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The increased use of Unmanned Aerial Vehicles (UAVs) leads to an increasing number of airspace users, especially in low-level airspace. Many conflicts and several mid-air collisions show the high risk. Even small UAV are hazardous to manned aircraft and can cause severe damage. While UAV pilots can monitor the UAV when flying within Visual Line of Sight (VLOS), many commercial applications require Beyond Visual Line of Sight (BVLOS) operations, where an assisting technical system or Airspace Observer (AO) is required. AOs struggle in providing accurate traffic and conflict information and no common standard on a display to enable BVLOS operations without an AO exists. Further, UAV operations face many airspace restrictions during operation. This dissertation proposes a new BVLOS flight guidance system for UAV pilots based on the transmitted camera view of the UAV to answer three identified research questions. The system is intended to provide the UAV pilot with sufficient traffic and airspace awareness to safely perform BVLOS missions without the need for AOs. Two BVLOS displays are designed using an user-centered design approach. The External 2D Display (E2DD) serves as retrofit with an existing Ground Control Station (GCS) and the Integrated Camera View Display (ICVD) as clean-sheet design. An online preference study is conducted to gather early user input for the design. E2DD and ICVD provide traffic, conflict, maneuver, and airspace information in three operating modes: Normal, Caution and Warning. Both displays use color-coded bands for maneuver guidance and Closest Point of Approach (CPA) information to depict conflicts. The ICVD highlights traffic inside the camera view when visible and shows airspace restrictions in 3D. The BVLOS displays are implemented in a simulation environment using the X-Plane 12 flight simulator. Hypotheses are formulated regarding the usability of the traffic displays, the potential to replace AOs, and the depiction of airspace restrictions. The hypotheses are evaluated in a built Human-in-the-Loop (HITL) simulation environment in three studies. First, the Traffic Awareness (TA) of UAV pilots using a BVLOS display is compared to a "perfect" AO. Participants perform a BVLOS mission and report traffic information. Results indicate a more complete TA when using the BVLOS display, especially in multi traffic aircraft scenarios. Second, the usability of the E2DD and ICVD is evaluated against a Baseline Display (BLD) that does not provide traffic information, representing a common GCS. Surveillance and inspection BVLOS missions are performed while a minimum separation from traffic has to be maintained. The BLD does not provide sufficient TA, with significantly more separation losses compared to the BVLOS displays. Objectively, both BVLOS displays provide sufficient TA to safely conduct BVLOS missions, but subjectively the ICVD is preferred by participants. Third, the 2D airspace depiction of the E2DD is evaluated against the 3D depiction of the ICVD. An inspection mission is performed where a minimum separation from traffic has to be maintained, while avoiding airspace violations. The 3D depiction of the ICVD shows no airspace violations, compared to occurred violations in 1/3 of scenarios with the E2DD. Separation losses are similar for both displays. The ICVD is further tested on real UAV hardware showing the feasibility of the concept. Based on the results, the BVLOS flight guidance system can enable BVLOS missions without an AO. The BLD does not provide sufficient TA. The ICVD is subjectively preferred by participants and provides better airspace awareness compared to the E2DD. Recommendations for the future development of the proposed concepts and usage are given.