Aircraft tow system
View Patent ↗Disclosed is an unmanned, autonomous, cargo transport system comprising at least one towed aircraft coupled to a tractor aircraft for inflight towing.
1. An autopilot system for a towed aircraft, comprising:
a non-transitory memory located in the towed aircraft, wherein the towed aircraft is an unmanned autonomous towed aircraft that is connected to a tractor aircraft by at least one towing element, and wherein the towed aircraft includes a body with wings positioned on opposing sides of the body; and
a processor located in the towed aircraft and coupled to the non-transitory memory, wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to:
receive, from a sensor system, flight parameters including relative positions of the towed aircraft and the tractor aircraft;
autonomously control taxing, takeoff, flight, and landing of the towed aircraft;
maintain, based at least in part on the received flight parameters, positions of the towed aircraft and the wings with respect to the tractor aircraft at specified positions for positive energy wake gain above a turbulence vortex produced by the tractor aircraft during flight; and
control the position of the towed aircraft with respect to the tractor aircraft, at least in part, by adjusting of a length of the at least one towing element.
2. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to adjust the length of the at least one towing element based on one or more of the following received flight parameters: flight state, environmental conditions, tractor aircraft weight, towed aircraft weight, and tension in the at least one towing element.
3. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to: shorten the length of the at least one towing element for taxiing, lengthen the length of the at least one towing element for landing, and vary the length of the at least one towing element inflight to improve flight performance.
4. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to adjust the length of the at least one towing element based on a measured magnitude and/or direction of tension in the at least one towing element.
5. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control a speed of the tractor aircraft to improve flight performance.
6. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control the towed aircraft based on, at least in part, a weight of cargo in the towed aircraft.
7. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control the towed aircraft in relation to an additional towed aircraft coupled to the towed aircraft or to the tractor aircraft.
8. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control disconnection of the at least one towing element between the towed aircraft and the tractor aircraft inflight.
9. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control the towed aircraft for autonomous landing when the towed aircraft is separated from the tractor aircraft.
10. The autopilot system of claim 1 , wherein the autopilot system includes one or more optical sensors positioned to detect a position and an orientation of the tractor aircraft, and wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to:
implement at least one computer vision algorithm to track a position and an orientation of the towed aircraft relative to the tractor aircraft based on the position and the orientation of the tractor aircraft detected by the optical sensors.
11. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control steering and inflight maneuvering of the towed aircraft.
12. The autopilot system of claim 11 , wherein the inflight maneuvering is controlled based on inflight parameters of the tractor aircraft and/or the towed aircraft.
13. The autopilot system of claim 1 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to control transfer of power from the towed aircraft to the tractor aircraft in flight.
14. The autopilot system of claim 13 , wherein the processor is configured to read instructions from the non-transitory memory to cause the autopilot system to generate power by one or more ram air turbines within the towed aircraft.
15. A method for controlling flight of a towed aircraft, comprising:
receiving, at a computer processor located in the towed aircraft, flight parameters including relative positions of the towed aircraft and a tractor aircraft from a sensor system, wherein the towed aircraft is an unmanned autonomous towed aircraft that is connected to the tractor aircraft by at least one towing element, and wherein the towed aircraft includes a body with wings positioned on opposing sides of the body;
autonomously controlling, by the computer processor, taxing, takeoff, flight, and landing of the towed aircraft;
maintaining, by the computer processor and based at least in part on the received flight parameters, positions of the towed aircraft and the wings with respect to the tractor aircraft at specified positions for positive energy wake gain above a turbulence vortex produced by the tractor aircraft during flight; and
controlling, by the computer processor, the position of the towed aircraft with respect to the tractor aircraft, at least in part, by adjusting of a length of the at least one towing element.
16. The method of claim 15 , further comprising adjusting, by the computer processor, the length of the at least one towing element based on a measured magnitude and/or direction of tension in the at least one towing element.
17. The method of claim 15 , further comprising controlling, by the computer processor, steering and inflight maneuvering of the towed aircraft.
18. The method of claim 15 , wherein the at least one towing element is a cable coupled between a first releasable cable connection system on the towed aircraft and a second releasable cable connection system on the tractor aircraft.
19. A non-transitory machine-readable medium having stored thereon machine-readable instructions executable to cause a machine on a towed aircraft to perform operations comprising:
receiving, at the towed aircraft, flight parameters including relative positions of the towed aircraft and a tractor aircraft from a sensor system, wherein the towed aircraft is an unmanned autonomous towed aircraft that is connected the tractor aircraft by at least one towing element, and wherein the towed aircraft includes a body with wings positioned on opposing sides of the body;
autonomously controlling taxing, takeoff, flight, and landing of the towed aircraft;
maintaining, based at least in part on the received flight parameters, positions of the towed aircraft and the wings with respect to the tractor aircraft at specified positions for positive energy wake gain above a turbulence vortex produced by the tractor aircraft during flight; and
controlling the position of the towed aircraft with respect to the tractor aircraft, at least in part, by adjusting of a length of the at least one towing element.
20. The non-transitory machine-readable medium of claim 19 , wherein the instructions include instructions for the machine to control steering and inflight maneuvering of the towed aircraft.