The Probability of Near MidAir Collisions using Level-Crossings
2007 (English)Report (Other academic)
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
Near midair collision, Collision avoidance, UAV, Target tracking, Level-crossings
IdentifiersURN: urn:nbn:se:liu:diva-56147ISRN: LiTH-ISY-R-2830OAI: oai:DiVA.org:liu-56147DiVA: diva2:316951