An Automated Emergency Landing System for Fixed-Wing Aircraft: Planning and Control

摘要

A number of hurdles must be overcome in order to integrate unmanned aircraft into civilian airspace for routine operations. The ability of the aircraft to land safely in an emergency is essential to reduce the risk to people, infrastructure, and aircraft. To date, few field-demonstrated systems have been presented that show online replanning and repeatability from failure to touchdown. This paper presents the development of the guidance, navigation, and control (GNC) component of an automated emergency landing system (AELS) intended to address this gap, suited to a variety of fixed-wing aircraft. Field-tested on both a fixed-wing unmanned aerial vehicle (UAV) and Cessna 172R during repeated emergency landing experiments, a trochoid-based path planner computes feasible trajectories, and a simplified control system executes the required maneuvers to guide the aircraft toward touchdown on a predefined landing site. This is achieved in zero-thrust conditions with engine forced to idle to simulate failure. During an autonomous landing, the controller uses airspeed, inertial, and GPS data to track motion and maintains essential flight parameters to guarantee flyability, while the planner monitors glide ratio and replans to ensure approach at correct altitude. Simulations show reliability of the system in a variety of wind conditions and its repeated ability to land within the boundary of a predefined landing site. Results from field-tests for the two aircraft demonstrate the effectiveness of the proposed GNC system in live operation. Results show that the system is capable of guiding the aircraft to close proximity of a predefined keyhole in nearly 100% of cases.