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

Algorithm 2

CD&R architecture.

Initialization   System initialized and GPS lock

REPEAT every second

 OUTPUT GPS data

    INPUT Intruders GPS data

     IF Intruder distance to ownership <3 km

       Trajectory estimation construction

       Establish PGD

       Calculate confliction probabilities

       IF conflict probability > threshold

          TSR CD&R generation

          TA alert/RA warning

       ENDIF

     ENDIF

 UNTIL shutdown