UAV Detect and Avoid from UTM-Dependent Surveillance

Figure 14

(a) On flight 4, two UAVs are approaching into RA at very close altitude of 60 m. (b) On flight 4, AD201 asks to speed up faster from 6 m/sec to 8 m/sec to catch over the intersecting point. (c) On flight 4, AD201 has already passed the intersection point to avoid. (d) On flight 4, DAA completes by speed-up resolution. (e) Separation from UAVs with safety margin 32 m on flight 4.

(a)

(b)

(c)

(d)

(e)