Multi-sensor obstacle detection and tracking for RPAS situation awareness and guidance

Abstract

With the expected rapid increase of Remotely Piloted Aircraft Systems (RPASs) in commercial airspace and as the regulatory regime develops, it will become mandatory to have Sense and Avoid technologies present on-board RPASs. This paper presents the architecture of a low-cost multi-sensor system based on electro-optic, infrared and ADS-B sensors for target detection and tracking at distances of up to two nautical miles. The sensors generate independent outputs for fusion by a core processing unit. The paper also describes the algorithm used in the electro-optic sensor to determine target position and presents results of preliminary tests on the accuracy of the range and bearing estimates generated by the algorithm.