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Controlled Flight Into Terrain (CFIT) is reported as a major cause of today's aircraft accidents. To mitigate these accidents, Predictive Ground Collision Avoidance System (PGCAS) has been used since the mid-70s. In PGCAS algorithm, however, relatively large safety margin for the terrain searching pattern could cause some drawbacks such as nuisance alarms or unnecessary pull-up commands during a tactical...
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