小型直升机在不寻常姿态自动着陆的试验
Experiments with small helicopter automated landings at unusual attitudes
摘要：
本文介绍了一组实验，涉及小型直升机着陆自动着陆在不寻常的态度。通过利用小型飞行器的灵活性，我们证明了可以在倾斜角度高达60度的表面上自动降落小型直升机。这种机动要求飞行器及其航空电子系统具有相当大的灵活性，并且它们提出了重大的技术和安全挑战。我们的工作建立在以前的活动，在人类的启发，高敏捷性飞行的小型旋翼机。然而，由于严格的姿态和位置控制要求，不可能利用人工飞行测试数据来提取着陆机动。低成本的可用性，本地导航系统，不需要车载仪器已被证明是特别重要的这些实验是成功的。
英文摘要：
This paper describes a set of experiments involving small helicopters landing automated landing at unusual attitudes. By leveraging the increased agility of small air vehicles, we show that it is possible to automatically land a small helicopter on surfaces pitched at angles up to 60 degrees. Such maneuvers require considerable agility from the vehicle and its avionics system, and they pose significant technical and safety challenges. Our work builds upon previous activities in human-inspired, high-agility flight for small rotorcraft. However, it was not possible to leverage manual flight test data to extract landing maneuvers due to stringent attitude and position control requirements. Availability of low-cost, local navigation systems requiring no on-board instrumentation has proven particularly important for these experiments to be successful.
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