UAS Well Clear Recovery Against Non-Cooperative Intruders Using Vertical Maneuvers

This paper documents a study that drove the development of a mathematical expression in the minimum operational performance standards (MOPS) of detect-and-avoid (DAA) systems for unmanned aircraft systems (UAS). This equation describes the conditions under which vertical maneuver guidance could be provided during recovery of well clear separation with a non-cooperative VFR aircraft in addition to horizontal maneuver guidance. Although suppressing vertical maneuver guidance in these situations increased the minimum horizontal separation from 500 to 800 feet, the maximum severity of loss of well clear increased in about 35 of the encounters compared to when a vertical maneuver was preferred and allowed. Additionally, analysis of individual cases led to the identification of a class of encounter where vertical rate error had a large effect on horizontal maneuvers due to the difficulty of making the correct left-right turn decision: crossing conflict with intruder changing altitude. These results supported allowing vertical maneuvers when UAS vertical performance exceeds the relative vertical position and velocity accuracy of the DAA tracker given the current velocity of the UAS and the relative vertical position and velocity estimated by the DAA tracker. Looking ahead, these results indicate a need to improve guidance algorithms by utilizing maneuver stability and near mid-air collision risk when determining maneuver guidance to regain well clear separation