Autonomous payload recovery system

An apparatus for autonomously controlling the glide path and landing of an airborne payload, wherein the payload is coupled to a parafoil, comprising:

• a descent profile management system operable to:
• adjust at least one control surface on the parafoil to control the flight path of the payload;
• and
• adjust an attitude line to control the pitch orientation of the payload before touchdown.

An autonomous air vehicle comprising:

• a navigation system;
• and
• a control system functionally coupled to the navigation system, wherein the control system includes instructions operable to:
• determine when the air vehicle is in the vicinity of a predetermined recovery area based on information from the navigation system;
• deploy a parafoil when the air vehicle is in the vicinity of the recovery area, wherein the parafoil is coupled to the air vehicle with a quick release buckle to release at least a portion of the parafoil upon landing, and the parafoil includes a control line coupled to the control system;
• control the parafoil to descend and land substantially near the recovery area;
• and
• adjust a pitch attitude line to change the pitch orientation of the air vehicle.

A system for autonomously controlling the glide path and flare landing of a parafoil to recover an airborne payload, comprising:

• a processor;
• sensor means coupled to communicate with the processor, wherein the processor is operable to:
• determine at least one of the group of:
• wind speed, wind direction, altitude, heading, and position of the payload based on information from the sensors;
• control the pitch attitude orientation of the payload;
• and
• determine adjustments to brake lines on the parafoil to execute a glide flight profile, a flare, and stall of the parafoil to land the payload.

A payload recovery system comprising:

• a navigation system;
• and
• a control system functionally coupled to the navigation system, wherein the control system includes instructions operable to:
• steer the payload to the vicinity of a recovery area;
• deploy a parafoil, wherein the parafoil is coupled to the payload with a release mechanism to release at least a portion of the parafoil upon landing;
• adjust a control line coupled to the parafoil to control the descent profile of the payload;
• and
• adjust an attitude control line to change the pitch attitude orientation of the payload.

A method for recovering a payload, the method comprising:

• deploying a parafoil coupled to the payload;
• adjusting at least one control surface on the parafoil to control the descent of the payload;
• executing a spiral descent until the payload is within a determined height above ground;
• adjusting the pitch orientation of the payload to avoid impacting the ground with the front portion of the payload on touchdown;
• flaring the parafoil to slow the descent rate of the payload;
• and
• stalling the parafoil when the payload is within a second height above the ground.