Table A1.

Ref. [54] simulation results.

Environment	Airprox Scenario	Obstacle Altitude	Precision	Recall	Accuracy	F-Score
ocean with clouds	close-in	higher	62.84%	65.03%	58.82%	63.92%
		same	70.86%	68.59%	66.06%	69.71%
		lower	68.24%	69.18%	64.48%	68.71%
	head-on	higher	72.58%	60.00%	72.51%	65.69%
		same	75.86%	57.89%	70.89%	65.67%
		lower	79.37%	51.02%	67.03%	62.11%
	crossing	higher	77.56%	80.13%	71.98%	78.83%
		same	74.84%	75.80%	67.90%	75.32%
		lower	71.10%	75.46%	65.25%	73.21%
ocean with clear sky	close-in	higher	82.76%	73.17%	71.25%	77.67%
		same	84.55%	72.66%	75.93%	78.15%
		lower	82.09%	80.29%	77.03%	81.18%
	head-on	higher	75.00%	49.45%	74.48%	59.60%
		same	64.52%	57.97%	73.85%	61.07%
		lower	64.71%	70.97%	78.46%	67.69%
	crossing	higher	75.00%	78.95%	69.86%	76.92%
		same	69.93%	71.81%	63.33%	70.86%
		lower	79.17%	81.20%	74.59%	80.17%
mountains with clear sky	close-in	higher	82.39%	92.13%	85.11%	86.99%
		same	81.40%	92.92%	85.45%	86.78%
		lower	84.09%	88.10%	82.80%	86.05%
	head-on	higher	82.61%	92.68%	94.18%	87.36%
		same	83.33%	91.67%	90.36%	87.30%
		lower	81.13%	70.49%	84.36%	75.44%
	crossing	higher	83.94%	99.14%	89.59%	90.91%
		same	88.98%	99.12%	92.89%	93.78%
		lower	85.40%	98.32%	90.09%	91.41%
mountains with clouds	close-in	higher	96.85%	99.19%	97.88%	98.01%
		same	95.58%	98.18%	96.86%	96.86%
		lower	95.65%	97.78%	96.39%	96.70%
	head-on	higher	95.92%	87.04%	96.96%	91.26%
		same	91.18%	92.54%	95.69%	91.85%
		lower	91.76%	96.30%	96.54%	93.98%
	crossing	higher	72.56%	99.17%	83.75%	83.80%
		same	73.51%	98.23%	84.39%	84.09%
		lower	72.22%	99.15%	83.21%	83.57%