Autonomous Airdrop Systems Employing Ground Wind Measurements for Improved Landing Accuracy

作者：Cacan Martin R^*; Scheuermann Edward; Ward Michael; Costello Mark; Slegers Nathan

来源：IEEE/ASME Transactions on Mechatronics, 2015, 20(6): 3060-3070.

DOI：10.1109/TMECH.2015.2405851

• Anemometer
• autonomous
• guided airdrop
• landing accuracy
• parafoil
• payload
• wind estimation
• wind profile

Aerial cargo delivery, also known as airdrop, systems are heavily affected by atmospheric wind conditions. Guided airdrop systems typically employ onboard wind velocity estimation methods to predict the wind in real time as the systems descend, but these methods provide no foresight of the winds near the ground. Unexpected ground winds can result in large errors in landing location, and they can even lead to damage or complete loss of the cargo if the system impacts the ground while traveling downwind. This paper reports on a ground-based mechatronic system consisting of a cup and vane anemometer coupled to a guided airdrop system through a wireless transceiver. The guidance logic running on the airdrop system's onboard autopilot is modified to integrate the anemometer measurements at ground level near the intended landing zone with onboard wind estimates to provide an improved, real-time estimate of the wind profile. The concept was first developed in the framework of a rigorous simulation model and then validated in the flight test. Both simulation and subsequent flight tests with the prototype system demonstrate reductions in the landing position error by more than 30% as well as a complete elimination of potentially dangerous downwind landings.

• 出版日期2015-12