Table 1.

Simulation results.

Environment	Airprox Scenario	Obstacle Altitude	Precision	Recall	Accuracy	F-Score
ocean with clouds	close-in	higher	75.00%	55.85%	61.44%	64.02%
		same	77.39%	46.11%	56.95%	57.79%
		lower	80.24%	69.43%	70.23%	74.44%
	head-on	higher	77.78%	45.90%	80.38%	57.73%
		same	75.41%	37.10%	60.26%	49.73%
		lower	72.00%	48.65%	73.47%	58.06%
	crossing	higher	81.88%	100.00%	88.69%	90.04%
		same	86.15%	100.00%	91.55%	92.56%
		lower	81.29%	100.00%	88.29%	89.68%
ocean with clear sky	close-in	higher	96.80%	58.45%	71.79%	72.89%
		same	94.57%	42.44%	61.32%	58.59%
		lower	95.56%	63.86%	75.00%	76.56%
	head-on	higher	89.66%	47.27%	89.26%	61.90%
		same	88.64%	42.39%	79.21%	57.35%
		lower	77.50%	43.06%	82.27%	55.36%
	crossing	higher	94.92%	100.00%	97.35%	97.39%
		same	95.69%	100.00%	97.77%	97.80%
		lower	94.69%	100.00%	97.29%	97.27%
mountains with clear sky	close-in	higher	60.33%	82.22%	63.40%	69.59%
		same	60.13%	82.88%	67.48%	69.70%
		lower	65.87%	85.94%	70.12%	74.58%
	head-on	higher	61.40%	92.11%	81.75%	73.68%
		same	60.94%	95.12%	79.85%	74.29%
		lower	65.12%	93.33%	85.71%	76.71%
	crossing	higher	68.94%	100.00%	75.85%	81.62%
		same	71.52%	100.00%	77.94%	83.39%
		lower	67.66%	100.00%	74.65%	80.71%
mountains with clouds	close-in	higher	62.30%	72.15%	59.35%	66.86%
		same	65.67%	71.54%	66.25%	68.48%
		lower	65.05%	81.76%	66.42%	72.46%
	head-on	higher	67.65%	79.31%	90.17%	73.02%
		same	67.27%	80.43%	83.93%	73.27%
		lower	73.91%	80.95%	87.73%	77.27%
	crossing	higher	71.33%	100.00%	77.47%	83.27%
		same	72.55%	100.00%	78.13%	84.09%
		lower	71.15%	100.00%	76.92%	83.15%