Aerospace and Electronic Systems Magazine April 2017 - 61

DOI. No. 10.1109/MAES.2017.174002

Errata: : SENSE AND AVOID FOR UNMANNED AIRCRAFT
SYSTEMS

1. FASANO, G., ACCADO, D., MOCCIA, A., MORONEY, D. SENSE AND AVOID FOR UNMANNED AIRCRAFT SYSTEMS, IEEE
AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE TUTORIAL X, 31 (11) PART II OF II. PAGES 82-110.
DOI. NO. 10.1109/MAES.2016.160116.
The online version of the tutorial article "Sense and Avoid for Unmanned Aircraft Systems," by Giancarmine Fasano, Domenico Accado,
Antonio Moccia, University of Naples, "Federico II", Naples, Italy, and David Moroney, The MITRE Corporation, McLean, VA, USA, in
Tutorial X, Part II of the IEEE Aerospace and Electronic Systems Magazine, Volume 31, issue 11, should be "Sense and Avoid for Unmanned
Aircraft Systems," by Giancarmine Fasano, Domenico Accardo, Antonio Moccia, University of Naples, "Federico II", Naples, Italy, and
David Maroney, The MITRE Corporation, McLean, VA, USA. It is correct in the printed version.

Sense
and Avoid
Systems
In
addition,
Table Ifor
on Unmanned
page 92 wasAircraft
improperly
formatted and should appear as shown below.
Table I

Properties of Noncooperative Sensing Sources
Energy
Light

Sound

Method

Active
(requires electronic interrogation)

Passive
(no electronic interrogation)

LIDAR

Optical (camera)

* Direct Energy

* Visible light

* Coherent

* Infrared

Monostatic RADAR

Bistatic/Multistatic RADAR (using signalsof-opportunity-cell, FM radio)

Bistatic/Multistatic RADAR (known signal
source)
Sense and Avoid
for Unmanned Aircraft Systems
Sense and Avoid for Unmanned Aircraft Systems
SONAR
Acoustic (microphone)

* Array
direction is named as Lφ, then obstacle angular
direction
dimension
is named
can beas Lφ, then obstacle angular dimension can be
* Vector
expressed as
expressed as
(44)
In the following, an overview of basic sensor(44)
properties related
is called the photoelectric effect [17]. Signal amplification must be
to
SAA
application
is
presented
in
order
to
assess
the main
design
applied
to
the
oscillator
output
signal
in
order
to
have
a
significant
Thirdly, Equation (45) on page 106 of the same article was incorrect in the online version of the article and is correct as it appears
below:
Taking
theelectromagnetic
time derivative, wave.
we getJust after emitting
Taking the time
derivative,
getdevelopment of an airborne anticollision radar.
issues
related we
to the
power associated
to the
a pulse, the radar switches the antenna from the transmitter to the
Terms Measured by the Sensor and Sensor Measurement Perfor(45)
(45)
receiver by means of a controlled switch that is called a diplexer.
mance: A pulsed radar is capable to determine the range by esThe pulses hit the object to be detected and a certain amount of entimating the round-trip distance travelled by a pulse that moves at
ergy is backscattered to the radar antenna depending on the reflecand thus
and thus
the speed of light c, since it is carried by an electromagnetic wave
tive managing
properties editor
of the apologizes
object surface.
If this
energy
is enough
to bebetween the online and the print versions of Tutorial X.
The
for the
errors
and for
differences
generated by the transmitter. The resulting measured range R is
detected by the radar, the presence of the object can be recognized
(46)by (15):
(46)
given
and the relative range can be measured by estimating the travel
REFERENCE
time. The radar head can be rotated mechanically or electronically
, as approximation
before.
The approximation error nullifies for zero dCPAThe
error nullifies for zero dCPA, as before.
in [1]
orderFASANO,
to coverG.,
anACCADO,
assigned D.,
field
of regard,
thus performing
the AND AVOID FOR UNMANNED AIRCRAFT
(15)
MOCCIA,
A., MORONEY,
D. SENSE
SYSTEMS, IEEE AEROSPACE AND
If the obstacle area within images is measured
If theatobstacle
differentarea within images is measured at different
requested
surveillance
function.
This
configuration
has
several
adELECTRONIC SYSTEMS MAGAZINE TUTORIAL X, 31 (11) PART II OF II. PAGES 82-110.
times, the derivative can be estimated numerically
times, the
leading
derivative
to an can be estimated numerically leading to an
vantages
in terms
of the SAA application, such as the following.
where
DOI.
NO. 10.1109/MAES.2016.160116
estimate of tCPA. Indeed, applicability of thisestimate
approachofintCPA
practi. Indeed, applicability of this approach in practical cases
is limited
thestate,
difficulty
cases
small is
changes
limited
by time
the difficulty
resolving
small changes in
1. It can estimate
all terms
of the by
track
such in
as resolving
range,cal
range
the
when the in
pulse
is received,
trx is in
object
appearance
when
object
appearance
typiat relatively large ranges, when obstacles typiand angular
rates.at relatively large ranges, IEEE
APRILrate,
2017 angles,
A&Eobstacles
SYSTEMS
MAGAZINE
61
trx is the time when the pulse is transmitted.
cally span a few pixels and their appearance iscally
strongly
spaninfluenced
a few
pixels and their appearance is strongly influenced
2. The reliability of detection and the initial detection distance can
by the environmental conditions [40] and attitude
by thewith
environmental
respect
to conditions
andmust
attitude
with respect
to
An important
question
be assessed
in the design
of an
air-20.
Fig. [40]
20.that
Fig.

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