Unmanned Aerial Systems (UAS), an integral part of the Advanced Air Mobility (AAM) vision, are capable of performing a wide spectrum of tasks in urban environments. The societal integration of UAS is a pivotal challenge, as these systems must operate harmoniously within the constraints imposed by regulations and societal concerns. In complex urban environments, UAS safety has been a perennial obstacle to their large-scale deployment. To mitigate UAS safety risk and facilitate risk-aware UAS operations planning, we propose a novel concept called \textit{3D virtual risk terrain}. This concept converts public risk constraints in an urban environment into 3D exclusion zones that UAS operations should avoid to adequately reduce risk to Entities of Value (EoV). To implement the 3D virtual risk terrain, we develop a conditional probability framework that comprehensively integrates most existing basic models for UAS ground risk. To demonstrate the concept, we build risk terrains on a Chicago downtown model and observe their characteristics under different conditions. We believe that the 3D virtual risk terrain has the potential to become a new routine tool for risk-aware UAS operations planning, urban airspace management, and policy development. The same idea can also be extended to other forms of societal impacts, such as noise, privacy, and perceived risk.

翻译：无人机系统作为先进空中交通愿景的核心组成部分，能够在城市环境中执行广泛任务。实现无人机系统的社会融合是一项关键挑战，因为这类系统必须在法规约束与社会关切下和谐运行。在复杂城市环境中，无人机系统安全始终是其大规模部署的长期障碍。为降低无人机系统安全风险并促进风险感知型运行规划，我们提出名为"三维虚拟风险地形"的新概念。该概念将城市环境中的公共风险约束转化为无人机运行应避让的三维禁飞区，从而充分降低对价值实体的风险。为实施三维虚拟风险地形，我们开发了条件概率框架，该框架全面集成了大多数现有无人机地面风险基础模型。通过在芝加哥市中心模型上构建风险地形并观测不同条件下的特征，我们验证了该概念的有效性。三维虚拟风险地形有望成为风险感知型无人机运行规划、城市空域管理及政策制定的新型常规工具。该理念还可拓展应用于噪声、隐私及感知风险等其他形式的社会影响评估。