Hardware Integration of Parachute Guidance, Navigation, and Control for the Affordable Guided Airdrop System (AGAS)

摘要

This study is a continuation of a previous work concerning the Affordable Guided Airdrop System (AGAS), a parachute structure that integrates low-cost guidance and control into fielded cargo air delivery systems. This thesis sought to integrate the previous studies and algorithms into developmental prototypes for test and evaluation (DT&E). Several objectives and tasks were completed in the course of this research and development. A realSim(registered) executable on an Integrated Systems, Incorporated (ISI) AC- 104 real-time controller integrated actual Vertigo(registered), pneumatic muscle actuators (PMAs) into the MATRIX(registered) environment simulation model used in the previous work to validate, analyze and improve the simulation model. A ground station utilizing the model's control algorithms, a downlink of platform position and attitude data, and a Futaba(registered) Pulse Code Modulated uplink demonstrated controlled guidance of a round cargo parachute (G-12). This system evolved as an RS-232 serial control RF modem uplink replaced the PCM signal. After evaluating, validating, and improving the algorithms from ground station control the model was written in C-code for incorporation into an autonomous system. The results from the drops were then analyzed again in the MATRIX-X(registered) model to improve the model and further qualitatively evaluate optional control strategies. Conclusions and recommendations for further study were drawn from this project.