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The work presents the first results of the research activity conducted at University of Padova to develop a remotely controlled parawing system designed to serve as emergency landing device for UAVs. A prototype of the designed system has successfully completed development and has undergone flight testing with airdrop campaigns from an octocopter drone. The prototype, comprising a reduced dimension parawing and flight systems based on commercial off the shelf units, has been carried at test altitude using a dedicated flight chain and released using a custom designed mechanism. Parawing can afterwards be controlled by pulling down the left or right trailing edge of the canopy with two custom designed actuators, activated by manually operated remote controls. The parawing flight control system is based on a Beaglebone command and data management unit, commercial IMU and GPS sensors for attitude and trajectory data and servo motors for actuation of parawing’s control lines. A total of 10 drop test where conducted in a one-day test campaign and the data measured by on board sensors have been used to verify parawing control performance and to validate the dynamical model of the parawing, which is an 8 d.o.f. dynamical model. A problem on GPS sensor prevented data utilization for descent trajectory reconstruction, so an integrated approach using IMU data elaboration and dynamical model simulation was implemented to reconstruct the descent profile. The system attitude during descent phases and simulation of commanded manoeuvres was qualitatively compared with images acquired from ground.

Dynamical Model of a Controlled Parawing for Drop Tests Trajectory Reconstruction