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Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operatingautonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounterwinds rising to levels near or exceeding the vehicles' nominal airspeed. Inthis paper, we develop a nonlinear lateral-directional path following guidancelaw with explicit consideration of online wind estimates. Energy efficientairspeed reference compensation logic is developed for excess wind scenarios(i.e. when the wind speed rises above the airspeed), enabling eithermitigation, prevention, or over-powering of excess wind induced run-away from agiven path. The developed guidance law is demonstrated on a representativesmall, low-speed test UAV in two flight experiments conducted in mountainousregions of Switzerland with strong, turbulent wind conditions, gusts reachingup to 13 meters per second. We demonstrate track-keeping errors of less than 1meter consistently maintained during a representative duration of gusting,excess winds and a mean ground speed undershoot of 0.5 meters per second fromthe commanded minimum forward ground speed demonstrated in over 5 minutes ofthe showcased flight results.

On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds