SYSTEMS AND METHODS FOR UNMANNED AIRCRAFT SYSTEM COLLISION AVOIDANCE

摘要

Systems and methods are operable maintain a proscribed Self Separation distance between an unmanned aircraft system (UAS) and an object. In an example system, consecutive intruder aircraft locations relative to corresponding locations of a self aircraft are determined, wherein the determining is based on current velocities of the intruder aircraft and the self aircraft, and wherein the determining is based on current flight paths of the intruder aircraft and the self aircraft. At least one evasive maneuver for the self aircraft is computed using a processing system based on the determined consecutive intruder aircraft locations relative to the corresponding locations of the self aircraft.

主权项

1. A method, comprising:
monitoring separation distances between an intruder aircraft and a self aircraft, the monitoring comprising;
periodically determining a current separation distance between an intruder aircraft and a self aircraft, wherein the current separation distance is a distance between the intruder aircraft and the self aircraft determined at a current time during the monitoring; andcomparing the current separation distance to a Self Separation Threshold (SST), wherein the SST is a predefined distance between the intruder aircraft and the self aircraft,wherein the monitoring determines when the monitored separation distance is less than or equal to the SST; determining a closest point of approach (CPA) between the intruder aircraft and the self aircraft in response to the current separation distance becoming less than or equal to the SST; determining whether the current separation distance between the intruder aircraft and the self aircraft is greater than a Collision Avoidance Threshold (CAT) determining whether the CPA to the intruder aircraft is to a left of a flight path of the self aircraft or to a right of the flight path of the self aircraft in response to the current separation distance becoming less than the SST, wherein the self aircraft turns left when performing Self Separation and the CPA to the intruder aircraft is determined to be to the right of the flight path of the self aircraft, and wherein the self aircraft turns right when performing Self Separation and the CPA to the intruder aircraft is determined to be to the left of the flight path of the self aircraft, wherein the self aircraft climbs when performing Collision Avoidance and the CPA to the intruder aircraft is determined to below the flight path of the self aircraft, and wherein the self aircraft descends when performing Collision Avoidance and the CPA to the intruder aircraft is determined to be above the flight path of the self aircraft.