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 (DTandE). Several objectives and tasks were completed in the course of this research and development. A RealSimR executable on an Integrated Systems, Incorporated (ISI) AC-104 real-time controller integrated actual VertigoR, pneumatic muscle actuators (PMAs) into the MATRIX-XE environment simulation model used in the previous work to validate, analyze and improve the simulation model. A ground station utilizing the modelƦs control algorithms, a downlink of platform position and attitude data, and a FutabaR 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_XR model to improve the model and further qualitatively evaluate optional control strategies. Conclusions and recommendations for further study were drawn from this project.