Detect and avoid tracking architecture

Abstract

A vehicle detect and avoid system comprises a sensor arrangement including cooperative sensors, non-cooperative sensors, or combinations thereof. A detect and avoid module receives first measurement tracks from the cooperative sensors, and second measurement tracks from a first category of non-cooperative sensors. A correlator system communicates with the detect and avoid module, receives measurements from second or third categories of non-cooperative sensors, and outputs correlated measurement tracks. The detect and avoid module fuses the first measurement tracks from the cooperative sensors, the second measurement tracks from the first category of non-cooperative sensors, and the correlated measurement tracks, to estimate an optimal track for objects or targets in an environment around the vehicle. The optimal track for each of the objects or targets is used by the detect and avoid module to provide guidance to a guidance and/or control system so the vehicle remains well clear of the objects or targets.