APPENDIXA _ 9 2 - 2 1 4 8 4

PILOT/VEHICLE MODEL ANALYSIS OF VISUALLY GUIDED FLIGHT

Greg L. Zacharias

Charles River Analytics Inc.

Cambridge, Massachusetts

213

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216

LINMOD: LINEAR PERSPECTIVE CUES

o PILOT'S VIEW DURING LANDING APPROACH

v+6v

--.,/---LENGTH (E÷6E) \\\

--"X \

_.x\_ __ x

o LINEAR PERSPECTIVE CUES

- Length :

- Orientation:

- Location :

scalar _, angular units

scalar v, angular units wrt observer reference

vector iX,r#), angular units specifying

midpoint LOS

o MODELING REQUIREMENTS

- How does change in vehicle state (position/attitude) relate to

change in cues?

- Find

m

Xvi s = (_,v,X,_) = _f(_X) + _Vy

&

_fY =_ 6X +V6-vis ax_- -y

217

TEXMOD: TEXTURAL FLOW-FIELD CURS

o PILOT'S VIEW DURING TF/rA

staticdynamic

o AIMPOINT AND SPIN AXIS ESTIMATION

J

EXPANSION_POINT

translation

o MODEL OUTPUTS

- Aimpoint

-. Angular velocity

- Impact time map

- Relative orientation

_ _.._ PC)INT

5, z _

I _(/*, ,, ,_FLOW

rotation

218

SIMPLE TERRAIN CUEING: TASK DESCRIPTION

o TASK: Altitude regulation against vertical gust

o DYNAMICS:

Gust • First Order Dryden, BW = 12 rad/s

Vehicle: F-16 at SL, 400 kts, SAS-augmented

o DISPLAYS:

: ROADt_Y

o DISPLAY VARIABLES

,.,; '_,'_t'_. ¢.r::--..• _,.:. ,.:.? :'..- : ....... _.

T: "rEXrURE RT: R_AY |TEXTURE

Roadway-only: (p,_) from roadway

(0,q) from horizon

Texture-only: (h,7) from textural flow

(0,q) from pseudo-horizon

Combined RT: (_,_,h,7,8,q)

O VISUAL CUE THRESHOLDS

(P'_)th & (O'q)th from acuity estimates

(h,7)t h from textural flow model

o REFERENCE: WARREN & RICCIO (85); ZACHARIAS, WARREN

& RICCIO (86)

B6-050

219

SIMPLE TERRAIN CUEING: DATA & MODEL

O PERFORMANCE SCORES

30

0

t_

t--

_ 2.0W

v

1.5W

J

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Ub=---0.5eL

7.0

_, 6.0

5.0MJ

4.0

U2.0

K

M

1.0

0 0 0A C BD A Clt D A C m D

o PILOT FREQUENCY RESPONSE (stick/error)

J

i

-ZO

-40 -' • ....... ...... |

m

........ I,

'_ -|OGZa_

i

J

o 1

r

FREgUENCY (RAD/SEC)

Model

_ Data mean +_ SD

(A,C) - Low Gain Display

(B,D) - High Gain Display

Condition B:

High Gain

Small Angle

220

PILOT MODEL PARAMETERSFROM DATA ANALYSIS

O DISPLAY VARIABLES

- ROADWAY-ONLY: FROM ROADWAY

FROM HORIZON

- TEXTURE-ONLY: (he, Y )

(o,q)

FROM TEXTURAL FLOW

FROM PSEUDO-HORIZON

- COMB INED RT : (Be, Re, he, y, 8, g)

O ATTENTIONALLOCATION

70% ON HORIZON; 30% ON ROADWAY/TEXTURE

O VISUAL CUE THRESHOLDS

(Be, Be)tb & (O,q)th FROM ACUITY ESTIMATES

(he, Y)th FROM TEXMOD SIMULATIONS

e OBSERVATIONNOISE RATIO. -i8DB

I MOTOR PARAMETERS

- TIME CONSTANT:

- MOTOR NOISE :

0.2s--0.4s

-40DB-----50DB

• CENTRAL DELAY: 0,15s

221

PILOT MODEL PARAMETER VALUES FROM DATA ANALYSIS

PARAMETER

MOTOR TIME CONSTANT TN

L'W GAIN (A,C)

HIGH GAIN (B,D)

MOTOR NOISE

MOTOR NOISE, MNPERCEIVED MOTOR NOISE, PMN

PROCESSING TIME DELAY _D

PERCEPTUAL NOISE LEVEL Po

ATTENTION ALLOCATION

HORIZON (8,q)

ROADWAY (Be,Be)

TEXTURE (he, Y )

VISUAL CUE THRESHOLDS

HORIZON (8th,qt h)

ROADWAY (Sth,Sth)

TEXTURE (hth,Yth)

UNITS

SEC

SEC

DISPLAY TYPE

ROADWAY

(R)

0,30

0,20

TEXTURE

(T)

0,40

0,35

DB

DB

SEC

DB

(°,°/s)

(°,°/s)

(FT, °)

-5O

-50

0,15

-18

0,70

0,30

(i,,28)

(*,1)

-50

-40

0,!5

-18

0,70

0,30

(2,,56)

('*,2)

COMBINED

(RT)

0,39

0,20

0,i5

-18

0,70

0,15

0,15

(i,,28)

(%1)

(*',2)

O

*8th = (90 - 8a)/6 **hth = 0.3h a

222

o_

223

SCENE GENERATOR DELAYS: TASK DESCRIPTION

o TASK: FLY STRAIGHT & LEVEL AGAINST VERTICAL/LATERAL

GUSTS

o OVERALL PILOT/VEHICLE BLOCK DIAGRAM

GUST

MODELS

FORCE

STICK

VERTICAL/LATERAL

__ OUSTS6 DOF DELAYED

VEHICLE VEHICLE VISUAL

STATE STATE SCENE

PILOT---!,.7,.7,.7L ONGI TUDINAL/ _ TRANSPOR T _ SIc_UNAt

LA TEyRNLAMIV_sJmICLE' I DELAY J IGE_RAIOR I "I

PITCH/ROLL

COMMANDS [mF-16 @ SLj .40D_K.TSi SAS-ON]

DUAL -AXIS

FORCE

COMMANDS

/

Bg-006

o DELAY FACTORS: 50, 100, 200, 400 msec

o VISUAL SCENE

o REFERENCE: RICCIO, CRESS, AND JOHNSON (87)

224

SCENE GENERATOR DELAYS: MODEL ANALYSIS

o TASK OBJECTIVE

9

- Longitudinal subtask: minimize o h

2

- Lateral subtask: minimize (04/ + ko_)

0 DYNAMICS MODEL

- Linearized F16 6 DOF dynamics

Sea level, 400 kts, SAS-on

o DELAY MODEL

Pade approximations to: 50, 100, 200, 400 msec delays

o DISPLAY ANALYSIS

- Meridian texture:

- Latitude texture:

(0,h) & (#,¢,y)

(0,h) a C#,_')

- Flow-field cues: rates of above

- Attention allocation set to optimize performance

- Thresholds set to zero

o NON-DISPLAY PILOT PARAMETERS

Fixed across conditions, except for increasing delay

225

DELAY EFFECTS ON PERFORMANCE: DATA & MODEL

35

=: 30

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u,ia

I-.=1

A"o.=E_=_

-i-(,3I-Q.

25

20

15

10

/t

l l l |

0 100 200 300 400

TIME DELAY (reset)

4O

35

3O

25

20 I

0 1 O0 200 300 400

TIME DELAY (msec)

AmJ=

LZ

0n

k-(n

1.6

1.5

1.4

1.3

1.2

1.1

1.0

0.9

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100 200 300

TIME DELAY (mm_c)

!

400

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COCKPIT DISPLAY DESIGN: TASK DESCRIPTION

o TASK: LOW-LEVEL TERRAIN-FOLLOWING AT CONSTANT

HEADING

o DYNAMICS:

- Terrain" Second order matched terrain spectra

- Terrain-following guidance: Low order predictor

- Vehicle: B-1B at SL, Mach 0.85, SAS-augmented

o DISPLAY

DIRECTOR $YMBQL

NNI

o DIRECTOR LAW

Law: 8fd - a + 7dr P

Optimize director gain k

-k* h@trot

229

COCKPIT DISPLAY DESIGN: MODEL-BASED PROCEDURE

o CONDUCT PILOTED SIMULATION TO IDENTIFY BASELINE PILOT

PARAMETERS

o SWEEP THRU DIRECTOR GAINS TO IDENTIFY OPTIMUM CHOICE

o CONFIRM CHOICE WITH SIMULATION USING OPTIMIZED

DIRECTOR

o PRELIMINARY MODEL/DATA COMPARISONS (SINGLE SUBJECT)

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231

BASELINE PICTORIAL GUIDANCE DISPLAY

o DISPLAY FORMAT

o KEY FEATURES

- Perspective view of TP & DFP overlaid on artificial

horizon

- Artificial horizon gives attitude

DFP-centered tunnel gives vertical/lateralpath errors

- Tunnel dimensions indicate desired TF performance

- ADP gives high-gain TF error via indicator

- Path preview supports situational awareness

- Display integration minimizes attention-sharing

232

OPERATOR PERFORMANCE SCORF,.S: VSD & PGD

,.-.,6o

GAI,W4A FLIGHT PICT. GUID.NOHINAL TRACK DIRECTOR PREDICTOR DISPLAY

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235

APPENDIX B

LIST OF PARTICIPANTS

Dr. George J. Andersen

Department of PsychologyUniversity of California

Riverside, CA 92507

Dr. James Cutting

Department of PsychologyUris Hall

Cornell UniversityIthaca, NY 14853-7601

Dr. John Flach

Department of Psychology

Wright State University

Dayton, OH 45435

Dr. Ronald Hess

Department of Mechanical, Aeronautical, and

Materials Engineering

University of CaliforniaDavis, CA 95616

Dr. Larry Hettinger

Logicon Technical Services, Inc.P.O. Box 317258

Dayton, OH 45431-7258

Dr. lan Howard

Department of Psychology and Institute for Spaceand Terrestrial Science

York UniversityNorth York, Ontario M3J IP3Canada

Dr. Joe Lappin

134 Wesley Hall

Department of Psychology

Vanderbilt UniversityNashville, TN 37240

Dr. Dean Owen

Department of PsychologyUniversity of CanterburyChristchurch 1, New Zealand

Dr. Dennis Proffitt

Department of PsychologyGilmer Hall

University of VirginiaCharlottesville, VA 22903-2477

Dr. Gary Riccio

Department of KinesiologyRm 231 Freer Hall

University of Illinois

Urbana-Champaign, IL 61801

Dr. Rik Warren

Armstrong Aeromedical Research Laboratory

Human Engineering Facility

Wright Patterson AFB, OH 45433

(informal presentation only -- no paper)

Dr. Lawrence Wolpert

Logicon Technical Services, Inc.P.O. Box 317258

Dayton, OH 45431-7258

Dr. Greg Zacharias

Charles River Analytics, Inc.55 Wheeler St.

Cambridge, MA 02138

(viewgraph presentation only -- no paper.see Appendix)

NASA Ames Research Center

Aerospace Human Factors Research DivisionMoffett Field, CA 94035-1000

Vernol Battiste

Dr. C. Thomas Bennett

Dr. Stephen EllisSandra G. Hart

Dr. Walter W. Johnson

Dr. Mary KaiserDr. John Perrone

237 PRECEDING PAGE BLANK NOT FILMED

I_I_ISA Report Documentation PageN_l=n/m=,,= m_l

1. Report No.

NASA CP-3118

2. Government Accession No.

4. Title and Subtitle

Visually Guided Control of Movement

7. Editor(s)

Walter W. Johnson and Mary K. Kaiser

9. Performing Organization Name and Address

Ames Research Center

Moffett Field, CA 94035-1000

12. Sponsoring Agency Name and Address

National Aeronautics and Space Administration

Washington, DC 20546-0001

3. Recipiant's Catalog No.

5. Report Date

April 1991

6. Performing Organization Code

8. Performing O_ganizatlon Report No.

A-90200

10. Work Unit No.

505-67-51

11. Contract or Grant No.

13. Type of Report and Period Covered

Conference Publication

14. Sponsoring Agency Code

15. Supplementary Notes

Point of Contact: Walter W. Johnson, Ames Research Center, MS 239-5

Moffett Field, CA 94035-1000

(415) 604-3667 or FTS 464-3667

16. Abstract

The papers in this volume were presented at an intensive, three-week workshop on visually guided

control of movement. The participants were researchers from academia, industry, and government, with

backgrounds in visual perception, control theory, and rotorcraft operations. The papers included invited

lectures and preliminary reports of research initiated during the workshop. Three major topics are

addressed: extraction of environmental structure from motion; perception and control of self motion; and

spatial orientation. Each topic is considered from both theoretical and applied perspectives. Implications

for control and display design are suggested.

17. Key Words (Suggested by Author(s))

Visual perceptionVehicle control

Self motion

Spatial orentation

18. Distribution Statement

Unclassified-Unlimited

Subject Category - 53

19. Secudty Classif. (of this report)

Unclassified

20. Security CIMlif. (of Ibis page)

Unclassified21. No. of Pages

246

NASA FORM 1620 OCTMFor sale by _e National Technical Inforrnalion Service, Springfield, V'_inia 22161

22. Price

All