UAS Collision Avoidance via Multi-Sensor Fusion and 4D Path Planning
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Solution Overview
Problem
Current surveillance and guidance systems for Unmanned Aircraft Systems (UAS) are inadequate for collision avoidance and integration into the National Airspace System, as they fail to detect non-cooperative obstacles, operate effectively in all weather conditions, and comply with air traffic regulations, especially in environments with severe weather or terrain obstacles.
Innovation Solution
A comprehensive surveillance and guidance system that combines navigation, communication, and surveillance systems to detect and avoid obstacles, using a navigation system for position determination, a communication system for data exchange, and a flight computer to generate 4D flight paths for self-separation and collision avoidance, while adhering to FAA regulations, utilizing GNSS, radar, and data links for situational awareness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional collision avoidance systems like TCAS are used for UAS, then cooperative aircraft equipped with transponders can be detected and Resolution Advisories can be provided, but non-cooperative obstacles such as vehicles without transponders, military aircraft with IFF Mode 4, or aircraft with disabled transponders cannot be detected
Solution Approach 1:
The patent combines multiple surveillance technologies including TCAS/ADS-B for cooperative targets, radar for non-cooperative obstacles, and electro-optical/infrared sensors for terrain and obstacle detection. This multi-sensor fusion approach enables the system to detect both cooperative aircraft with transponders and non-cooperative obstacles without transponders, military aircraft with IFF Mode 4, or aircraft with disabled transponders, while maintaining reliable collision avoidance capability
Solution Approach 2:
The surveillance system is designed to perform multiple functions: detecting cooperative aircraft via TCAS/ADS-B, detecting non-cooperative obstacles via radar, avoiding terrain and severe weather via electro-optical and infrared sensors, and providing situational awareness for interception missions. This universal system replaces the need for separate specialized systems
2Loss of information
If forward-facing cameras are used for obstacle detection, then visual information can be provided to the pilot, but the system is impeded by glare, clutter and artifacts, and is unable to accurately determine the range and velocity of neighboring obstacles
Solution Approach 1:
The patent introduces radar as an intermediary sensor that actively emits electromagnetic waves to detect obstacles. Radar provides accurate range and velocity measurements through time-of-flight calculation and Doppler shift analysis, overcoming the limitations of passive camera systems that suffer from glare, clutter, and inability to measure distance and speed accurately
Solution Approach 2:
The patent replaces the mechanical/optical camera system with radar technology for obstacle detection. Radar uses electromagnetic waves instead of visible light, enabling detection through adverse weather conditions and providing precise range and velocity data without being affected by glare or visual clutter
3Measurement precision
If airborne radar is used for obstacle detection, then detection range and accuracy are improved, but the significant power requirements limit the detection range in airborne applications
Solution Approach 1:
The patent segments the surveillance function into multiple specialized sensors: a compact airborne radar for non-cooperative obstacle detection, TCAS/ADS-B for cooperative aircraft, and electro-optical/infrared sensors for terrain and weather avoidance. This segmentation allows each sensor to operate at optimized power levels, with the radar providing enhanced detection capability without requiring the excessive power of traditional large-scale airborne radar systems
4Reliability
If the surveillance system is expanded to detect all types of obstacles including non-cooperative targets and terrain, then collision avoidance capability is improved, but the system complexity and number of sensors required increases
Solution Approach 1:
The patent designs a universal surveillance system where each sensor type serves multiple purposes: radar detects non-cooperative obstacles and provides situational awareness, TCAS/ADS-B detect cooperative aircraft and provide traffic information, and electro-optical/infrared sensors detect terrain, severe weather, and provide visual confirmation. This multi-functionality reduces the need for dedicated specialized sensors for each threat type
Solution Approach 2:
The patent merges multiple surveillance technologies into an integrated system with a common processing platform that fuses data from radar, TCAS, ADS-B, electro-optical, and infrared sensors. This consolidation manages system complexity by providing unified obstacle detection, classification, and collision avoidance guidance across all sensor types
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables safe and efficient operation of UAS in various environments by providing real-time situational awareness and autonomous collision avoidance, ensuring compliance with air traffic regulations and procedures, even in adverse weather conditions.
Implementation Method 1
A navigation system is configured to determine a position, velocity and intended trajectory of the aircraft
Implementation Method 2
utilizing GNSS, radar, and data links for situational awareness
Data Source
AI summary
A surveillance and guidance method and system for use with autonomously guided, man-on-the-loop or man-in-the-loop guided vehicles where the presence of obstacles must be considered in guiding the vehicle towards a target includes a navigation system configured to determine the position of the vehicle on which it is equipped. A communication system is configured for data exchange between the vehicle, neighboring vehicles and ground stations. A surveillance system is configured to detect and locate fixed or moving targets and obstacles. A computer is configured to track the position of targets and obstacles and to provide guidance commands or 4D flight paths to perform collision avoidance with respect to traffic regulations and procedures, and operational airspace restrictions. Additional computer tasks include station keeping or interception of targets. A command and control system is configured to interact with a user interface and control the vehicle's actuators.