Persistence through Reliable Perching (PEP)

小型无人机系统（SUAS）具有体积小、重量轻的优点，便于终端用户携带并快速部署到不同的场景中。然而，多旋翼、电池供电的SUAS通常具有约20分钟的续航力。相比之下，SUAS的常见要求是持续数小时或更长时间。Swarm Systems正在开发一种基于Nano四旋翼平台（200 g以下）的飞行双筒望远镜产品，以满足日益增长的市场需求。客户特别要求一种栖息和凝视的能力来实现持久性。然而，使用现有技术栖息是非常偶然的。这种通过可靠栖息（PEP）的持久性建议的目标是实现超过99%的可靠性栖息在毫无准备的，户外地点在具有挑战性的天气条件下，并再次起飞。PEP的研究方法包括：增加新的被动和主动传感器，从现有传感器的组合创建软传感器，研究一种新的自动中止使用“内部模型的干扰”技术和创新的起落架设计，包括多表面夹持。特别是，拉夫堡团队将负责开发新的“中止”飞行控制功能，使SUAS能够在存在外部干扰（如阵风或与障碍物接触）的情况下从不成功的停留中恢复。基于四旋翼内部模型的干扰观测器将被设计为一个“软”传感器，以提供对作用在机身上的异常外力的估计。然后，估计值将被输入决策者以触发“中止”飞行模式，其中将设计和优化专用飞行控制器以执行此机动。PEP项目管理将通过对栖息地类型和天气条件的分析来指导。该项目的最后1/3将集中在改进测试证明可靠性差的地方。拉夫堡团队将使用其世界领先的室内飞行测试设施（使用Vicon系统）来验证其算法，并帮助将不同算法集成到Swarm System的Nano四旋翼机中。一个商业目标是为Swarm Systems产品增加一个关键的新功能，使其能够赢得出口订单。

Small Unmanned Aerial Systems (SUAS), enjoying the advantage of small size and low-weight, can be easily carried by end-users and rapidly deployed into different scenarios. However, multi-rotor, battery powered SUAS usually have the endurance of around 20 mins. In contrast, a common request for SUAS is the persistence of hours or more. Swarm Systems is developing a product for the growing market need of flying binoculars based on a Nano quadrotor platform (under 200g). Customers are specifically asking for a perch and stare capability to achieve persistence. However, perching using existing technology is very hit and miss. This Persistence through Reliable Perching (PEP) proposal has a goal of achieving greater than 99% reliability in perching on unprepared, outdoor locations in challenging weather conditions and taking off again. The PEP research approach includes: adding new passive and active sensors, creating soft sensors from combinations of existing sensors, researching a novel automatic abort using 'disturbance from internal model' techniques and innovating undercarriage design including multi-surface gripping. In particular, the Loughborough team will be responsible to develop the novel 'abort' flight control function to enable the SUAS to recover from unsuccessful perching in the presence of external disturbances such as wind gusts or contact with obstacles. A disturbance observer based on the quadrotor's internal model will be designed as a 'soft' sensor to provide estimates on abnormal external forces acting on the airframe together with normal sensors. The estimates will then be fed into a decision-maker to trigger the 'abort' flight mode, where a dedicated flight controller will be designed and optimised to perform this maneuver. PEP project management will be led by an analysis of perching ground types and weather conditions. The final 1/3 of the project will be focused on improving where testing proves that reliability is poor. The Loughborough team will use its world leading indoor flight test facility (using Vicon system) to verify its algorithm and help the system integration of different algorithms into Swarm System's Nano quadrotor. A commercial goal is to add a key new capability to Swarm Systems product, enabling it to win export orders.