Improvements and Detailed Evaluation of Ground Obstacle Position, Size and Orientation Estimation⁎⁎This paper was supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. The research presented in this paper was funded by the Higher Education Institutional Excellence Program.

This paper improves and evaluates in detail a previous work of the author dealing with position, size and orientation estimation of fixed ground obstacles in aircraft sense and avoid. The improvement is the better conditioning of the system of equations by the shift of one known variable. Detailed evaluation means Monte-Carlo simulation and comparison of the disc and line-based parameter estimation methods considering also non-straight own aircraft trajectories. This is the focal point of the article as only straight trajectory results were compared until now. The mean estimation errors (in percentages) and their standard deviations with the two different methods are compared. Finally, the line-based method was better applicable for rectangular objects as expected.