U-AGREE D3.6 Final Collision Risk Model

This document presents the final formulation of the collision risk model developed by the U-AGREE consortium. The model applies a Monte Carlo approach to estimate the average number of collisions over a large number of simulated flight hours and to derive the corresponding collision frequency. Realistic trajectories are generated using a PX4 Software-in-the-Loop (SITL) simulator to capture representative UAS flight behaviour. The proposed model has been benchmarked against the extended Endoh’s model developed as part of the initial U-AGREE collision risk model. In addition, a sensitivity assessment has been conducted to identify the main sources of uncertainty that may affect the obtained results