Collision avoidance system and a method for determining an escape manoeuvre trajectory for collision avoidance
A collision avoidance system including a receiver configured to receive navigational data regarding intruding aerial vehicle and own aircraft. Storage is configured to store a plurality of predefined escape trajectories. A processor is configured to compare at least a subset of the predefined escape trajectories with a presumed trajectory of the intruding aerial vehicle and to select one of the predefined escape trajectories based on the comparison. The predefined escape trajectories are pre-simulated, wherein each escape trajectory is associated to a set of navigational data and to an escape maneuver direction.
1. A collision avoidance system, comprising:
sensors configured during flight to receive navigational data regarding intruding aerial vehicle and an own aircraft;
non-transitory storage configured to store a plurality of offline calculated predefined presimulated escape trajectories for the own aircraft,
a processor configured during flight to presimulate the predefined presimulated escape trajectories, associate each predefined presimulated escape trajectory to a set of navigational data related to the own aircraft and to an escape manoeuvre direction, and compare at least a subset of the predefined presimulated escape trajectories with a presumed trajectory of the intruding aerial vehicle, and to select one of the predefined presimulated escape trajectories based on said comparison, such that the processor does not calculate the predefined presimulated escape trajectories, and
an escape manoeuvre execution unit configured to permit the own aircraft to execute the selected one of the predefined presimulated escape trajectories.
2. The collision avoidance system according to claim 1 , wherein the processor is arranged to choose at least a subset of those predefined escape trajectories for which the set of navigational data substantially coincides with navigational data related to the own aircraft for comparison with the presumed trajectory of the intruding aerial vehicle.
3. The collision avoidance system according to claim 1 , wherein the set of navigational data comprises one or a plurality of the following quantities: velocity, altitude, attitude, angle of climb and roll angle.
4. The collision avoidance system according to claim 1 , wherein the receiver is arranged to receive said set of navigational data.
5. The collision avoidance system according to claim 1 , wherein the processor is arranged to calculate the presumed trajectory of the intruding aerial vehicle based on the received navigational data regarding the intruding aerial vehicle.
6. The collision avoidance system according to claim 1 , further comprising:
an escape manoeuvre executer configured to execute an escape manoeuvre based on said selected pre-calculated escape trajectory.
7. The collision avoidance system according to claim 6 , further comprising:
a second processor configured to calculate a refined escape trajectory based on the escape manoeuvre direction of the selected escape trajectory, wherein the escape manoeuvre executer is arranged to execute the escape manoeuvre based on the refined escape trajectory.
8. The collision avoidance system according to claim 6 , further comprising:
an activator configured to activate said escape manoeuvre executer based on one or a plurality of preset criteria.