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The Probability of Near MidAir Collisions using Level-Crossings
Saab Aerosystems, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2007 (English)Report (Other academic)
Abstract [en]

We consider probabilistic methods to compute the near midair collision risk using state estimate and covariance from a target tracking filter based on angle-only sensors such as digital video cameras. Existing work is only concerned with risk estimation at a certain time instant, while the focus here is to compute the integrated risk over the critical time horizon. This novel formulation leads to evaluating the probability for level-crossing. The analytic expression for this involves a multi-dimensional integral which is hardly tractable in practice. Further, a huge number of Monte Carlo simulations would be needed to get sufficient reliability for the small risks that the applications require. Instead, we propose a sound numerical approximation that leads to a one-dimensional integral which is suitable for real-time implementations.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 6 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2830
Keyword [en]
Near midair collision, Collision avoidance, UAV, Target tracking, Level-crossings
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-56147ISRN: LiTH-ISY-R-2830OAI: diva2:316951
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-01Bibliographically approved

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Nordlund, Per-JohanGustafsson, Fredrik
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