# Review and Simulation of Counter-UAS Sensors for Unmanned Traffic Management
## 2 Review of the State-of-the-Art Technology
### Detection by Data Fusion  
Detection using a collection of these techniques is the ultimate way to detect UAVs. Data fusion, which is the process of integrating multiple data sources to obtain more consistent, accurate and useful information than that provided by any of the individual \begin{table}
\begin{tabular}{c c} \hline \hline
**Specification** & **Value** \\ \hline Range & 2–4 km (depending on visibility conditions) \\ Min illumination/light sensitivity (color) & 0.01 lux \\ Max video resolution & 1920 \(\times\) 1080 \\ Focal length & 4.3–129 mm \\ Field of view (min–max) & 21\({}^{\circ}\)\(\times\) 28\({}^{\circ}\) W \\ \multirow{2}{*}{Lens field of view (min–max)} & 2.3\({}^{\circ}\)–63.7\({}^{\circ}\) \\ Pan range & 360\({}^{\circ}\) \\ Pan velocity & 0.1 to 60\({}^{\circ}\)/s \\ \multirow{2}{*}{Tilt range} & \(-90^{\circ}\) to +90\({}^{\circ}\) \\ Tilt velocity & 0.1 to 30\({}^{\circ}\)/s \\ Optical zoom & 120 \\ Digital zoom & 22 \\ \hline \hline \end{tabular}
\end{table} 
Table 10: Triton PT-Series HD camera specifications. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Specification** & **SPYNEL-C 1000** & **SPYNEL-S 2000** & **SPYNEL-X 3500** \\ \hline Horizontal field of view & 360\({}^{\circ}\) & 360\({}^{\circ}\) & 360\({}^{\circ}\) \\ Vertical field of view & 20\({}^{\circ}\) & 20\({}^{\circ}\) & 20\({}^{\circ}\) \\ Frame rate & Up to 2 Hz & Up to 2 Hz & Up to 2 Hz \\ Spectral band & LWIR (8–12 \(\upmu\)m) & MWIR (3–5 \(\upmu\)m) & MWIR (3–5 \(\upmu\)m) \\ Image resolution & 3 Mpixel & 7 Mpixel & 30 Mpixel \\ Range & 400 m & 400 m & 400 m \\ \hline \hline \end{tabular}
\end{table} 
Table 11: ARMS camera specifications. \begin{table}
\begin{tabular}{c c} \hline \hline
**Specification** & **Value** \\ \hline Image sensor & CMOS \\ Image sensor size & 1/19 inches \\ Range & 1000 m \\ Night vision range & 400 m \\ Min illumination/light sensitivity (color) & 0.07 lux \\ Min illumination/light sensitivity (B/W) & 0 lux \\ Max video resolution & 1920 \(\times\) 1080 \\ Max frames per second & 50/60 \\ Focal length & 6.7–201 mm \\ Horizontal field of view (min–max) & 2.2\({}^{\circ}\)–58.6\({}^{\circ}\) \\ Vertical field of view (min–max) & 1.2\({}^{\circ}\)–34.1\({}^{\circ}\) \\ Pan range & 360\({}^{\circ}\) \\ Tilt range & \(-90^{\circ}\) to +90\({}^{\circ}\) \\ Optical zoom & 30 \\ Digital zoom & 21 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Axis Q6215-LE PTZ specifications. \begin{table}
\begin{tabular}{c c} \hline \hline
**Specification** & **Value** \\ \hline Range & 2–4 km (depending on visibility conditions) \\ Min illumination/light sensitivity (color) & 0.01 lux \\ Max video resolution & 1920 \(\times\) 1080 \\ Focal length & 4.3–129 mm \\ Field of view (min–max) & 21\({}^{\circ}\)\(\times\) 28\({}^{\circ}\) W \\ \multirow{2}{*}{Lens field of view (min–max)} & 21\({}^{\circ}\)\(\times\) 28\({}^{\circ}\) W \\ \multirow{2}{*}{Pan range} & 1.5\({}^{\circ}\)\(\times\) 2\({}^{\circ}\) N \\ \multirow{2}{*}{Pan velocity} & 2.3\({}^{\circ}\)–63.7\({}^{\circ}\) \\ \multirow{2}{*}{Tilt range} & 360\({}^{\circ}\) \\  & 0.1 to 60\({}^{\circ}\)/s \\ \multirow{2}{*}{Tilt range} & \(-90^{\circ}\) to +90\({}^{\circ}\) \\ Tilt velocity & 0.1 to 30\({}^{\circ}\)/s \\ \multirow{2}{*}{Optical zoom} & 120 \\ Digital zoom & 22 \\ \hline \hline \end{tabular}
\end{table} 
Table 10: Triton PT-Series HD camera specifications. techniques explained below, has the advantaged to gain more informative and synthetic fused data than the original inputs. In the case of UAV detection, data fusion could be used to improve the performance of the UAV detection system, by overcoming or alleviating the problems and disadvantages of the individual sensors. However, data fusion should be conducted with great caution. The key problems to be solved can be referred to as data association, positional estimation, and temporal synchronization. Data association is a general method of combining data from different sensors by correlating one sensor observation with the other observations.