Long line loiter apparatus, system, and method

An apparatus to control a load suspended from a carrier by a long line, the apparatus comprising:

• a load control system comprising a fan array and a first sensor suite configured to obtain a first state information regarding a first position, a first motion, and a first orientation of the load control system;
• a hoist and a second sensor suite fastened to the carrier, wherein the hoist is to control a length of the long line extending from the hoist to the load control system and is to obtain a physical information regarding the long line extending from the hoist to the load control system and wherein the second sensor suite is to obtain a second state information regarding a second position, motion, and orientation of the carrier;
• a computer processor and a memory;
• and wherein the memory comprises a data fusion module and an operational module, the data fusion module comprising a system model representing the load control system, the carrier, and the long line;
• wherein
• the computer processor is configured to execute the data fusion module to determine:
• a characteristics of a state of the load control system, the carrier, and the long line over time, and determine a response time among the characteristics of the state of the load control system, the carrier, and the long line over time;
• and execute the operational module and, based at least in part on the response time among the characteristics of the state of the load control system, the carrier, and the long line over time, control the fan array and the hoist, and output a navigation instruction to the carrier to influence one or more of the first position, the first motion, and the first orientation of the load control system relative to an objective.