Aerospace and Electronic Systems Magazine November 2016 Tutorial X - 104


Sense and Avoid for Unmanned Aircraft Systems
Besides cross-sensor cueing, accurate time and space registration
of sensor data is another key data fusion advantage to exploit. The
first point is related to an accurate estimation and compensation
of sensor latencies. The second is related to relative sensing alignment, which may be nontrivial for heterogeneous sensors [36].
Advantages and issues of single-sensor and multisensor-based
SAA approaches are summarized in Table II.

In all cases, a tracking algorithm for SAA generates output information to be then used for collision threat assessment.
The quantity and quality of information depends on the sensing
architecture, as shown in Table III, which reports both quantities that are directly measured and others, which are indirectly
estimated. Multisensor-based architectures can combine these
outputs.

Table II

Advantages and Issues of Single-Sensor and Multisensor-Based SAA Architectures
Advantages
Single-sensor
based SAA

Relatively simpler to implement

Multi-sensorbased SAA

Improved performance (accuracy, integrity,
robustness)

Reduced impact of misalignment
(noncooperative sensors)

Increased sensing range (cross-sensor cueing)
Reduction of computational weight
Potential reduction of false detections
Relaxed sensing requirements for single
sensor in new designs (exploitation of sensors
complementarity)

Issues
Necessity to fulfill all sensing
requirements with a single sensor (harder
design trade-offs)
Complexity of implementation (also
related to latency management and
compensation, out of sequence
measurements, etc.)
Additional risks of duplicated/ghost tracks
Impact of residual misalignment
(noncooperative sensors)

Table III

Sensing and Tracking Outputs for Different Sensing Systems
Source of
information

104	

Sensing outputs

Tracking outputs

Notes

TCAS

Range, bearing,
relative altitude

Range, bearing,
relative altitude, range
rate, and relative
altitude rate

Bearing information is coarse and not
used for conflict detection

ADS-B

Relative position,
relative velocity

Relative position,
relative velocity

Nominal ADS-B accuracy largely suffices
for the needs of separation assurance and
collision avoidance in common scenarios

Radar

Range, azimuth,
elevation (range
rate for Doppler
radar)

Relative position,
relative velocity

EO/IR

Azimuth and
elevation, i.e.,
LOS

LOS and LOS rate

Range and range rate can be provided by
passive ranging approaches, stereovision,
shape-based ranging for known objects.
Time to collision potentially provided by
scale change approaches

Laser

Range, azimuth
and elevation

Relative position,
relative velocity

Need of scanning systems to cover the
required FOV (hard design trade-offs)

Acoustic

Bearing, range
(very close
obstacles)

Bearing, range,
bearing rate, range
rate

Very coarse angular accuracy

IEEE A&E SYSTEMS MAGAZINE	

Range achievable at very small ranges

NOVEMBER 2016, Part II of II



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