Robust Airborne Collision Avoidance through Dynamic Programm(55)

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altitude
quantization,
instead
of
simply
increasing
the
measurement
noise
[54].
Additionally,
the distribution of the joint advisory state variable sRA can serve as an indication of the “mode” of .ight of the intruder. Using this extra information can result in improved estimation of the intruder altitude and vertical rate when the intruder is equipped with a collision avoidance system.

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