| Max Hartmann |
Research Associate, RWTH Aachen University, Institute of Flight System Dynamics, 52056, Aachen, Germany. | | Nicolai Voget |
Research Engineer, flyXdrive GmbH, 52074, Aachen, Germany. | | Sebastian Seitz |
Chief Engineer, RWTH Aachen University, Institute for Flight System Dynamics, 52062, Aachen, Germany. | | Dieter Moormann |
Head of Institute, RWTH Aachen University, Institute for Flight System Dynamics, 52062, Aachen, Germany. |
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| Abstract:
Long-range unmanned flights beyond visual line of sight pose multiple challenges on planning and execution of flight missions. For example, topography, transitions between geographical zones each with different height limitations, or limits defined in the operational authorization might yield to highly varying elevation. All this has to be considered during mission planning. Additionally, a high degree of automation is needed for this planning in order to complete a vast amount of flights within a limited time. In order to accomplish these challenges, we present a toolchain of methods that converts externally provided waypoints into a flyable trajectory respecting the aircraft's flight envelope as well as position dependent restrictions. Due to the wind dependency of trajectory planning we split the toolchain into both a pre-flight and an in-flight process. Given a list of 2D waypoints, the pre-flight process calculates a 2D flight path. Then, area-based restrictions are applied to the flight path, resulting in a height corridor and speed limits coupled to the flight path progress. Based on a given list of points of interest, sections of the path are calculated on which special actions (e.g. activating payload equipment) will be triggered to fulfill the mission. During flight, receding horizon control is used to convert the restricted flight path into a trajectory with fixed speed and altitude profiles.
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View PDF CEAS-GNC-2024-096