Routine flights of multiple unmanned vehicles in the same airspace with manned aircraft presents a set of very challenging problems. If military versions of unmanned aerial vehicles are to be used in massed attacks, cooperate with manned fighters on combat missions, and fly through civil airspace, then autonomous UAV control becomes a major goal for the US Air Force. In a densely populated airspace, autonomous collision avoidance will be necessary so vehicles will, in some manner, "see and avoid" other aircraft. System requirements for Autonomous Air Collision Avoidance will be desribed in this paper. It will form the last line of defense, automatically maneuvering an aircraft in the last seconds to avoid air-to-air collisions. The system will be reliable, verifiable, and nuisance free. It will allow safe manned-unmanned vehicle interoperability and acting in accordance with embedded rules of the road based on pilot collision avoidance techniques.
Automated aircraft recovery systems require that some criterion/threshold be established to prevent the system from activating prior to the time the pilot would maneuver the aircraft. This is done to prevent a premature system activation that would be considered a "nuisance" to the pilot. During the recently Auto Ground Collision Avoidance System (GCAS), a nuisance criterion was established. The technique utilized several pilots flying their aircraft towards the ground and recovering at their comfort level. This paper discusses some methods that will be utilized to establish a nuisance criterion for an Automatic Air Collision Avoidance System (Auto ACAS).
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