Six Degree of Freedom Simulation and Hybrid Guidance of Parafoil-Payload Systems Considering Wind and Terrain Constraints

In this paper, a hybrid guidance method is proposed for the precise landing of parafoil-payload systems in the presence of wind and terrain constraints. In this respect, a precise 6-DoF simulator is presented considering apparent mass effects. The hybrid guidance method consists of trajectory optimization in the coming phase and     T-approach guidance in the height management and landing phases. In order to realize accurate homing to the waypoints obtained from the hybrid guidance method, proportional navigation guidance is proposed. To compensate for the adverse effects of wind on the accuracy of landing, the method of recursive least squares for wind identification is provided using GPS data. In order to evaluate the performance of T-Approach guidance that determines the landing accuracy in the hybrid guidance method, a Monte-Carlo analysis with noisy GPS data, errors in wind estimation, turbulence and uncertainty in the dynamics of the system is performed. The results of this analysis have shown high landing accuracy.