UAV Landing Trajectory Control Under Rotor and Avionics Battery Limits
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Solution Overview
Problem
Existing unmanned aerial vehicles (UAVs) with vertical-lift rotors face challenges in safely navigating to a landing site after propulsion system failure, as existing solutions do not effectively manage energy and time constraints for both avionics and rotor systems, potentially leading to unsafe landing scenarios.
Innovation Solution
A controller system on the UAV determines energy and time constraints based on remaining battery life and uses a rotor edgewise inflow model to evaluate glide descent and rotor-powered flight trajectories, selecting an alternative landing site if the estimated energy and time requirements exceed these constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the UAV uses rotor-powered flight to reach a distant landing site, then the landing site options increase, but the energy consumption increases and may exceed battery life
Solution Approach 1:
The system dynamically adjusts the flight trajectory by transitioning between glide and rotor-powered flight modes based on real-time energy constraints and landing site requirements, optimizing the balance between adaptability and energy consumption
Solution Approach 2:
The system changes flight parameters (altitude, speed, rotor power) to switch between glide and rotor-powered modes, allowing the UAV to reach diverse landing sites while managing energy consumption within battery limits
2Loss of time
If the UAV uses rotor-powered flight to reach a landing site quickly, then the time to land decreases, but the energy consumption increases and may exceed battery life
Solution Approach 1:
The system uses periodic transitions between glide and rotor-powered flight phases, alternating between energy-efficient glide and faster rotor-powered segments to optimize the time-energy tradeoff
Solution Approach 2:
The system dynamically adjusts rotor power output and flight speed based on real-time energy constraints, transitioning between different flight modes to minimize time to land while staying within battery energy limits
3Use of energy by moving object
If the UAV relies only on glide descent, then energy consumption is minimized, but the ability to reach certain landing sites or control descent is limited
Solution Approach 1:
The flight path is segmented into multiple phases combining glide and rotor-powered flight, allowing the UAV to minimize energy consumption during glide segments while using rotor power only when necessary to reach specific landing sites or gain control
4Adaptability or versatility
If the UAV calculates multiple trajectory options, then the ability to find a suitable landing site improves, but the computational complexity and time increase
Solution Approach 1:
The system uses onboard sensors and embedded algorithms to autonomously evaluate multiple trajectory options and select the optimal landing site, performing self-assessment of energy constraints and trajectory feasibility without external intervention
Data Source
AI summary
In an example, an unmanned aerial vehicle (UAV) is disclosed, which includes an avionics system, a propulsion system, vertical-lift rotors, and a controller. The controller performs operations including, in response to detecting loss of operation of the propulsion system, determining energy and time constraints based on (i) a remaining avionics battery life and (ii) a remaining rotor battery life. The operations also include using a rotor edgewise inflow model stored on the controller, evaluate parameters for a glide descent trajectory and subsequent rotor-powered flight trajectory to a candidate landing site, to determine whether, based on evaluation of the parameters, an estimated energy consumption during the rotor-powered flight trajectory and time needed for the UAV to land at the candidate landing site exceed the constraints. The operations also include in response to determining that the estimated energy consumption and time needed exceed the energy and time constraints, selecting an alternative candidate landing site.