Abstract: A warning system for predicting collision between two or more relatively moving objects, comprising a position determination element for determining at a predetermined frequency for each one of the objects a respective location in space relative to a fixed frame of reference so as to produce successive frames of positional data for each object and a memory element coupled to the position a determination element for storing the successive frames of positional data. A path analysis element is coupled to the memory element and is responsive to successive respective locations of each of the objects for computing a trajectory for each object relative to the fixed frame of reference while an intersection analysis element coupled to the path analysis element and responsive to each one of the computed trajectories predicts whether two or more trajectories will intersect. A warning element is coupled to the intersection analysis element for warning respective ones of the objects of an impending collision.