UAV Detect and Avoid from UTM-Dependent Surveillance

Figure 12

(a) On flight 2, UTM detects UAVs are approaching. (b) On flight 2, TA and RA are pronounced on UTM. (c) On flight 2, AD201 turns for avoidance. (d) On flight 2, AD201 returns to its planned path. (e) Separation from UAVs with safety margin 107 m on flight 2.

(a)

(b)

(c)

(d)

(e)