UAV Detect and Avoid from UTM-Dependent Surveillance

Figure 11

(a) On flight 1, UTM display shows that two UAVs are approaching to conflict. (b) On flight 1, two UAVs are extrapolated to check TA and RA. (c) On flight 1, conflict assessment of data periods. (d) On flight 1, S01 turns heading east to make way for Rev02. (e) On flight 1, after 20 seconds, S01 returns to its original direction by UTM Controller command. (f) On flight 1, S01 proceeds to fly behind Rev02 with separation. (g) On flight 1, two UAVs return to their planned paths. (h) Separation from UAVs with safety margin 87 m in flight 1.

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