Airborne Radar Based Collision Detection and Avoidance System for Unmanned Aircraft Systems in a Varying Environment

This paper presents an airborne-radar-based collision detection and avoidance system for Unmanned Aircraft Systems (UAS) which aims to detect flying aircrafts with constant velocity within the collision avoidance threshold and to generate the desired trajectory as resolution advisory for a pilot and UAS control commands. For collision detection, coordinate system transformation with quaternions is applied to process and display the obstacles detected by the airborne radar in the world frame as well as constructing a simulated airborne radar for the system simulation. For collision avoidance, a deterministic reactive collision cone approach is presented, which computes the desired trajectory for collision avoidance. In particular, software-in-the-loop simulation with test vectors from Minimum Operational Performance Standards (MOPS) for Detect and Avoid (DAA) Systems are used for system performance analysis.