The Probability of Near Midair Collisions Using Level-Crossings
2008 (English)In: Proceedings of the '08 IEEE International Conference on Acoustics, Speech and Signal Processing, 2008, 1525-1528 p.Conference paper (Refereed)
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
2008. 1525-1528 p.
Near midair collision, Collision avoidance, UAV, Target tracking, Level-crossings
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-75359DOI: 10.1109/ICASSP.2008.4517912ISI: 000257456701043ISBN: 978-1-4244-1484-0ISBN: 978-1-4244-1483-3OAI: oai:DiVA.org:liu-75359DiVA: diva2:506171
'08 IEEE International Conference on Acoustics, Speech and Signal Processing, Las Vegas, NV, USA, March-April, 2008