Quasi-ADS-B Based UAV Conflict Detection and Resolution to Manned Aircraft

Algorithm 4

TSR CD&R architecture.

Initialization   System initialized and GPS lock

REPEAT every second

   INPUT Intruders GPS data

    IF PGD block value > threshold or intruder distance from ownership <1 km

      Generate sector of each aircraft

      Calculate overlap area of each sector

       IF Overlap area > TSR threshold

          Calculate right turn rate

          RA issue

       ENDIF

    ENDIF

UNTIL Shutdown