Automatic air collision avoidance system

This paper presents an algorithm for an automatic air collision avoidance system being developed by the US Air Force and its Swedish counter part, Forsvaret Materielverk (FMV). The algorithm uses optimal coordinated escape maneuvers to avoid mid-air collision, while satisfying the imposed system requirements. In addition, the algorithm simultaneously accommodates multiple aircraft on a collision course by activating coordinated escape maneuvers. On the other hand, the algorithm suppresses activation of escape maneuver to allow close formation flight and rejoining. The algorithm is designed to operate safely despite failures such as GPS or data link dropout.