsayassumtheatanaircrafwt illmaintaiints assessmoefnatltitudceonstraicnotmplianacnedpath presenvterticaplath.TheTSreporctansupporetither conformansctaetusshouladlsohelp. selecteodrtargeatltitudeh,owevemrosatircrafwtillneed additionparlocessiningordetrogenerattaergeatltitude. Airbushasproposetdargeatltitudelogicforadvanced Conclusions FMSaircraftthatconsiderfslightmodesandvarious autoflighstystemtarget1s9.Thetargeatltitudceapability Newly enacted changes to ADS-B intent reporting elemenptrovideidntheTSreporitndicatewshethethre enable progressive implementation of aircraft intent aircrafistbroadcastsineglecteodrtargeatltitude. broadcast, beginning with those elements supported by current avionics. The new framework establishes Comparisoofnclearanacendprogrammtreadjectoriecsan standards for trajectory reporting and synthesis that alsobeextendetodlonger-terinmtent.Intenitnformationwill enable effective use of intent information for sharedbetweetnheaircraftandgroundcontrolleriss surveillance applications. Support for many of the anticipatetdo enhancesituationawarenesfsor all longer-term ATM applications is currently restricted participan1t1s-.13Howeverr,eliabilityandintegrityof by information available on avionics buses. broadcainsttendtataneedtsobedemonstrabteedforesuch However, new sources of intent information may informationcan be usedfor traffic management become available. 24 Near-term applications such as applicationCso.ntrollewrsillthenhavehighecronfidence RNP navigation should drive the development of thataircrewhsavecorrectlpyrogrammaesdsignerodutes these data sources. The intent framework established andaltitudeasndareabletocomplwyiththoseclearances. by the new TS and TC reports enables these data to be incorporated as avionics systems are evolved and Aircrafitntenitsanenablintgechnologfoyrseveranlew as needed to meet surveillance application ATMconceptsN. ASAiscurrentliynvestigatiangfree requirements. flightconcepktnownasDistributeAdirGroundTraffic Manageme(DnAt G-TM3).Inthisenvironmeanitr,crews wouldwork collaborativewlyith air trafficservice References providertsoresolveairspacaendtrafficconflictsand enablueser-preferrreoduting.Effectiveconflicpt robes 1"Minimum Aviation System Performance Standards willbecriticatloachievinthgesegoals.Enhancepdath for Automatic Dependent Surveillance Broadcast definitioenlementssu,chastargeatltitudeandTCtype, (ADS-B)," RTCA, DO-242, Washington, 1998. provideidntheTSandTCreportsshouldenabltehese probetsoworkeffectivewlyhenaircrafatreoperatining 2Wang, G. and Hammer, J., "Analysis of an diverseflightmodes. Theconformancmeonitoring Approach Spacing Application," 4th USA(cid:0)Europe Air parameteprrsovisioneindtheTCreporsthouldprovide Traffic Management R&D Seminar, adequapteathintegritfyorenablinngewATMconcepts, http://atm2001.eurocontrol.fr/, Santa Fe, NM, Dec. whilepreservinogrenhancitnogday'ssafetmyargins. 2001. TCreporet nhancememnatsyalsobenefigtroundtools 3Ballin, M.G., Wing, D.J., Hughes, M.F., and suchastheCenteTrRACONAutomatioSnyste(mCTAS). 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Perspective of a Service Provider," FAA/Eurocontrol Technical Interchange Meeting, Shared Flight Intent InJbrmation and Aircraft Intent Data, on disc, FAA, Atlantic City, NJ, Oct. 2000. 8 American Institute of Aeronautics and Astronautics