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https://link-springer-com.proxy.lib.uwaterloo.ca/article/10.1007/s10846-017-0512-y

Looking specifically at the middle level control and high level control section, there are several points of interest.

To get a better landing algorithm, we may be interested in the section on Proportional Guidance Law on pg 626. We can create a waypoint from which we find the ideal glide path from the drone. We will need a waypoint as the touchdown point, the drone’s altitude, an chosen descent angle and distance to touchdown point. Once we have a glide path, we can find the error between the drone’s current altitude and the altitude of the glide path. We adjust the descent angle to reduce the error.

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Formulas and Terms we may want to consider

Ideal glide path: = linear path determined by some predetermined descent angle

Ideal altitude: h_ideal(x) = h_d + x * tan(η) where h_ideal() is the desired altitude, h_d is our initial descent altitude and η is the predetermined descent angle at any point on x

Proportional Guidance Law:

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where:

h_d is initial descent altitude

h is the drone’s current altitude

η is the predetermined descent angle

ϵ is the parameter that controls how quickly the aircraft converges onto the ideal path

• Given by

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• where

  • T is the touchdown point

  • P1 is projection of the drone directly below the ideal path

  • P2 a future point on the path shortly ahead of P1

https://liu.diva-portal.org/smash/get/diva2:1055556/FULLTEXT01.pdf

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