A Trajectory Optimization Based Analysis of the 3Di Flight - PowerPoint PPT Presentation

A Trajectory Optimization Based Analysis of the 3Di Flight Efficiency Metric Quin intain ain McEn Enteg egga gart rt James es Whidborn dborne Centre for Aeronautics Cranfield University

What is the 3Di Score? • Created by the Air Navigation Service Provider NATS • Measures the fuel efficiency of a flight • In principle, the 3Di score is calculated by comparing a flown trajectory to a theoretical fuel/CO2 optimum trajectory • Developed by comparing the fuel consumption of 174000 actual trajectories to 3Di optimal (BADA) trajectories • Regression analysis used to correlate fuel inefficiencies with – Excess flight path distance relative to the great circle distance – Level flight segments away from the BADA trajectory

What is the 3Di Score? • Horizontal Inefficiency Great Circle Distance Actual Distance Flown

What is the 3Di Score? • Vertical Inefficiency Requested Flight Level FL Level Flight Level below RFL Time of level Flight Level below RFL Total flight duration Time

What is the 3Di Score? • The 3Di inefficiency score ϑ is then determined by combining the horizontal and vertical inefficiencies into an overall inefficiency score

Eurocontrol Review of the 3Di Score • In 2011 the UK CAA sought stakeholder consultation with regard to the 3Di metric • Eurocontrol highlighted – 3Di Optimal trajectories may not be optimal – that there is a need for any flight efficiency metric to include inefficiencies related to the choice of the Requested Flight Level • Goal of the Work – Use a trajectory optimisation method to • better understand the 3Di score • better understand the definition of an optimum trajectory • better understand inefficiencies related to the choice of RFL

What is Trajectory Optimisation? • Trajectory optimization is the process of designing a trajectory that minimizes or maximizes some measure of performance within prescribed constraint boundaries • The goal of solving a trajectory optimization problem is essentially the same as solving an optimal control problem where: Performance measure Aircraft states Aircraft controls Dynamics model Initial state Terminal state constraint

The Inverse Dynamics Method ′′′ = −3 ′′′ = −2 𝑠 𝑠 1 0 1 0 1 1 𝑠 𝑠 𝑠 2 𝑠 2 ′′′ = −1 ′′′ = 0 𝑠 𝑠 1 0 1 0 1 1 𝑠 𝑠 𝑠 2 𝑠 2 ′′′ , 𝜐 𝑔 ] ′′′ , 𝑠 2 0,𝑔 ′′′ , 𝑠 3 0,𝑔 ′′′ , 𝑤 0,𝑔 Ξ = [𝑠 with “virtual” time 9 optimization variables 1 0,𝑔

Inverse Dynamics • From dynamic and kinematic equations • Given • Remaining states and controls . . . 𝑠 𝑠 2 𝑠 3 2 + 𝑠 2 + 𝑠 2 1 𝑤 𝑢 = 𝑠 . . . 1 2 3 𝑠 𝑠 𝑠 1 2 3 . .. .. .. 2 𝛿 = asin 𝑠 𝑠 𝑠 𝑠 3 1 2 3 𝑤 𝑢 . 2 𝜓 = atan 𝑠 2 . 2 𝑠 1 . + 𝑕 sin 𝛿 + 𝐸 𝑈 = 𝑛 𝑤 . + 𝑕 cos 𝛿 2 + 𝑤 𝑢 𝜓 . cos 𝛿 2 𝑤 𝑢 𝛿 𝑜 = 𝑕 . cos 𝛿 𝑤 𝑢 𝜓 . + 𝑕 cos 𝛿 𝜚 = atan 𝑤 𝑢 𝛿

Differential Evolution The IDVD method discretises the infinite dimensional optimal control problem and allows it to be treated as a finite dimensional Non Linear Programming (NLP) problem • Solved using the stochastic Differential Evolution (DE) NLP method • Open standard method* • Useful for nonlinear multi-modal problems * http://www1.icsi.berkeley.edu/~storn/code.html

Analysing the vertical profile Aim: Comparisons between the 3Di Optimum and IDVD generated vertical trajectories for fuel consumption Piecewise polynomials used for IDVD Climb-cruise-descent scenarios 37 Optimisation variables Improved trajectory solutions

Analysing the vertical profile Source: 3di Environmental Performance Measure http://www.nats.aero/wp-content/uploads/2012/07/3di_Infocard.pdf

Analysing the vertical profile • Continuous Climb Departure with constant acceleration Source: SESAR and the Environment http://ec.europa.eu/transport/modes/air/sesar/doc/2010_06_sesar_environment_en.pdf

Analysing the vertical profile • Unlike recommended procedures IDVD-DE Height profile Speed profile solution suggests low, level segment, acceleration • Expensive in terms of low level fuel burn • But can expedite climb, Climb rate profile Thrust profile reducing overall fuel to climb • 3Di Score ranked the least efficient climb trajectory as the most efficient Fuel efficient departure climb to a RFL scenario, distance profiles

Analysing the vertical profile • 3Di “Perfect Flight” trial* • NATS, British Airways and BAA • A321 flight from London to Edinburgh • Key finding • “The Airbus A321 was able to fly without the everyday but necessary constraints imposed on air traffic because it was a one- off. It was also able to fly at its most fuel-efficient altitude for longer than usual ” * • Simulation scenario designed around Perfect Flight trial • Compares a 3Di Optimal (BADA) vertical trajectory against a IDVD-DE generated trajectory for a A321 London to Edinburgh scenario Source: NATS, British Airways and BAA in UK- first with “Perfect Flight” http://www.nats.aero/news/nats-british-airways-and-baa-in-uk-first-with-perfect-flight/

Analysing the vertical profile Speed profile Height profile • IDVD-DE – reduces fuel consumption relative to the BADA trajectory • Faster climb • Slower cruise • Flight path angle profile Climb rate profile Slower descent • Unlike flight trial, cruise is shortened to better take advantage of descent L/D ratios Thrust profile Fuel burn profile • Shows coupling between climb, cruise and descent phases for short duration flights Fuel efficient climb-descent-cruise scenario, distance profiles

Key Findings • Only using level segments to define vertical flight inefficiency is a little reductive • 3Di score not sensitive to flight speed schedule and related fuel inefficiencies • The importance of the speed schedule • significantly impacts the overall energy management of the aircraft, and therefore flight fuel efficiency • There is a speed schedule trade-off between the most CO2 efficient trajectory and the user preferred trajectory • Minimum CO2 trajectories often have longer flight times due to slower cruise and descent speeds – However, may not be user preferred as flight time costs operators money • Fast climbs require higher (non de-rated) thrust levels on climb out – However, may not be user preferred as potentially increases maintenance costs • Operators manage flight efficiency through the speed schedule • However, the impact of ATM recommended procedures on operators speed schedule rarely considered

Impact of ATM Constraints Requested Flight Level (RFL) – Flight Level requested in the flight plan

Impact of ATM Constraints • London to Paris flight Google Earth 2D flight path profiles Flight path profiles • - What is the impact of SID- STAR-Airway constraints on fuel efficiency? • Both IDVD-DE generated trajectories • SID-STAR-Airway Altered RFL 3D Height profiles constraints alter the most efficient Requested Flight Level (RFL) • As the RFL is an input to the 3Di score calculation • Unquantified inefficiency in the 3Di Height-Time profiles score London-Paris. Impact of ATM constraints scenario

Impact of ATM Constraints 3D and time based speed profiles • Constrained and Faster Climb unconstrained speed profiles • Constraints limit speed profile management • Again, higher initial fuel consumption is used to 3D and time based fuel burn profiles minimise overall fuel Higher initial fuel burn consumed Subsequent reduction in fuel burn London-Paris. Impact of ATM constraints scenario

Impact of ATM Constraints 3D and time based speed profiles • Constrained and unconstrained speed profiles • Constraints limit speed profile management • Constraints prolong flight time, also 3D and time based fuel burn profiles increasing fuel Higher initial fuel burn consumed Constraints prolong flight time – increasing fuel consumption London-Paris. Impact of ATM constraints scenario

Key Findings • Impact of ATM Constraints • 17% fuel burn difference between constrained and unconstrained trajectory solutions • ATM related flight fuel inefficiencies due to • Track-extension • Constrained speed management • Constrained RFL • ATM related flight fuel inefficiencies not typified by • level flight segments

Key Findings • Impact of ATM Constraints • 17% fuel burn difference between constrained and unconstrained trajectory solutions • ATM related flight fuel inefficiencies due to • Track-extension • Constrained speed management Factors • currently Constrained RFL contributing to the 3Di score • ATM related flight fuel inefficiencies not typified by • level flight segments

Environmental Trade-offs Noise & Emissions measure Pareto trade-off plot Noise & Emissions Pareto flight path profiles Noise & Emissions Pareto thrust profiles Noise & Emissions Pareto height profiles