Unmanned aerial vehicles (UAVs) need to "see and be seen" by manned aircraft for their safe operation. For this purpose, using available Automatic Dependent Surveillance-Broadcast (ADS-B) for all UAVs will not only saturate the 1090 MHz spectrum but will require an extra hardware. To mitigate these issues, we propose a ground based sense and avoid (GBSAA) system to enable coexistence of low altitude UAVs and ADS-B enabled flying vehicles (FVs), i.e., manned aircraft, for avoiding collisions. UAVs transmit their location information via a cellular technology to cloud, and a GBSAA base station accesses the aggregated information to send it to the ADS-B enabled FVs via ADS-B technology. We performed analytical and simulation studies to investigate the ADS-B message collision probability for different network parameters such as number of UAVs and ADS-B enabled FVs. Our study shows that for a collision probability of 0.1 with the lowest ADS-B update interval, GBSAA system can support approximately 10 times more UAVs than ADS-B only system. The proposed GBSAA approach provides a tremendous potential to integrate UAVs into airspace in a scalable manner.