The integration of Unmanned Aerial Vehicles (UAVs) into civil airspace requires new methods of ensuring collision avoidance. Concerns over command and control latency, vehicle performance, reliability of autonomous functions, and interoperability of sense-and-avoid systems with the Traffic Alert and Collision Avoidance System (TCAS) and Air Traffic Control must be resolved. This paper describes the safety evaluation process that the international community has deemed necessary to certify such systems. The process focuses on a statistically-valid estimate of collision avoidance performance developed through a combination of airspace encounter modeling, fast-time simulation of the collision avoidance system across millions of encounter scenarios, and system failure and event sensitivity analysis. Example simulation results are provided for an implementation of the analysis process currently being used to evaluate TCAS on the Global Hawk UAV.