Multi sensor data fusion for real time aircraft collision

One particular flight safety problem that has relevance to a variety of different types of rotorcraft is assisting the pilot in obstacle avoidance. Obstacles, in this context, may typically include other aircraft, terrain features, buildings, bridges, overhead cables and poles. The problem is especially difficult in bad weather conditions, (such as fog, snow, and heavy rain), in the presence of heavy smoke, or dust, or at night. Also it must be noted that the dynamics of the moving obstacles (other aircraft etc.) will not in general be linear or indeed even known a priori. The large amounts of data available to the crew might originate from on-board their own aircraft, from communications from other aircraft, or from communications from ground based stations. All of these sources will provide information of varying degrees of quality and reliability. It is this particular obstacle avoidance problem that this article addresses