This paper describes a guidance method that enables an unmanned aircraft system (UAS) to fly in close formation with another aircraft along an elliptical path. The method uses a vector field approach combined with vision-based guidance enhancements for controlling UAS flight to achieve an aerial rendezvous. The desired flight path is mathematically defined as the intersection of two surface functions. The paper describes a method for combining vector fields with vision-based guidance that provides both altitude correction and modified flight path commands to keep the target vehicle within the seeker UAS camera field of view. Flight test results are shown to demonstrate the suitability of the method.
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