#include <CR3D.h>

Public Member Functions
	CR3D ()

bool	cr (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, const double D, const double H, int epsh, int epsv)

bool	losr_repulsive (const Vect3 &s, const Velocity &vo, const Velocity &vi, double NMAC_D, double NMAC_H, double minHorizExitSpeedLoS, double minVertExitSpeedLoS, double minGs, double maxGs, double maxVs, int epsh, int epsv)

int	cr3d (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, const double D, const double H, std::string ownship, std::string traffic)

int	cr3d_repulsive (const Vect3 &s, const Velocity &vo, const Velocity &vi, const double D, const double H, const double minHorizExitSpeedLoS, double minVertExitSpeedLoS, const double minGs, const double maxGs, double maxVs, int epsh, int epsv)

int	cr3d_repulsive_los (Vect3 s, Velocity vo, Velocity vi, double NMAC_D, double NMAC_H, double minHorizExitSpeedLoS, double minVertExitSpeedLoS, double minGs, double maxGs, double maxVs, int epsh, int epsv)

Static Public Member Functions
static Horizontal	losr_trk_iter (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, double minrelgs, double maxtrk, double step, int epsh)

static Horizontal	losr_gs_iter (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, double minrelgs, double mings, double maxgs, double step, int epsh)

static Vertical	losr_vs_new (const Vect3 &s, const Velocity &vo, const Velocity &vi, double minrelvs, double maxvs, double caD, double caH, int epsv)

Public Attributes
Horizontal	trk

Horizontal	gs

Horizontal	opt

Vertical	vs

Static Private Member Functions
static Vect2	incr_vect (const Vect2 &nvo, double step, int dir)

Detailed Description

CR3D is an algorithm for 3-D conflict resolution that provides avoidance maneuvers for the ownship

Unit Convention

All units in this file are internal:

Units of distance are denoted [d]
Units of time are denoted [t]
Units of speed are denoted [d/t]
Units of turn are radians [rad]

REMARK: X points to East, Y points to North. Angles are in True North/clockwise convention.

Naming Convention
The intruder is supposed to be fixed at the origin of the coordinate system.

D : Diameter of the protected zone [d]
H : Height of the protected zone [d]
s : Relative position of the ownship [d,d,d]
vo : Ownship velocity vector [d/t,d/t,d/t]
vi : Intruder velocity vector [d/t,d/t,d/t]

Output class variables

trk [d/t,d/t] (track resolution)
gs [d/t,d/t] (ground speed resolution)
opt [d/t,d/t] (optimal horizontal resolution)
vs [d/t] (vertical speed resolution)

Constructor & Destructor Documentation

◆ CR3D()

larcfm::CR3D::CR3D ( )

Instantiates a new CR3D object.

Member Function Documentation

◆ cr()

bool larcfm::CR3D::cr	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		const double	D,
		const double	H,
		int	epsh,
		int	epsv
	)

Conflict resolution algorithm

Parameters

s	the relative position of the aircraft
vo	the ownship's velocity
vi	the intruder's velocity
D	the minimum horizontal distance
H	the minimum vertical distance

If trk is not zero, trk satisfies || trk || = || vo ||, and trk is a coordinated track only resolution for the ownship.

If gs is not zero, gs satisfies exists l > 0 such that l*gs = vo, and gs is a coordinated ground speed only resolution for the ownship.

If opt is not zero, opt is a coordinated optimal horizontal resolution for the ownship.

vs is defined ==> vs is a coordinated vertical only resolution for the ownship.

Returns: true, if at least one resolution was found.

◆ cr3d()

int larcfm::CR3D::cr3d	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		const double	D,
		const double	H,
		std::string	ownship,
		std::string	traffic
	)

Conflict resolution algorithm including loss of separation recovery maneuvers

Parameters

s	the relative position of the aircraft
vo	the ownship's velocity
vi	the intruder's velocity
D	the minimum horizontal distance
H	the minimum vertical distance

Returns: the type of resolution maneuver: -1 : None available 0 : Conflict resolution 1 : Loss of separation resolution

◆ cr3d_repulsive()

int larcfm::CR3D::cr3d_repulsive	(	const Vect3 &	s,
		const Velocity &	vo,
		const Velocity &	vi,
		const double	D,
		const double	H,
		const double	minHorizExitSpeedLoS,
		double	minVertExitSpeedLoS,
		const double	minGs,
		const double	maxGs,
		double	maxVs,
		int	epsh,
		int	epsv
	)

Conflict resolution algorithm including loss of separation recovery maneuvers

Parameters

s	the relative position of the aircraft
vo	the ownship's velocity
vi	the intruder's velocity
D	the minimum horizontal distance
H	the minimum vertical distance

Returns: the type of resolution maneuver: LoSDivg (3)– Loss of separation resolution LoSConv (2) – Loss of separation resolution None (-1)– No resolution available Conflict (1) – Conflict resolution Unnecessary (0) – Conflict resolution is not needed

◆ losr_gs_iter()

Horizontal larcfm::CR3D::losr_gs_iter	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		double	minrelgs,
		double	min_gs,
		double	max_gs,
		double	step,
		int	epsh
	)

static

Iteratively compute an ABSOLUTE ground speed-only loss of separation recovery maneuver for the ownship

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
minrelgs	minimum relative ground speed
mings	minimum ground speed
maxgs	maximum ground speed
step	ground speed step (postive)
epsh	horizontal epsilon

◆ losr_repulsive()

bool larcfm::CR3D::losr_repulsive	(	const Vect3 &	s,
		const Velocity &	vo,
		const Velocity &	vi,
		double	NMAC_D,
		double	NMAC_H,
		double	minHorizExitSpeedLoS,
		double	minVertExitSpeedLoS,
		double	minGs,
		double	maxGs,
		double	maxVs,
		int	epsh,
		int	epsv
	)

Loss of separation recovery algorithm

If trk is not zero, trk satisfies || trk || = || vo ||, and trk is a coordinated track only LoS recovery maneuver for the ownship.

If gs is not zero, gs satisfies exists l > 0 such that l*gs = vo, and gs is a coordinated ground speed only LoS recovery maneuver for the ownship.

No optimal solution

vs is defined ==> vs is a coordinated vertical only LoS recovery maneuver for the ownship.

Parameters

s	the relative position of the aircraft
vo	the ownship's velocity
vi	the intruder's velocity
H	the minimum vertical distance

Returns: true, if at least one recovery maneuver was found.

◆ losr_trk_iter()

Horizontal larcfm::CR3D::losr_trk_iter	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		double	minrelgs,
		double	maxtrk,
		double	step,
		int	epsh
	)

static

Iteratively compute an ABSOLUTE track-only loss of separation recovery maneuver for the ownship

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
minrelgs	minimum relative ground speed
maxtrk	maximum track [rad]
step	track step [rad] (positive)
epsh	horizontal epsilon

Iteratively compute an ABSOLUTE track-only loss of separation recover maneuver for the ownship

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
minrelgs	minimum relative ground speed
maxtrk	maximum track [rad]
step	step [rad]

◆ losr_vs_new()

Vertical larcfm::CR3D::losr_vs_new	(	const Vect3 &	s,
		const Velocity &	vo,
		const Velocity &	vi,
		double	minrelvs,
		double	maxvs,
		double	caD,
		double	caH,
		int	epsv
	)

static

Compute an ABSOLUTE vertical-only loss of separation recovery maneuver for the ownship

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
H	height of protected zone, e.g., 1000ft
minrelvs	minimum relative vertical speed
maxvs	maximum absolute vertical speed
caD	diameter of collision avoidance area, e.g., 1000 ft
caH	height of collision avoidance area, e.g., 200ft
epsv	The epsilon for vertical maneuvers (+1 or -1)

Compute an ABSOLUTE vertical-only loss of separation recovery maneuver for the ownship

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
H	height of protected zone, e.g., 1000ft
minrelv	minimum relative vertical speed
caD	diameter of collision avoidance area, e.g., 1000 ft
caH	height of collision avoidance area, e.g., 200ft
minrelvs	minimum relative vertical speed

Member Data Documentation

◆ gs

Horizontal larcfm::CR3D::gs

Ground speed only resolution

◆ opt

Horizontal larcfm::CR3D::opt

Optimal track/ground speed resolution

◆ trk

Horizontal larcfm::CR3D::trk

Track only resolution

◆ vs

Vertical larcfm::CR3D::vs

Vertical speed resolution

The documentation for this class was generated from the following files:

Modules/ACCoRD/inc/CR3D.h
Modules/ACCoRD/src/CR3D.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CR3D()

Member Function Documentation

◆ cr()

◆ cr3d()

◆ cr3d_repulsive()

◆ losr_gs_iter()

◆ losr_repulsive()

◆ losr_trk_iter()

◆ losr_vs_new()

Member Data Documentation

◆ gs

◆ opt

◆ trk

◆ vs