For drones, as safety-critical systems, there is an increasing need for onboard detect & avoid (DAA) technology i) to see, sense or detect conflicting traffic or imminent non-cooperative threats due to their high mobility with multiple degrees of freedom and the complexity of deployed unstructured environments, and subsequently ii) to take the appropriate actions to avoid collisions depending upon the level of autonomy. The safe and efficient integration of UAV traffic management (UTM) systems with air traffic management (ATM) systems, using intelligent autonomous approaches, is an emerging requirement where the number of diverse UAV applications is increasing on a large scale in dense air traffic environments for completing swarms of multiple complex missions flexibly and simultaneously. Significant progress over the past few years has been made in detecting UAVs present in aerospace, identifying them, and determining their existing flight path. This study makes greater use of electronic conspicuity (EC) information made available by PilotAware Ltd in developing an advanced collision management methodology -- Drone Aware Collision Management (DACM) -- capable of determining and executing a variety of time-optimal evasive collision avoidance (CA) manoeuvres using a reactive geometric conflict detection and resolution (CDR) technique. The merits of the DACM methodology have been demonstrated through extensive simulations and real-world field tests in avoiding mid-air collisions (MAC) between UAVs and manned aeroplanes. The results show that the proposed methodology can be employed successfully in avoiding collisions while limiting the deviation from the original trajectory in highly dynamic aerospace without requiring sophisticated sensors and prior training.

翻译：对于无人机这类安全关键系统而言，机载探测与规避（DAA）技术的需求日益增加，旨在：i) 由于无人机具有多自由度的高机动性及部署非结构化环境的复杂性，能够发现、感知或检测冲突交通或即将发生的非合作威胁；ii) 随后根据自主程度采取适当行动避免碰撞。随着密集空中交通环境中多样化无人机应用规模不断扩大，以灵活并行完成多复杂任务集群的需求，利用智能自主方法实现无人机交通管理（UTM）系统与空中交通管理（ATM）系统的安全高效集成已成为新兴要求。过去几年中，在探测空域中存在的无人机、识别它们并确定其现有飞行路径方面取得了显著进展。本研究更充分地利用PilotAware Ltd提供的电子显性（EC）信息，开发了一种先进的碰撞管理方法——无人机感知碰撞管理（DACM）——该方法能够利用反应式几何冲突检测与解决（CDR）技术，确定并执行多种时间最优的规避碰撞（CA）机动。通过大量仿真和实际现场测试，验证了DACM方法在避免无人机与有人飞机之间空中碰撞（MAC）方面的优势。结果表明，所提方法无需复杂传感器和预先训练，即可在高动态空域中成功避免碰撞，同时限制对原始轨迹的偏离。