In this Paper, we present a complete, proof-of-concept sense-and-avoid solution for small unmanned aircraft systems, including a small low-cost ground-based radar system, multitarget tracking and estimation, collision detection, and an avoidance planner. We describe the development of a small frequency-modulated continuous-wave phased-array radar system that provides a three-dimensional surveillance volume. The radar measurements are processed using the recursive random sample consensus algorithm, producing tracks for the intruders and the ownship. We propose a collision-detection algorithm based on the geometric relationship between encountering aircraft. If a collision threat is detected, a collision-free new path is generated for the ownship using a two-step path-planning algorithm. In the first step, an initial suboptimal path is generated using an search. In the second step, the path is refined using a variant of the potential fields technique, adapted to the sense-and-avoid scenario. The performance of the complete system is demonstrated with flight-test experiments.
Ground-Based Sense-and-Avoid System for Small Unmanned Aircraft
Journal of Aerospace Information Systems ; 15 , 8 ; 501-517
01.08.2018
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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