近年來個人旅行及小型飛機運輸系統蓬勃發展，高密度空域使得空中碰撞機率增加，而機載防撞系統成為飛行中不可缺少的航電系統。目前防撞功能的概念已被廣泛的使用在大型民用客機上，然而輕航機及小型客機由於經濟考量，仍然尚未普遍裝載機載防撞系統。在輕便的裝備之下進行簡易及快速的避撞演算仍有值得探討的空間。本文以小型普通航空飛行器為架構，探討在一架以上的侵入機情況下進行避撞演算。當侵入機進入偵測範圍內，首先執行碰撞風險判斷並以碰撞風險的大小值排序，刪除毫無風險的侵入機並優先演算風險值較大的侵入機，減少錯誤警告及運算堵塞。機載防撞系統搭配使用回報監視系統及衛星定位概念在偵測到碰撞風險時警告飛行員，飛行員在警告階段仍可參考飛航資訊及優化路徑進行避讓程序，在進入閃避指示範圍內後則應跟隨指示減少碰撞風險。此系統以路徑軌跡及速度方向來預測碰撞風險，並以小型航空器的轉彎角度限制及目視飛行規則下產生避讓方法，著重水平面避讓，抑制空層改變的潛在危險，保障並提升飛航安全。

A new generation of traffic alert and collision avoidance systems based on the Global Positioning System (GPS) and Automatic Dependent Surveillance Broadcast (ADS-B) is introduced. The objective of the system is to prevent and alert pilot of the incoming potential collision since the flourish of the General Aviation and the Small Aircraft Transportation System has been practiced. This thesis is based on the ADS-B and GA maneuvers. The algorithm is designed to takes angle selections first according to the intruder heading and position that can reduce the nuisance alert occur. The detection algorithm has three sizes of area: Proximate Advisory, Traffic Advisory and Resolution Advisory. In each area the algorithm will provide an advisory for pilot to refrain from mid-air collision. The relationships between turn angle, horizontal miss distance (HMD) are calculated and analyzed to find a resolution when the intruder aircraft enters the detected range. Using encounter models under VFR to evaluate the performance of the algorithm, the resolution should follow the VFR and priority in different situation. The trajectories of the algorithm output will be shown at the end of this thesis.

[1] D. Long, D. Lee, J. Johnson, and P. Kostiuk “A Small Aircraft Transportation System (SATS) Demand Model”, Logistics Management Institute, McLean, Virginia, June, 2001.
[2] Q. H. Zhou, “The Technique Characteristics and the Development Status of the TCAS”, Avionics Technology, Vol. 30, No. 2, pp. 10–16, 1999.
[3] Ran Y. Gazit and J. David Powell, “Aircraft Collision Avoidance Based on GPS Position Broadcasts”, Stanford University, 1996
[4] Federal Aviation Administration, “AVS work plan for NextGen 2012”, U.S. Dept. of Transportation.
[5] Federal Aviation Administration, “TCAS II V7.1 Introduction”, U.S. Dept. of Transportation, Feb. 28, 2011.
[6] M. Gariel and F. Kunzi, “An Algorithm for Conflict Detection in Dense Traffic Using ADS-B”, in 30th Digital Avionic Systems Conference, Seattle WA, USA, Oct. 16-20, 2011.
[7] Bach, Ralph, Farrell, Chris, Erzberger and Heinz, “An Algorithm for Level-Aircraft Conflict Resolution”, NASA Ames Research Center, Moffett Field, California, May 31, 2007
[8] C. Carbone, U. Ciniglio, F. Carraro and S. Luongo, “A Novel 3D Geometric Algorithm for Aircraft Autonomous Collision Avoidance”, Proceedings of the 45th Conference on Decision & Control, San Diego, CA, USA. 2006.
[9] K. James and L. C. Yang, “A Review of Conflict Detection and Resolution Modeling Methods”, Transactions on Intelligent Transportation Systems, Vol. 1, No. 4. Dec. 2000.
[10] G. Dowek, A. Geser, C. Munoz and V. A. Carreno, “Provably Safe Coordinated Strategy for Distributed Conflict Resolution”, AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, CA, USA, 2005.
[11] Z. D. Wu, “Calculational Methods of Avoiding Flight Conflict in low Altitude Airspace”, Journal of Traffic and Transportation Engineering, Vol. 5, No.3, Sep. 2005
[12] T. B. Billingsley, M. J. Kochenderfer, and J. P. Chryssanthacopoulos, “Collision avoidance for general aviation”, in 30th Digital Avionic Systems Conference, Seattle WA, USA, Oct. 16-20, 2011.
[13] H. A. P. Blom and B. K. Obbink, G.J. B. Bakker, “Safety Risk Simulation of an Airborne Self-separation Concept of Operation”, in 7th AIAA-ATIO Conference, Belfast, Northern Ireland, Sep. 18-20, 2007
[14] J. E. Olszta and W. A. Olson, “A Comparative Study of Air Carrier and Business Jet TACS RA Experiences”, in 29th Digital Avionic Systems Conference, Leesburg, VA, USA, Oct. 3, 2010.
[15] R. Chamlou, “Future Airborne Collision Avoidance-Design Principles, Analysis Plan and Algorithm Development”, in 28th Digital Avionic Systems Conference, Orlando, FL, USA, Oct. 25-29, 2009.
[16] L. Peng and Y. Lin, “Study on the Model for Horizontal Escape Maneuvers in TCAS”, IEEE Transaction on Intelligent Transportation Systems, Vol. 11, No. 2, Jun. 2010.
[17] C. Tomlin, G. J. Pappas and S. Sastry, “Non-cooperative Conflict Resolution”, Proceedings of the 36th Conference on Decision & Control, San Diego, CA, USA, Dec. 1997.
[18] D. Taurino, G. Frau, V. Bearo and A. Tedeschi, “ADS-B Based Separation Support for General Aviation”, ATACCS, Barcelona, Spain, May 26-27.
[19] C. E. Lin, Y. Y. Wu, “Collision Avoidance Solution for Low Altitude Flights”, Proceedings of the Institution of Mechanical Engineers, Part G, Journal of Aerospace Engineering, Vol. 225, 2011, pp. 779-790.
[20] “Business Aviation Is Essential To America”, No Plane No Gain, 2012, available from website:
http://noplanenogain.org/Quick_Facts.htm?m=47&s=391
[21] “民航統計月報” 中華民國交通部民用航空局, 2013.May
[22] J. D. Welch, “Active Beacon Collision Avoidance System (BCAS) Functional Overview”, Project Report ATC-102, M.I.T Lincoln Laboratory, FAA-RD-80-127, Orlando, VA, Dec. 17, 1980..