Research on key problems in assigned-point recovery of UAV using parachute

Analyzing the recovery process of UAV via parachute, three key issues are concluded and studied: modeling of UAV-Parachute system, estimation of wind field and the control strategy for recovery, in which the first and the last are researched mainly. Spring of the rope is introduced to the UAV-Parachute model to reflect the attitudes of UAV and tensile forces of ropes in the process, Kalman filter is used to estimate the wind field, in the control strategy, realizability and robustness to wind-field are mainly taken account for. Taking uncertainty of wind field and random navigation error into consideration, Monte-Carlo simulation is performed for 30 times, and the Circular Error Probability (CEP) is 8.23m, which reveals satisfactory accuracy and robustness of the solution proposed.