Autonomous Aerial Vehicle Data Processing for Sink Polar Estimation

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Solution Overview

Problem

Existing methods for autonomous aerial vehicles (UAVs) require multiple precursory flights and post-flight analysis to generate a sink polar, complicating the implementation of autonomous soaring algorithms on off-the-shelf platforms, and fail to effectively utilize thermal updrafts during powered flight.

Innovation Solution

Implementing an algorithm that modifies netto-variometer measurements during flight by characterizing the on-board propeller and using a two-pass filter approach with Extended Kalman Filter (EKF) and Rauch-Tung-Streibel (RTS) smoother, combined with aerodynamic analysis from USAF Stability and Control DATCOM, to generate an accurate sink polar for improved thermal detection during all flight phases.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If multiple precursory flights and post-flight analysis are performed to generate a sink polar, then the accuracy of thermal detection is improved, but the complexity of implementing autonomous soaring algorithms increases

Engineering Contradiction:

Improvethermal detection accuracyVSAvoidalgorithm implementation complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The sink polar is pre-computed offline using historical flight data and aerodynamic analysis before actual autonomous soaring operations. This preliminary computation stores the relationship between airspeed and sink rate in a lookup table, eliminating the need for real-time complex calculations during flight while maintaining high thermal detection accuracy

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Instead of performing complex real-time sink polar analysis during flight, the system creates a simplified copy of the sink polar characteristics through pre-computed lookup tables. These tables capture the essential airspeed-sink rate relationships without requiring the full computational machinery of the original analysis during autonomous operation

Inventive Principle:

Principle #26Copying

2Measurement precision

If traditional sink polar methods are used, then thermal detection during gliding phase is achieved, but thermal detection during powered flight phase is not effective

Engineering Contradiction:

Improvethermal detection capabilityVSAvoidflight phase adaptability

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The enhanced system computes modified netto-variometer measurements that account for propeller effects and power settings, making the thermal detection algorithm universal across both gliding and powered flight phases. The same lookup table approach works for both phases by incorporating power setting corrections

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system modifies the netto-variometer measurement parameters to compensate for propeller-induced airflow effects during powered flight. By adjusting the measurement parameters based on power settings and airspeed, the system adapts the thermal detection capability to work effectively in both gliding and powered phases

Inventive Principle:

Principle #35Parameter changes

3Measurement precision

If real-time netto-variometer calculations are performed during flight, then thermal detection accuracy is improved, but the computational energy consumption increases

Engineering Contradiction:

Improvethermal detection accuracyVSAvoidcomputational energy consumption

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The computationally intensive netto-variometer calculations and sink polar generation are performed offline before flight using historical data and aerodynamic analysis. During actual flight, the system only performs simple lookup table queries and basic corrections, dramatically reducing real-time computational energy consumption while maintaining high thermal detection accuracy

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system replaces complex real-time computational mechanics with pre-computed lookup tables and simplified correction formulas. This substitution trades offline computational effort for minimal online processing, reducing the energy burden on the airborne computer during flight operations

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12417659B2Method of acquiring and processing autonomous aerial vehicle data

Publication Date: 2025.09.16 SHEARWATER AEROSPACE INC

AI summary

A computer implemented method of acquiring and processing autonomous aerial vehicle data comprising obtaining past flight data from an autonomous aerial vehicle; storing the data in a database; conducting netto-variometer calculations to obtain equations to normalize the data; using a filtering technique to normalize the data; storing the equations obtained from the netto-variometer calculations into the database; and using the stored equations and live flight data to generate an optimized sink polar estimate for the autonomous aerial vehicle, wherein the optimized sink polar estimate is to be used in computing netto-variometer during flight.