Browse Topic: Unmanned aerial vehicles

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Target Positioning Method for Unmanned Aerial Vehicle Tracking Based on Beidou2026-99-2353To be published on 10/30/2026
In order to support successful tracking and monitoring tasks in different environments, drones need to quickly and accurately identify targets. This paper studies a drone combat target positioning method, with a focus on the BeiDou satellite navigation system and its performance under different environmental conditions. A complete system has been designed, including flight control system, environmental sensors, data transmission and processing system, aiming to achieve precise positioning and target tracking of unmanned aerial vehicles. This paper uses on-site testing to explain the coverage range and stability positioning accuracy of ranging signals in different environments. Experimental data shows that the BDS system has good positioning error performance for unmanned aerial vehicles, with an average error of 46.52 cm. BDS positioning time is usually short, with a maximum positioning time of 780ms and a minimum positioning time of 224ms. However, the BDS system still needs improvement in terms of dynamic environmental adaptability, multi-target tracking, anti-interference ability, and adaptability to harsh environmental conditions. Future work will focus on algorithm optimization, hardware technology improvement, and data security to enhance system performance.
Tao, Zhiping, Zhang, Chenghao, Hou, Bo, Song, Juan, Yuan, Peng, Liu, Xianyang
Optimization Method for UAV Scheduling Based on Beidou2026-99-2352To be published on 10/30/2026
Currently, UAVs are increasingly used in remote sensing monitoring, logistics and distribution, emergency rescue and recreational aerial photography, etc., which puts higher requirements on wireless networks, i.e., how to allocate limited wireless resources in real-time, efficiently and fairly to ensure that a large number of UAVs can work together in complex environments and maintain high-quality communication services. This paper investigates an optimisation method for UAV scheduling based on the BeiDou satellite navigation system, which improves the accuracy and efficiency of UAV mission execution by utilising the high-precision positioning and time synchronisation services provided by the BeiDou system. The results of the experiment showed that as the number of missions increased from 10 to 50, the average mission completion time increased from 8.3 to 12.5 minutes, the average speed increased from 30 to 34 km/h, the average energy consumption increased from 0.8 to 1.2 kWh, the average distance flown increased from 12 to 22 km, the communication success rate decreased slightly from 99.2 to 98.2%, the resource utilization rate increased from 85.1% to 87.5%. These results show that the method performs well in terms of task completion time, energy consumption, communication success rate and resource utilisation, which provides strong support for the application of UAVs in the fields of logistics and distribution, emergency rescue, and so on.
Ji, Hongbin, Jiang, Kexin, Zhang, Dongxue, Bai, Yanhui, Liu, He, Zhang, Shuangna
A Threshold-Constrained Extended Kalman Filter for TDOA-Based UAV Localization2026-99-2348To be published on 10/30/2026
Time Difference of Arrival (TDOA) combined with the Extended Kalman Filter (EKF) is a widely used approach for dynamic target localization. However, in practical UAV localization scenarios, the EKF may suffer from divergence caused by nonlinear measurement characteristics, initialization errors, and measurement disturbances. To improve the robustness of EKF-based TDOA localization, this paper proposes a threshold-constrained EKF method, in which the velocity components of the updated state are limited within a physically reasonable range. The proposed strategy suppresses abnormal state updates and improves tracking stability under noisy conditions. Simulation results under straight, square, and circular trajectories, as well as outdoor experiments with real UAV signal data, show that the proposed method achieves better localization accuracy than the conventional TDOA-EKF. In the real-world tests, the mean localization error is reduced by 38.31% and 74.36% for two flight paths, respectively. The proposed method provides a simple and practical way to improve the robustness of TDOA-based UAV localization.
Lv, Zhenbin, Li, Yingying, Shen, Huaming, Zhou, Haosu, Wang, Anping, Zou, Weiwen
Hybrid TDOA/AOA Localization and Tracking Method for Multi-Station Cooperative Passive UAV Detection2026-99-2362To be published on 10/30/2026
To address geometric precision degradation and tracking divergence in single TDOA or AOA systems, this paper proposes a multi-station UAV tracking method integrating TDOA/AOA hybrid localization with nonlinear filtering to overcome precision degradation and tracking divergence in single-sensor systems. A Weighted Least Squares (WLS) method via pseudo-linearization provides reliable initial coordinate estimations, followed by an Unscented Kalman Filter (UKF) for continuous trajectory tracking. Simulations demonstrate that the proposed architecture eliminates network blind zones and robustly handles abrupt target maneuvers. Compared to the standard EKF, it rapidly suppresses peak RMSE to ~22 m and achieves a steady-state error of 10-15 m. This approach offers a high-precision, rapidly converging passive tracking solution for urban low-altitude defense.
Shen, Huaming, Wang, Yiting, Lv, Zhenbin, Zhou, Haosu, Lu, Wenbin
A Study on Energy Management Strategies for Range-Extended UAVs Based on A-ECMS2026-99-2333To be published on 10/30/2026
An adaptive equivalent consumption minimization strategy (A-ECMS) is proposed for a hydrogen fuel-cell range-extended UAV hybrid power system composed of a PEM fuel cell, a lithium-ion battery and a supercapacitor. The equivalent factor is updated online by a PID-based SOC feedback mechanism to improve the adaptability of conventional ECMS under variable flight loads. Under the same mission profile and the same initial and terminal SOC constraints, A-ECMS consumes 4.6277 g of hydrogen, reducing hydrogen consumption by 46.90%, 67.51% and 58.42% compared with PID control, conventional ECMS and state-machine control, respectively. Fuel-cell power fluctuation and battery SOC deviation are also reduced.
Li, Mengda, Liu, Zitong
HER-DETR: Lightweight UAV Object Detection Based on High-Frequency Enhancement and Multi-Scale Sparse Fusion2026-99-2336To be published on 10/30/2026
The rapid growth of the low-altitude economy has accelerated the deployment of unmanned aerial vehicle (UAV) technology in a wide range of applications, including power infrastructure inspection and disaster relief operations. These scenarios impose stringent real-time processing demands on onboard vision systems. However, aerial images are characterized by a high density of small and distant targets, which significantly weakens feature representation quality, and current state-of-the-art detection models carry substantial computational overhead that conflicts with the limited hardware resources available on embedded UAV platforms. This paper addresses both challenges simultaneously by proposing a novel lightweight, end-to-end detection framework designated the High-frequency Enhancement Retentive Detection Transformer (HER-DETR). The framework introduces three coordinated technical contributions. First, a lightweight backbone network termed the Cross Stage Partial High-frequency Enhancement Network is constructed. This backbone integrates a cross-stage high-frequency residual enhancement mechanism to alleviate feature attenuation commonly observed in small-target scenarios. Second, a Depthwise Intrascale High-Low Feature Interaction block is designed for intra-scale feature interaction at the highest semantic level, strengthening fine-grained representation through a dual-frequency decoupling strategy. Third, a Retention Feature Fusion module is developed as the core cross-layer feature fusion component, enabling bidirectional multi-scale feature integration via a lightweight sparse attention mechanism. Comprehensive experiments on the VisDrone2019 and HIT-UAV benchmark datasets confirm that HER-DETR achieves state-of-the-art performance. Compared with the RT-DETR-r18 baseline, the proposed framework improves mean average precision at a 0.50 intersection-over-union threshold by 2.0 percentage points on VisDrone2019 and by 1.6 percentage points on HIT-UAV, while simultaneously reducing model parameter count and computational floating-point operations by 41.6% and 35.3%, respectively. These results validate the framework’s capability to balance detection accuracy and computational efficiency for real-time UAV deployment.
Jiao, Minghai, Liang, Yinghan, Zhang, Ende, Kan, Shuang
A Comparative Study on Aerodynamic Characteristics and Stability of Twin-Boom UAVs with Typical Tail Configurations Under Propeller Slipstream Interference2026-99-2365To be published on 10/30/2026
The present study concentrates on aerodynamic behavior and static stability characteristics, and propeller slipstream interference of twin- boom unmanned aerial vehicles (UAVs) with three typical tail configurations. This study adopts a coupled VSPAERO approach, which incorporates a VLM-based solving technique and the Actuator Disk Model. Simulation results under the no-slipstream baseline condition reveal that the inverted V-tail layout delivers the highest aerodynamic efficiency. Its lift/drag ratio is considerably superior to those of the U-tail and inverted U-tail designs. While all configurations maintain good stability in longitudinal and directional axes, only the U- tail exhibits lateral static stability. When propeller slipstream is introduced, the lift-to-drag ratio of all layouts decreases noticeably, mainly due to strong local low-pressure regions that substantially increase pressure drag. In addition, the slipstream has little influence on longitudinal static stability, leaving pitching moment characteristics nearly unchanged. Nevertheless, the swirling flow generated by the propeller effectively improves lateral stability. It enhances the stabilizing effect of the U-tail, turns the lateral instability of the inverted U-tail into stable behavior, and reduces the lateral unstable characteristics of the inverted V-tail. In addition, the findings show that the sideslip angle β’s impact on the yawing moment is affected by the angle of attack α. Coupling between α and β, as well as propeller slipstream, should be considered in directional stability analysis. Increasing propeller diameter appropriately improves aerodynamic efficiency and directional static stability, while placing the propeller at or slightly forward of the baseline position minimizes adverse tail interference.
Wen, Jiayi
Optimal Design and Analysis of Axial Gradient Buffer Structure Based on 2-DOF Flexible Hinge2026-99-2356To be published on 10/30/2026
Conventional unmanned aerial vehicle (UAV) landing gears exhibit deficiencies including severe stress concentration, insufficient cushioning deformation capacity, and inadequate fatigue resistance during the landing impact process, which makes it difficult for them to meet the technical requirements of high-overload buffering conditions. Based on the elastic mechanics theory of the cantilever beam and using a two-degree-of-freedom (2-DOF) flexible hinge as the base, an analytical equation for the rotational stiffness of a 2-DOF flexible hinge in the direction was established. By combining the response surface methodology (RSM), the influence laws of key geometric parameters on the mechanical performance of the hinge were systematically analyzed. The optimal value range of the core structural parameters of this 2-DOF flexible hinge was determined as follows: the radius of the rounded corner R = 2.5 - 3.5 mm, the minimum thickness t = 1.5 - 2 mm, and the width a = 20 - 30 mm. Building on this foundation, an axial gradient columnar buffering structure incorporated with flexible hinges is proposed for the application of UAV landing buffering. Cross-verification between theoretical analysis and finite element simulation shows that the relative errors of structural deformation in each loading direction are merely 1.76% and 1.9%, respectively, which validates the accuracy and reliability of the proposed theoretical model. Parametric studies incorporating transient dynamic analyses under impact loading conditions elucidate that the maximal deflection and peak stress characteristics of the flexible hinge are positively correlated with the drop height and the structural connection angle. The outcomes of this research contribute a foundational theoretical framework and actionable technical support for facilitating the lightweight design and performance enhancement of flexible landing gears within high-load buffering systems of UAV.
Zhang, Qixian, Zhou, Jinhua, Zhang, Dongsheng, Wang, Jiashuai, Yang, Zengliang, Zhang, Yingxue
The Emerging Strategies of Energy Management System for Fuel Cell Hybrid Aircraft in the Low-Altitude Economy2026-99-291910/19/2026
The low-altitude economy has been established as a strategic emerging industry, driving the development of various new aircraft types, including electric vertical take-off and landing (eVTOL) vehicles and industrial unmanned aerial vehicles (UAVs). In this development, proton exchange membrane fuel cell (PEMFC)/lithium-battery hybrid propulsion systems face challenges in balancing fuel economy, stack durability, and implementability under stochastic aerodynamic loads. Six energy management strategies (EMS) are systematically evaluated in this study, namely Thermostat, Fuzzy Logic, State Machine (SM-EMS), Power Following (PF-EMS), Dynamic Programming (DP-EMS), and a proposed load-disturbance-based method (LD-EMS). These strategies are tested on three distinct platforms, including a 2 kW fully simulated system, a 2 kW hardware-based setup incorporating a real PEMFC stack and Li-FePO4 battery, and a 30 kW hybrid testbed. Experiments were conducted under synthetic stochastic load profiles representative of gust-induced power transients. The results indicate that LD-EMS achieves a total equivalent hydrogen consumption of 2.71 g (close to the DP-EMS optimum of 2.64 g and 19 % lower than SM-EMS) while reducing fuel cell state-of-health degradation to only 0.0005 % over the test cycle, which is an order of magnitude better than PF-EMS and SM-EMS. On the 30 kW platform under two distinct challenging profiles, LD-EMS maintains fuel cell efficiency above 90 %, keeps the stack operating in high-efficiency zone, and limits power switching events to 97 and 212 respectively over test cycles, demonstrating robust scalability and transient suppression capability without requiring prior mission knowledge. A five-dimensional evaluation framework is introduced to compare the six EMS. In accordance with this framework, platform-specific selection guidelines are established. Thermostat EMS is recommended for small industrial UAVs where hardware simplicity dominates; LD-EMS is the optimal choice for passenger eVTOL under unpredictable gust conditions; and SM-EMS is preferred for commuter/regional aircraft operating on fixed, repetitive routes.
Gao, Zibo, Chigan, Dongdong, Xiao, Yizhuo, Li, Yuansheng, Ji, Guoming, Han, Qing, Li, Zhi-peng
Emergence and Regulation of Scale-Free Correlation in UAV Swarm under Communication Energy Constraints2026-99-298310/19/2026
This paper studies how scale-free correlations, a key feature for efficient group response, emerge in collective motion under communication energy constraints. A two-dimensional Boids model integrated with a point-to-point wireless communication energy consumption model is used. The model dynamically determines, based on a limited communication power budget, an individual’s interactive neighbors, where neighbors are selected based on two different mechanisms: distance-based and probability-based, until the total communication cost reaches the budget. Simulations of flock sizes ranging from 30 to 230 individuals confirm that scale-free correlation persists, even under strict power constraints, which is shown by a correlation length ξ proportional to the flock’s linear size L. Notably, the ratio ξ/L, which reflects the robustness of collective correlation, displays a non-monotonic dependence on the available communication power. Initially, increasing power enhances ξ/L by expanding effective interaction ranges and improving information transmission. However, beyond a threshold, further power increase causes a slow drop in ξ/L, likely due to signal interference from excessively many or distant connections. This finding demonstrates that communication power is a critical, tunable engineering parameter regulating collective coordination, analogous to interaction range or neighbor number in biological models. The results imply that for engineered swarms, maximizing communication resources is not always beneficial; instead, an optimal power allocation exists to maximize coordination performance, balancing connectivity with efficient, localized interactions.
Zhao, Shiping, Gan, Qingzhong, Liu, Jinglei, Liu, Zhihao, Zhang, Liang
ARET-ALSTM: Intelligent Beam Prediction and Dynamic Compensation Network for Aerial Base Stations under Non-Stationary Turbulent Conditions2026-99-295410/19/2026
With the unprecedented surge in demand for flexible deployment and ultra-high throughput in next-generation wireless networks, airborne base stations (ABS), particularly unmanned aerial vehicles (UAVs), have become emerged as indispensable mobile communication infrastructure. To facilitate high-gain directional transmission within the millimeter-wave band, ABS frequently employ massive MIMO antenna arrays. However, under random disturbances caused by non-stationary turbulence, the system faces a severe physical bottleneck: weak anti-interference capability due to narrow beamwidth, which can easily lead to a sharp drop in link capacity. Addressing the two major shortcomings of existing deep learning prediction schemes—susceptibility to sensor noise interference and negative capacity performance shifts during stable periods, and response lag due to memory inertia during sudden turbulence periods—this paper proposes an ARET-ALSTM active compensation network based on SNR-aware multimodal attention, agile reset and adaptive event-triggered mechanisms. This network incorporates an event-triggered mechanism governed by a dynamic physical variance threshold, adaptively executing compensation during stable intervals to prevent excessive overshoot and redundant computational overhead. Simultaneously, it employs an agile feature reset mechanism based on an adaptive sliding window for concept drift detection, forcibly discarding old memories and reconstructing attention weights during sudden wind shear, achieving millisecond-level ultra-fast adaptation and directly driving network optimization with the goal of maximizing communication capacity. Simulation experiments show that, under different array configurations ranging from 2×2 to 16×16 and complex flow conditions, ARET-ALSTM successfully overcomes the physical capacity collapse limitation under large antenna scales, and its tracking agility and robustness are significantly better than benchmark algorithms such as Transformer, RNN and traditional Kalman filtering.
Tu, Jiajun, Zhou, Jihua, Li, Yanhang, Zhao, Tao, Huang, Hua, Wen, Yuanbin, Guo, Ziwen
Lightweight Compression Networks for Efficient RGBD-IR Imagery Transmission on Resource-Constrained Edge UAV Platforms2026-99-297810/19/2026
Due to the limitation of unstable wireless links and resource-constrained edge computing device, it is challenging to transmit the unmanned aerial vehicles (UAVs) captured images with large data volume in real-time. To address this issue, this paper proposes a lightweight hybrid compression method named Jpeg Plus Plus Network (JppNet) for efficient multimodal image transmission. Different from existing methods that mainly focus on RGB image compression for offline storage and often use large networks for coding and reconstruction, the proposed JppNet focuses more on edge deployment under limited computing resources. At the encoder side, JPEG is first used to perform high-ratio compression on the RGB, D, and IR channels. Then, a lightweight convolutional encoder network extracts supplementary binary features for progressive transmission. At the decoder side, a medium-scale reconstruction network fuses the supplementary code with the JPEG reconstruction to restore image details. To verify the effectiveness of the proposed method, this paper built a multimodal data acquisition prototype and collected 20,000 high-quality RGBD-IR image samples for training and testing. Experimental results show that JppNet combines the high coding efficiency of JPEG with the detail recovery ability of convolutional neural networks. With low computational cost, JppNet obtains much lower reconstruction errors than JPEG on the RGB, D, and IR channels, especially at very low compression ratios. This supports the efficient transmission of UAV captured multimodal images under limited communication conditions.
Pi, Haoran, Ao, Yile, Li, Zhi, Tang, Gang, Jiang, Bowu
Robust Cross-Modal UAV Detection via Bidirectional Collaborative Energy Field under Weak Calibration2026-99-299210/19/2026
The precise detection and localization of 'low-slow-small' (LSS) unmanned aerial vehicles (UAVs) pose significant challenges in terminal defense scenarios. These non-cooperative targets have extremely sparse representations in radar point clouds because of their minimal radar cross-sections and appear as textureless, blurred patches in visual images. Furthermore, traditional multi-modal fusion paradigms rely heavily on rigid geometric projection matrices, which frequently fail under the mechanical vibrations, thermal deformations, and extrinsic perturbations inherent in rapid deployment environments, which often results in severe feature misalignment and contamination. To overcome these critical bottlenecks, we present an end-to-end cross-modal detection framework built on Bidirectional Collaborative Energy Fields (Co-Field). By redefining the 3D object detection task as an energy field reconstruction process within a latent multimodal feature space, we entirely remove the need for absolutely precise extrinsic parameters. Our framework uses a novel bidirectional mutual-guided interaction mechanism. Specifically, a vision-guided radar branch employs deformable cross-attention to adaptively aggregate highly discrete radar geometric features around visual semantic centers, achieving a feature-level soft alignment that implicitly compensates for calibration drift. Concurrently, a radar-corrected vision branch utilizes radar-derived geometric occupancy probabilities as depth anchors to gate and calibrate visual features, effectively suppressing the inherent divergence of monocular depth estimation. Ultimately, the framework regresses the target's precise 3D states and fine-grained categories directly from the extrema of the reconstructed collaborative energy field, circumventing complex heuristic post-processing. Experiments on the curated MMAUD dataset show that the proposed Co-Field method achieves better robustness. It remains highly effective even under severe calibration errors up to 10 degrees and achieves a 74.2% recall rate at extreme sparse distances ranging from 70 to 100 meters, and consistently outperforms state-of-the-art rigid and soft fusion baselines.
Peng, Chao, Shao, Peng, Ding, Qiao, Chen, Xiaoqing, Han, Aojia, Xu, Yuelei
A CTCM-ALA Adaptive Embedded Fusion Optimization Method for UAV Path Planning in Complex Medical Rescue Environments2026-99-290510/19/2026
To improve the accuracy and safety margin deficiencies of unmanned aerial vehicles in autonomous medical emergency search-and-rescue missions, this paper develops an adaptive embedded fusion optimizer named CTCM-ALA for rescue UAV path planning. The proposed algorithm hybridizes the tribe-competition member-cooperation strategy and artificial lemming algorithm to construct hierarchically adaptive initial populations, speed up convergence and prevent local convergence traps. Tests on 12 CEC2017 functions prove its better optimization performance. Real-world applications in dense urban and complicated topographic medical rescue cases verify its reliability and precision.
Chen, Yuhan, Xiong, Junhui, Li, Yuesheng, Zhou, Yifan, Yao, Junjie, Li, Rujun
Switched Adaptive Flight Control of UAV Carrier Subject to Transient Separation Disturbances2026-99-295210/19/2026
A switched adaptive flight control architecture is proposed for fixed-wing carrier-sub UAVs to handle abrupt mass and inertia variations, as well as parameter uncertainties induced by transient aerodynamic interference, during sequential deployment. The separation process is rigorously modeled as a switched linear system, and a combined direct and indirect adaptive control scheme featuring an online Recursive Least Squares (RLS) modification is designed to compensate for model uncertainties. Furthermore, a dwell-time admissible switching law is established by solving Linear Matrix Inequalities (LMIs), ensuring the stability of the switching process through theoretically guaranteed Lyapunov energy drops at switching instants. Numerical simulations verify that transient tracking error spikes are significantly suppressed, and high-frequency oscillations are effectively attenuated compared to baseline controllers.
Chi, Haiyi, Yuan, Shuai
Dual-Quaternion Based Nonlinear Model Predictive Control for Quadrotor Leader-Follower Formation2026-99-297110/19/2026
To effectively address the challenges of cooperative control for quadrotor formations in complex environments, this paper extends the dual-quaternion based nonlinear model predictive control (DQ-NMPC) framework to leader-follower formation. Unlike conventional methods that treat translation and rotation separately, the dual-quaternion based model achieves a unified and compact representation of rigid-body motion using only eight real numbers without singularities, enabling global description on SE(3). Through the logarithmic map, the pose error is mapped from the Lie group to its Lie algebra, resulting in a quadratic cost function that naturally resolves the dimensional inconsistency between position and attitude errors, thereby simplifying weight tuning and improving numerical stability. Building on this formulation, a UAV formation controller is developed, where the relative motion between leader and follower is concisely described using dual quaternions, and a minimum safe distance constraint is explicitly incorporated to avoid collisions and maintain safe separation. In formation scenarios, the follower autonomously accomplishes chasing, rendezvous, and formation keeping under various trajectories, including straight-line pursuit and Lissajous curves. Moreover, the stability of formation control is validated under non-ideal conditions such as communication delay, mass mismatches, and constant external disturbances. Furthermore, the optimal weight combination is determined through grid search, which further improves formation tracking accuracy and control smoothness. In addition, the proposed framework inherently supports time-varying formation patterns, such as dynamic switching between different relative configurations and adaptive scaling. Computational efficiency analysis shows that the average solution time per control cycle is far below the sampling interval, validating real-time feasibility. Overall, the DQ-NMPC framework provides a unified, robust, and efficient solution for quadrotor formation control under both ideal and perturbed environments.
Li, Jiaye, Zhang, Zexu, Liu, Jingzong
Lightweight and Fast Reconstruction Algorithm for 5D Spatio-Temporal-Frequency Situation Based on Kronecker Compressive Sensing2026-99-298410/19/2026
Large-scale UAV clusters make real-time reconstruction of joint spatio-temporal-frequency (STF) situations difficult because the monitored state is high-dimensional and strongly coupled. This paper proposes a lightweight reconstruction algorithm based on Kronecker Compressive Sensing (KCS). First, a Multi-Channel Random Demodulation (MCRD) sensing model is built, and a Spatio-Temporal-Frequency 5D Grid (STF-5D Grid) is used to represent space, frequency, and time resources in a unified form. Next, a Tensor Orthogonal Matching Pursuit (T-OMP) algorithm is developed under the KCS framework. By using the separability of Kronecker products, the method replaces storage and multiplication of a global high-dimensional sensing matrix with dimension-wise operations. Two simulation studies are conducted to evaluate computational feasibility and reconstruction quality. In the city-scale case with 62.91 million grid cells, the factorized implementation avoids constructing the global sensing matrix and completes the tested reconstruction in 9.44 s. The reported memory value is interpreted as additional algorithmic storage for the factorized operators rather than total process peak memory, and should be rechecked with full tensor input/output and runtime overhead included. In noise-free, highly sparse proxy tests, several reconstruction errors approach the numerical precision floor; these results are therefore treated as ideal upper-bound evidence rather than practical field accuracy. The simulations suggest that KCS-based T-OMP can reduce storage and computational pressure for STF reconstruction, while its engineering performance still requires validation under noisy observations and realistic platform constraints.
Tian, Jinghao, Wang, Qianzhe, Di, Shen, Wei, Tan, Song, Bowen
2026 International Symposium on Aerospace Information and Industry Innovation2026-99-290010/19/2026
TOC
Tobolski, Sue
A Fuzzy Initiative-Yielding Mechanism for Space-Air-Ground Cooperative Communication2026-99-294110/19/2026
Space-Air-Ground Integrated Network (SAGIN) emerges as an appealing framework for implementing pervasive connections among diverse layers of space, air, and ground. The scheme relies on satellite deployment for extensive space coverage, Unmanned Aerial Vehicle (UAVs) acting as agile aerial relay stations, and ground robots for performing the final task assignment. Nevertheless, integrating heterogeneous nodes with varying mobility characteristics poses significant challenges: satellite operations are restricted by orbital dynamics, ground robot movements are restricted by topography constraints, whereas UAVs demonstrate flexibility and can establish line-of-sight connections with both satellites and ground robots. Current solutions usually adopt UAVs merely as passive relay nodes, causing inefficient adaptation mechanisms and excessive communication overhead when responding to dynamic perturbations or blocked connections. To overcome the aforementioned challenge, this paper proposes a novel fuzzy initiative-yielding coordination approach assigning two opposite behaviors. Initiative is assigned to UAVs in order to facilitate coordinated operations between layers, whereas Yielding refers to the adaptive response of satellites and ground robots. Contrary to previous research where behavioral assignments follow strict threshold rules, our fuzzy inference considers various parameters such as link quality, node state, and task priority, providing flexible behavioral assignments. Our predictive approach incorporates the Exponentially Weighted Moving Average (EWMA) technique to perform proactive failure avoidance. Based on five comprehensive experiments with 30 independent runs each, our approach obtains similar task completion rates (84.4%), but exhibits significantly lower communication overhead by up to 11 to 147 times compared to baseline methods. Furthermore, the proposed behavioral assignments avoid any coordination conflict (0 vs. 30.8), reduce completion time by 10.1%, maintain robust performance under 20% rule reduction, scale to 150-node mega-constellation scenarios, and exhibit higher fault tolerance under dynamic environments (81.5% vs. 79.8% of CBBA under high stress conditions).
Bao, Jie, Zhang, Yuping, Zhang, Ronghao
Closed-Loop Steam-Injected SOFC-GT Propulsion System with Thrust Compensation for High-Altitude Hydrogen UAVs2026-99-292710/19/2026
To address the requirements of high thermal efficiency and strict thermal control for high altitude long endurance unmanned aerial vehicles, as well as the problems of large additional water load and difficult high altitude condensation in traditional steam injected cycle aero engines, this paper proposes a closed loop steam injected cycle liquid hydrogen solid oxide fuel cell and gas turbine hybrid power system, which uses the cryogenic energy of liquid hydrogen fuel and external high altitude ram air to realize the condensation, collection and reuse of water vapor. This paper establishes a coupled thermodynamic and aerodynamic model, evaluates the benefits of the steam injected cycle at the design point, and analyzes the thermodynamic and aerodynamic characteristics of the system under off design conditions. The results show that the closed loop steam injected cycle effectively improves the work capacity of the turbine and the power generation efficiency of the system. At the design point, the rated net output power and power generation efficiency of the system reach one thousand two hundred and fifteen point zero kilowatts and sixty-six point two eight percent respectively. In addition, the system recovers kinetic energy by using the Meredith effect, which greatly offsets the aerodynamic drag caused by the introduction of ram air. Even when the flight speed exceeds Mach number zero point six four, the system can completely offset the aerodynamic drag and even generate additional thrust. Power margin analysis proves that the system still has sufficient power reserve to complete the flight mission under cruise conditions. This study provides a theoretical basis for the power and thermal control design of high altitude long endurance hydrogen powered unmanned aerial vehicles.
Kang, Qiming, Shen, Yiling, Li, Chengjie, Qin, Jiang, Ji, Yongbin, Jiang, Junwen
Backstepping-Based Dynamic Sliding Mode Control for Tilt-Rotor Quadrotor UAVs in Transition Flight2026-99-291310/19/2026
The flight control problem of an H-shaped dual-wing tilt-rotor quadrotor UAV during positive tilt transition is investigated, where the rotor tilt angle varies continuously from 0° to 90° and the vehicle shifts from rotor-borne to wing-borne lift. A component-based partitioning approach is adopted to build a complete kinematic and dynamic model of the fuselage, wings, rotors, and main body, derived from the Newton–Euler equations and the momentum theorem so that major force and moment contributions can be explicitly integrated. Based on this model, a MATLAB/Simulink simulation platform is established for controller evaluation. To achieve stable tracking with practical implementability, a dynamic sliding mode control (DSMC) strategy is developed, which avoids the explosion of complexity caused by repeated differentiation and balances response speed and attenuation of residual oscillations, particularly in the altitude channel. Furthermore, the performance of both DSMC and conventional sliding mode control (SMC) is systematically examined through extensive simulations under representative flight scenarios, including different transition speeds, various tilt angles, external disturbances, and multi-UAV cooperative tracking tasks. Comparative simulations with conventional sliding mode control under identical transition settings show stable command tracking and faster error convergence, with particularly improved altitude steady-state precision, while the velocity response exhibits a trade-off in mean-square accuracy over the evaluation horizon.
Liu, Dantong, Li, Daochun
Shrike Nano: On-Body AI-Enabled Digital Fires from Unmanned Aircraft Feeds2026-01-75049/22/2026
Shrike Nano provides forward observers and small unmanned aerial system (sUAS) operators with an integrated solution to enhance target prosecution using sUAS video feeds and indirect fire systems. Operable within the Android Tactical Assault Kit (ATAK) ecosystem, Shrike Nano functions as a software plugin that interacts seamlessly with existing tools, including UAS Tool, Robot Picker, and Network Monitor. By utilizing either aided threat recognition (AiTR) or manual targeting workflows, along with passive single-camera geolocation, operators can nominate targets and correct shot placement via digital messaging to enterprise fires terminals such as the Advanced Field Artillery Tactical Data System (AFATDS). The system offers key advantages, including operator standoff capabilities, accurate geolocation, and streamlined fires messaging workflows, all while leveraging low-observable platforms. Shrike Nano seeks to bridge gaps in traditional targeting processes by providing a cohesive and efficient sensor-to-shooter workflow that reduces cognitive load and enables faster, more reliable fire missions at the tactical edge.
Baharanyi, Ali I., Tozzi, Gregory M.
Beyond Detection: Zero-Shot UAS Payload Identification, Passive Ranging, and Pose Estimation2026-01-75079/22/2026
Unmanned Aerial Systems (UAS) pose a growing threat on the modern battlefield, demanding rapid detection and characterization capabilities for the warfighter. Existing single-model solutions are inadequate for Counter-UAS (C-UAS), as they struggle across varying ranges and cannot provide detailed contextual information beyond bounding boxes. We present ZEUS (Zero-shot Explainable Universal Segmentation), a multi-model detection and recognition system that integrates several machine learning approaches. ZEUS employs a high-performance UAS detector trained on synthetic, internally collected, and open-source datasets, with real-time capability demonstrated on edge hardware across both electro-optical and infrared modalities. For classification, ZEUS uses a zero-shot approach: detected UAS are segmented and compared against a library of 3D reference models rendered at various poses, enabling identification of new UAS types without retraining. This methodology additionally provides UAS pose and range estimates critical for threat assessment and engagement decisions.
Matousek, Gregory, Varberg, Nathan, Torrione, Pete, Brandon, Namdi, Inkawhich, Matt, Camilo, Joe
Development of a UAV Platform for Remote Inspection and Visualization2026-01-75119/22/2026
This paper details the development of an intelligence and inspection platform consisting of an attritable sub-250g UAV, a ground control station, and a visualization interface for users. The UAV architecture combines onboard obstacle detection and avoidance along with simultaneous localization and mapping to have full autonomous navigation inside of complicated GPS-denied environments. The ROS 2-to-Unreal Engine data pipeline allows for sensor fusion, data cleansing, and initial analysis as well as creation of a high-fidelity real-time 3D digital twin. The visualization interface allows users to easily identify critical features and turn data into intelligence to support decision making by soldiers and first responders.
Lee, Yeen K., Bainard, Sean, Shaughnessy, Michael, Bolger, Matt, Koepp, R. Tucker, Salehzadeh, Roya, Mallory, Stephen, Mynderse, James A., Guillen, Pedro, Hernandez, Margarita
Bullfrog: AI Powered Counter Unmanned Aerial System2026-01-75199/22/2026
The proliferation of small unmanned aircraft systems (sUAS) presents an asymmetric threat to ground maneuver forces operating in contested and gray-zone environments. The Bullfrog Autonomous Weapon Station (AWS) addresses this operational gap through a passive, AI-powered counter-UAS system employing computer vision and machine learning for autonomous detection, tracking, classification, and engagement. Field testing at Technology Readiness Experimentation (T-REX) 26-1 demonstrated 100% probability of defeat against Group 1 UAS targets with a mean engagement time of 6 seconds and 10 rounds per kill at ranges exceeding 160 meters. Operating in both autonomous and human-in-the-loop modes, Bullfrog achieved 99.45% operational availability while leveraging service-common M240B weapons and Modular Open Systems Architecture for rapid integration with Joint All-Domain Command and Control (JADC2) networks. At $300,000 per unit with $10 cost-per-engagement, Bullfrog demonstrates operational relevance, speed-to-field, and alignment with Army and Marine Corps autonomy priorities.
Cunningham, Jason, Clark, Alex
Passive Thermal Management Through Vapor Chamber Integration of a PMSM E-Motor installed on UAV for Urban Mobility Applications2026-24-00109/21/2026
Thermal management is a critical design challenge for Permanent Magnet Synchronous Motors (PMSMs) employed in Unmanned Aerial Vehicle (UAV) propulsion systems, where high power density and compact integration lead to significant heat generation. Excessive temperatures can compromise efficiency, reliability, and component lifetime, making the development of effective and lightweight cooling solutions essential. This study investigates the integration of a vapor chamber as a passive thermal management solution for a commercially available PMSM intended for UAV applications, whose thermal performance is evaluated under external airflow conditions representative of low-speed flight and hovering. Unlike conventional active cooling systems, the proposed approach does not require moving parts, external power input, or additional control devices. Heat transfer is driven by phase-change mechanisms within a sealed enclosure: as the local thermal load increases, the working fluid evaporates in the hotter regions and condenses in the cooler ones, redistributing heat autonomously without external intervention — a self-regulating behavior particularly suited to the constraints of UAV propulsion systems. A simplified three-dimensional model of the motor housing was developed, and steady-state conjugate heat transfer simulations were performed in ANSYS Fluent to evaluate the thermal performance of the system. Three configurations were analyzed: a baseline motor without vapor chamber, a configuration with an integrated vapor chamber, and a configuration combining the vapor chamber with an external copper fin array. The vapor chamber was modeled using an equivalent porous-medium approach for the wick structure, coupled with a multiphase formulation to capture liquid–vapor interactions within the core. The results demonstrate that vapor chamber integration significantly reduces peak pole temperature, with reductions ranging from 38K to 159K (approximately 10% to 31% relative to the baseline configuration) depending on operating conditions. At higher thermal loads, the device transitions from a liquid-filled regime to an active two-phase operation, enhancing heat transfer through evaporation and condensation. The addition of an external copper fin array further improves thermal performance, achieving a maximum pole temperature reduction of 203K (approximately 33% relative to the baseline) under low-airflow, high-load conditions. A key finding of this study is the strong coupling between the external fin array and the internal phase-change behavior of the vapor chamber: by lowering the condensation-side temperature, the fins promote a more active two-phase regime, enhancing overall heat transfer performance beyond what either component achieves independently. These results highlight the potential of vapor chamber technology, particularly when combined with extended surfaces optimized for the dominant flight regime, as a lightweight, passive, and self-regulating cooling strategy for compact UAV electric propulsion systems.
Benedetti, Silvia, Lombardi, Simone, Federici, Leonardo, Chiappini, Daniele
A Computational Study of High Efficiency Wankel Rotary Engines using a Passive Pre-Chamber2026-24-00019/21/2026
Wankel rotary engines are renowned as compact machines with high power-to-weight ratios, which make them suitable for use as range extenders for battery electric vehicles or as propulsion systems for unmanned aerial vehicles. However, their overall efficiency and emissions still need significant improvement to meet to the stringent regulations comparable with classical reciprocating 4-stroke engines. With the aim of improving these shortcomings, this work focuses on the application of a passive pre-chamber in order to enhance the combustion phase and the overall efficiency and emissions of such engines. Computational fluid dynamics (CFD) simulations were conducted for the commercial AIE 225CS rotary engine, configured with port fuel injection and fully-premixed gasoline combustion. The engine was extensively tested in a previous project while different CFD models were validated against experimental data in previous studies by the same authors. In particular, the present work examines the engine performance with two pre-chamber configurations with different volumes. The volume and nozzle specifications were determined to have geometrical characteristics similar to those of the theory of Gussak, with volumes directly comparable with that of the two spark park plug recesses of the original engine, leading to significantly large nozzle diameters in the pre-chambers. In addition, the effect of spark advance was investigated to capture the development of the flame and jets and the resulting effects on the indicated pressure cycle. Consistent with previous findings, heat losses were found to be a critical aspect for the different configurations of engine. Nevertheless, the application of pre-chamber shows some potential to improve efficiency by accelerating combustion phase, leading to a relative increase of 7.4% on the indicated efficiency. This suggests an important new path in the development of Wankel engines as a viable solution to efficient utilisation of decarbonised and innovative future fuels in compact systems.
Vorraro, Giovanni, Im, Hong G., Turner, James
Study on Rapid Formation Generation Method for Multi-UAV Swarms2026-99-14219/11/2026
This paper presents a generalizable geometric framework for rapid on-demand generation of multi-UAV formations with arbitrary 2D geometries and user-specified scalable scales. First, vertices, edge intersections and edges are extracted from a user-defined formation template to enable parametric description of both simple and composite formation geometries. Second, boundary interpolation, edge expansion and recursive internal expansion are integrated to synthesize hierarchical multi-layer UAV deployment point sets under a controllable expansion ratio. Third, a geometric distortion metric is proposed to optimize UAV node indexing and formation reconstruction while preserving inter-node topological consistency. Algorithmic derivations, complexity analysis and simulation assumptions are further elaborated. Simulation results verify that the proposed method preserves geometric fidelity of target formations while delivering superior scalability and spatial coverage, rendering it well-suited for emergency transport, aerial surveying and low-altitude cooperative missions in dense urban environments.
Fu, Mingyi, Zeng, Guoqi, Gu, XinZhu, Wang, Jia
2025 International Conference on Aerospace and Electronic Information2026-99-14009/11/2026
TOC
Tobolski, Sue
Research on Location Selection of Logistics UAV Takeoff and Landing Points for Uncertain Demands2026-99-15799/11/2026
In order to solve the problem of sharp fluctuations in demand in the terminal delivery of logistics drones and the situation that traditional positioning models lack robustness, this paper puts forward a robust positioning model (RFL-LU) that takes into consideration the demand uncertainties and the physical constraints of drones (such as endurance and no-fly zones, and so on). This model aims at minimizing the total cost of construction, transportation, and maintenance, and also combines the advantages of the set covering model and the P - median model. It incorporates an uncertainty budget Γ to adjust the degree of robustness, and then transforms the nonlinear robust constraints into linear ones through dual transformation, ensuring that the capacity of the take - off and landing points can cover both the nominal demand and the fluctuating increment. In order to efficiently address the model issues, an improved tabu search (ITS) algorithm that we have developed is presented. This algorithm, which makes use of adaptive neighborhood operations, double-objective taboo lists, and elite solution crossover learning methods, optimizes the 0 - 1 position assignment variables and continuous capacity variables in two phases. We carried out simulations with LRP standard instances and made comparative verifications under different uncertainty budgets Γ (3, 6, 9, 12), and demand fluctuation ranges (from 30% to 80%), and also carried out sensitivity analysis at the same time. The results show that the uncertainty budget Γ has a rather significant impact on the number of take-off and landing points and load balancing: a high Γ can ensure a 100% service level, but the construction cost will be higher. There is a non - monotonic positive correlation between the demand fluctuation range and the total cost, and this model can balance costs and services by adaptively adjusting the scale of facilities. In this research, in the situation of uncertain demands, it offers the scientific decision-making basis for the layout of the take-off and landing points of logistics drones, and also enhances the network’s elastic and adaptive capabilities.
Ding, Zihao, Li, Xiaojin
Nc5-PCS Based Heterogeneous Point Cloud Matching for Roads2026-99-15339/11/2026
Point cloud registration represents a fundamental task in geospatial informatics and 3D computer vision, aiming to align heterogeneous point clouds through rigid transformation estimation. While Super-4PCS serves as an efficient coarse registration method, it exhibits limitations when handling large-scale datasets, planar-distributed point clouds, and scenarios with unknown scale differences. To overcome these challenges, this paper proposes the Nc-5PCS (Neighborhood-constrained 5-Point Congruent Sets) algorithm. Nc-5PCS first performs approximate scale estimation through concavity-convexity similarity analysis within coarse overlap regions, addressing the inherent scale limitation in 4PCS-based approaches. Subsequently, the algorithm employs 3D Harris feature point extraction to significantly reduce data volume while preserving critical geometric characteristics. The core innovation lies in designing a non-coplanar 5-point basis with a corresponding hash-based retrieval mechanism, effectively resolving the feature degradation problem caused by coplanar 4-point bases. Furthermore, normal vector angular constraints are incorporated to enhance consensus evaluation during correspondence selection, substantially improving registration accuracy. Experimental validation demonstrates that Nc-5PCS achieves a point-to-point RMS error of ≤ 0.227 m, outperforming Super-4PCS to provide superior initial alignment for subsequent ICP refinement.
Liu, Lei, Yu, Keguang, Li, Xinyi, Sun, Guangde, Zhao, Xinyuan, Zhu, Dongni, Fan, Yabo, Guo, Shihao
Transition Mode Control for Electric Vertical Take-Off and Landing Drones Based on Improved Self-Disturbance Suppression2026-99-14239/11/2026
To address the tilt transition control issue in electric vertical take-off and landing (eVTOL) drones, this paper proposes a cooperative control strategy combining an adaptive tilt scheme with an improved adaptive disturbance rejection control (ADRC). First, based on the eVTOL drone’s dynamic characteristics, a motion model suitable for control design is established. Second, a real-time state-based adaptive tilt strategy is designed by achieving decoupled mapping between motor speed and tilt angle through a dynamic control allocation matrix. Furthermore, a novel Sanf function is proposed for the extended state observer (ESO) within the ADRC framework. The global convergence of the improved ESO is demonstrated, enhancing disturbance estimation accuracy and stability. Finally, simulation experiments validate the effectiveness of the adaptive tilt scheme based on dynamic control allocation, along with the robustness and reliability of the altitude, velocity, and attitude loops.
Zhang, Junyang, Wang, Xiangyang, Yang, Mingyuan, Zhang, Huanhuan
Numerical Investigation of Spiral Tubes and Turbulators for Enhanced Metal Hydride Reactors2026-99-12589/4/2026
Solid-state hydrogen storage is severely limited by poor thermal performance of storage reactors, which leads to non-uniform temperature fields and slow reaction kinetics. A numerical model for metal hydride hydrogen storage technology was implemented by means of COMSOL Multiphysics 6.3, based on hydrogen sorption behavior for LaNi5-based material. After experimental validation, a spiral-wound tube with embedded turbulators was introduced into the reactor. The influence of turbulator cross-sectional ratio and shape on hydrogen-absorption performance was then investigated. When the turbu-lator occupied 1/40 of the cross-section, the temperature distribution became more uniform and the reaction rate increased markedly; the time to achieve 80% conversion was reduced by approximately 9.29%. The study demonstrates that tailoring the turbulator geometry (circular vs. square) and exploiting its synergy with the spiral tube accelerates reaction kinetics and balances the temperature field. Under 0.8 MPa and 313 K, a hydrogen uptake of 1.4 wt% was achieved. The simple structure can be mass-produced by CNC (Computer Numerical Control) tube-bending, making it attractive as a portable hydrogen source for mobile devices such as unmanned aerial vehicles.
Lin, Jiangnan, Jin, Tingxiang
Ant Colony-Artificial Potential Field Fusion Path Planning Algorithm Based on a Maneuver Action Library2026-99-12579/4/2026
The traditional Ant Colony Algorithm has defects such as easy entrapment in local optima due to a simplistic heuristic function and slow convergence due to excessive search directions. A fusion path planning algorithm integrating ant colony optimization and artificial potential field based on a maneuver action library is proposed. Firstly, a mathematical model for UCAV path planning is established. Considering the maneuverability constraints of UCAVs, and drawing on the concept of basic maneuver action libraries for fighter aircraft, an ant colony-potential field fusion path planning algorithm based on a maneuver action library is introduced. Simulation results demonstrate that compared to two other algorithms, the proposed method significantly improves the number of waypoints and planning completion time.
Li, Ruishen, Chen, Xiaogang
CFD-Based Aerodynamic Stability Analysis of a Quadrotor UAV2026-99-12539/4/2026
This study analyzes the aerodynamic stability of a typical quadrotor UAV during hover and vertical flight using Computational Fluid Dynamics (CFD). A fitted relationship between single propeller rotational speed versus lift and torque was obtained through simulation. Rotor speed input parameters were determined by combining this relationship with force analysis under ideal conditions. Lift and torque variation data for each rotor under two typical flight conditions were subsequently acquired. The research examines changes in lift and torque caused by aerodynamic interference between rotors, which induces UAV instability. To address the additional rotor lift from airframe obstruction of airflow, a “Reduction Value Method” is proposed to correct the lift data. Kinematic simulations conducted in Adams show significant displacement and angular displacement fluctuations in both hover and vertical flight states. Instability is more pronounced during vertical motion. This research provides a theoretical basis for understanding UAV flight stability mechanisms and optimizing control strategies.
Zhao, Haiyuan, Li, Jia, Song, Jiafeng
Research and Practice of Emergency Rescue Unmanned Patrol Flying Equipment2026-99-03378/14/2026
To enhance China’s disaster and accident emergency response capabilities and strengthen the digital battlefield system for emergency rescue, an integrated multi-payload unmanned aerial surveillance and communication support system has been developed for extreme weather conditions and ‘triple-disconnection’ disaster scenarios. This paper sets out to address the limitations of traditional emergency drones, including poor environmental adaptability, weak payload capacity, and operational inconvenience. The system’s resistance to wind and rain has been significantly enhanced through the optimization of its airframe design. The innovative design incorporates dual-station symmetric conjugate antennas with planar blind-spot coverage systems, integrating public and self-organizing network base stations to achieve three-dimensional signal coverage and heterogeneous network integration. This enhances ground cellular network resilience. Multi-functional reconnaissance payloads are integrated and compatible with day/night and smoke/rain scenarios, thus overcoming the limitations of single-source visual information perception. The system employs zero-length deployment and parachute recovery methods, thereby facilitating rapid deployment and terrain-independent take-off and landing capabilities. The simulation results obtained demonstrate excellent aerodynamic performance, thus permitting safe operation in wind conditions up to Force 8. The antenna system under discussion is innovative in nature and has been developed to achieve 360° three-dimensional signal coverage. The primary function of this system is to ensure sustained communication link integrity. The field trials further corroborate the aircraft’s stable low-altitude cruising capability in Force 8 winds, thereby averting congestion in constrained rescue airspace. The dual-base station design, incorporating symmetric conjugate antennas and blind-spot compensation antennas, has been demonstrated to reliably restore public ground network signals within a 6.7-kilometre radius. The development of this unmanned aerial patrol system addresses a significant gap in low-altitude rescue capabilities for intelligent unmanned equipment in harsh environments. It underpins the integrated emergency command and operations system for intelligence, command, and execution, as well as the integrated emergency communication support system spanning the air, land, and sea domains. This advancement has been demonstrated to enhance disaster response efficiency and auxiliary decision-making effectiveness under extreme conditions.
Bian, Lu, Fang, Yudong, Yang, Jixing, Zhang, Chen, Hu, Bin, Zhang, Mingyue
Structural Design and Optimization of Heavy-Duty2026-99-09108/7/2026
With the strategic expansion of low-altitude economies, there is a growing demand for unmanned aerial vehicles (UAVs) with enhanced structural reliability and performance. This study investigates the integrated design and precision manufacturing of a heavy-lift quadrotor UAV, focusing on developing a system capable of sustaining substantial payloads. The UAV features an innovative locking mechanism at the base of its arms, which facilitates easy disassembly—this design simplifies maintenance while improving operational flexibility. Structural integrity was evaluated using the Static Structural module in Ansys Workbench under three operational conditions: no-load, full-load, and extreme-load. Results demonstrate that the airframe meets strength requirements under all conditions, though localized nonlinear deformations were observed in the arms under extreme loads. In response to these findings, the Response Surface Optimization methodology was systematically applied to refine the UAV arm’s design parameters, with the dual goals of minimizing structural mass and reducing displacement. Experimental results show that under the most demanding operating condition, the maximum displacement was reduced by 43.6% compared to the pre-optimization state, while the arm’s weight was reduced by 20.2%. These findings provide critical insights for advancing UAV design, particularly in agricultural and logistics applications that require high payload capacity and robustness.
Huang, Kanghui, Li, Guiying, Yu, Zhigang, Yang, Jingru, Wang, Yong, Zhang, Chao
Analysis of Critical Issues in the Assembly and Deployment Techniques of Unmanned Aerial Vehicles2026-99-09068/7/2026
With the complexity of chemical warfare threats and the diversification of battlefield environments, traditional toxic agent detection methods are facing bottlenecks such as response delays, coverage blind spots, and personnel safety risks. This research focuses on the application of unmanned aerial vehicle (UAV) carried toxic agent sensor systems, aiming to analyze the methods of mounting and deploying the sensors on the UAVs, and to construct a rapid response, high-precision, and highly resistant toxic agent monitoring system. Its significance lies in two aspects: 1. Tactical value: It breaks through the time and space limitations of manual reconnaissance, realizes real-time dynamic perception and early warning of toxic agent contamination, and provides key decision-making support for battlefield command; 2. Application expansion: The research results can be transferred to counter-terrorism, nuclear, biological, and chemical emergency response fields, providing theoretical support and engineering paradigms for the development of unmanned and intelligent chemical defense equipment.
Liang, Ting, Wen, Hao, Qi, Yelin, Yan, Rui, Ma, Tengbo, Yang, Wen
SAE TOMORROW TODAY - SAE JA1016: Scaling the Future of UAVs with Battery Interoperability135798/6/2026
From drone delivery to public safety and defense, the next generation of uncrewed aerial vehicles (UAVs) will be powered not just by better batteries, but by better battery standards. Listen in as we sit down with Jeff Yambrick, Chair of the SAE Battery Cell Size Standardization Committee, and Lisa King, Director of Advanced Battery Strategy at Leap Manufacturing, to discuss SAE JA1016 -- a new standard designed to simplify battery integration, accelerate commercialization, and strengthen the UAV supply chain. During this conversation, you'll learn why common battery formats are essential for reducing development costs and creating greater interoperability across commercial and defense applications. We also explore the importance of domestic battery manufacturing, supply chain resilience, and how standardization can accelerate innovation without limiting future battery technologies. To join the SAE Battery Cell Size Standardization Committee, email Dante Rahdar at Dante.Rahdar@sae.org. We'd love to hear from you! Share your comments, questions and ideas for future topics and guests to podcast@sae.org. Don't forget to take a moment to follow SAE Tomorrow Today--a podcast where we discuss emerging technology and trends in mobility with the leaders, innovators and strategists making it all happen--and give us a review on your preferred podcasting platform. Follow SAE on LinkedIn, Instagram, Facebook, X, and YouTube. Follow host Grayson Brulte on LinkedIn, X, and Instagram.
Patterson, Lori
SAE International Publishes New Technical Information Report to Advance Battery Interoperability for Small Uncrewed Aerial Systems26AERP08_078/1/2026
SAE JA1016 establishes common specifications for lithium-ion pouch cells for small uncrewed systems in both ground and aerial applications. SAE International, Warrendale, PA SAE International has published a new Technical Information Report (TIR), SAE JA1016™, Performance and Dimensional Specification for Lithium-Ion Pouch Cells for Group 1 Small Uncrewed Aerial Systems (sUAS). The TIR establishes the industry's first standardized framework for battery cell dimensions, performance characterization, safety verification, and manufacturer reporting for Group 1 sUAS applications in both ground and aerial applications. As electrification expands across aerospace, defense, automotive, and industrial sectors, varied battery cell geometries, qualification methods, and reporting practices have increased development costs, extended qualification timelines, and limited supply-chain flexibility. SAE JA1016 addresses these challenges by providing a common framework for evaluating, qualifying, and integrating lithium-ion pouch cells.
Charting the Flight Path of the Aerospace & Defense Industry with Digitalization26AERP08_028/1/2026
New technologies, advanced materials, evolving mission profiles and fast-changing requirements are forcing the aerospace and defense (A&D) industry to dramatically increase the speed of engineering. Companies must design, validate and bring more complex products to market faster than ever, even as software, electronics and autonomy continue to reshape what aircraft, spacecraft and defense systems can do. At the same time, a growing production challenge is emerging. Workforce shortages, supply chain disruption and pressure to reduce cost and cycle time are converging with new demands for greater volume and flexibility. Defense programs are seeing increasing need for larger quantities of lower-cost systems such as drones, while commercial aerospace companies continue to work through backlogs and reinforce their fleets. To keep pace, the industry must accelerate innovation while also scaling production with greater speed, resilience and adaptability.
Finite Element-Based Structural Optimization for UAV Storage-Launch Container2026-99-01647/31/2026
To fulfill the multi-tube launch requirements for a specific folding-wing UAV, this study improves the structure of the existing storage-launch container. Based on the finite element method, a parametric model of the container is established, and a multi-condition mechanical analysis is carried out for various storage, transportation, and launch conditions. The difference between the first six natural frequencies of the free mode and the prestressed mode is compared and analyzed. The modal analysis model considering prestress is used to identify the optimization area of the container. The variable density method (SIMP) is used to optimize the topology of the container, with the volume of the container as the constraint condition and the minimum strain energy as the optimization goal. The optimization results show that the first-order modal natural frequency of the container is increased by 108%, and the first six natural frequencies are increased to a safe range, which effectively avoids the resonance risk. At the same time, the quality is reduced by 29%, and good optimization results are achieved.
Yuan, Weiyang, Ji, Yuguo, Liu, Zhipeng, Yu, Wenxin
Multi-Objective Topology Optimization of Wing Rib Structures for Additive Manufacturing2026-99-02287/31/2026
With the advance of high-end manufacturing and the rise of green design, lightweight structures have become a central concern in aerospace. Topology optimization offers a principled route to shed mass while preserving performance, yet most additive manufacturing (AM) studies still emphasize process tuning and new materials rather than structural layouts constrained by AM realities. This work targets a representative wing rib from a specific unmanned aerial vehicle (UAV) and formulates a multi-objective topology optimization that explicitly embeds AM constraints. Using the Solid Isotropic Material with Penalization (SIMP) variable-density framework, we couple static stiffness and strength measures with modal objectives so that the optimized rib not only resists deformation and limits stress but also improves the first three natural frequencies, thereby mitigating adverse vibration interactions at the wing level. A compromise-programming strategy balances these competing objectives under volume and manufacturability requirements, including AM-driven minimum feature scales and related geometric restrictions. Finite-element analyses are used throughout the loop to evaluate displacement, von Mises stress, and eigenfrequencies, ensuring that the emerging material distribution is both efficient and physically meaningful. The resulting topology exhibits clearer load paths and smoother stress flow, reduces peak displacements, and delivers a marked rise in the first three natural frequencies. Overall mass is lowered by approximately 55% while meeting all imposed constraints, achieving the dual aims of structural optimization and lightweighting. The study demonstrates that integrating AM constraints directly into the optimization stage yields designs that are performance-robust and fabrication-ready, and it provides a reusable workflow for thin-walled aerospace components such as wing ribs where stiffness, strength, and vibration behavior must be jointly considered.
Zhao, Fei, Zhang, Heran, Li, Xiaoting, Shi, Bowen, Kong, Xiangwei
Design of an Aerial-Launch FPV Drone System2026-99-08377/30/2026
This paper presents the design, implementation, and validation of an aerial-launch FPV (First-Person View) drone system that was developed to provide a complex environment with flexible deployment and precise delivery capabilities. The integrated system is composed of a hybrid VTOL carrier aircraft, a number of FPV drones, and an aerial mounting / release equipment. Using the AYK-250 platform, the carrier has a vertical take-off and landing function and long-time endurance. In terms of the FPV drones, it is built upon the high performance MARK4 5-inch frame that has high agility and high payload. The release module uses a single-hook point structure with a limit stop. The FPV drones are released stably, and the separation is reliable in flight. Comprehensive flight tests proved all workflows completely, involving carrier take-off, cruise with drones mounted, sequential aerial launch, and subsequent autonomous attitude recovery and route tracking by the FPV drones. The test results confirm the system’s capability for reliable launch from an aerial platform coupled with precise guidance, establishing a credible technical solution for expanding the practical applications of FPV drones in distributed tasks. Results show that our system can be launched via an aerial platform with an accurate guide and is a viable technological solution to spread FPF Drones for operational strategies in a more distributed way.
Wang, Yujie, Xi, Yangyang, Lu, Yafei, Wang, Chengyuan, Zhang, Zhiyong, Chen, Qingyang
Research on Takeoff and Cruise Control of Fixed-Wing UAVs in Urban Railway Inspection Scenarios2026-99-08247/30/2026
Urban railways are an important part of China’s rail transit “four network integration”. Their stations are typically situated in suburban regions, characterized by long lines and large station spacing. Traditional manual inspections entail a substantial workload and exhibit low efficiency; multi-rotor UAVs are constrained by limited endurance and airspeed, leading to low efficiency in daily long - range inspections. Fixed-wing UAVs have the advantages of long endurance and high altitude, and are more cost-effective for daily routine inspections when deployed in long areas. They complement the functions of multi-rotor UAVs in rail transit inspection applications. The flight control system of a fixed-wing UAV is a multi-channel, strongly coupled complex system. Based on its lateral and longitudinal dynamic models and navigation technology, this paper designs different types of PID control strategies for the control channels, such as roll angle, pitch angle, altitude, vertical velocity, and flight airspeed, and verifies the feasibility of the control algorithm through numerical simulation. Finally, through on-site test flights, the stability and reliability of the single aircraft flight control system were verified, providing technical support for the availability of fixed-wing unmanned aerial vehicles in the inspection of long sections of urban railways.
Lin, Jing, Deng, Zhixiang, Xu, Jun, Wu, Huankun, Guan, Bin, Liu, Lei
Systematic Assessment of State-of-the-Art Approaches Available for Variable Camber Morphing01-19-01-00057/29/2026
Aerodynamicists around the globe are developing mechanisms and structures inspired by nature that enable variable camber morphing (VCM) for aerodynamic surfaces. The implementation of the VCM mechanism in an airplane wing enhances the performance and stability during various flight segments. The present review article is focused mainly on the up-to-date VCM methods in a qualitative as well as quantitative approach that are specific to Aircraft/unmanned aerial vehicle (UAV) wing configurations. Initial literature discussions are confined to the conventional mechanisms that enable VCM in different aircraft configurations and the added aerodynamic advantages such as lift enhancement, drag reduction, boundary layer separation, and flow control. However, those designs need either external shape optimization or internal structural refinements to ensure the factor of safety (FoS). The modern aviation industry is also focused on bioinspired technology because of the adaptive flying capabilities and stall-delay characteristics. Therefore, a review of bioinspired VCM methods that are assessed based on the aerodynamic potentials is sequentially organized in the article. Additionally, considerations are motivated by the application of various compliant structural patterns for VCM in the aircraft industry. The discussion indicates the prospective benefits of morphing toward the future of the Green Aviation industry.
Manjunath, S. V., Jini Raj, R.
Guidance Law Design and Simulation Verification for Multi-Missile Cooperative Attack of UAVs2026-99-18137/17/2026
With the increasing demand for multi-unmanned aerial vehicle (UAV) cooperative operations, the design of guidance laws with time and angle synchronization constraints has become a critical technology to enhance strike precision. This paper focuses on a UAV-launched multi-missile cooperative attack scenario, proposing a composite guidance law that integrates the advantages of existing optimal time/angle control guidance laws. By introducing a time error feedback term and an angle constraint term, combined with an adaptive disturbance observer to compensate for aerodynamic errors and target maneuvers, the proposed guidance law ensures a terminal miss distance of less than 0.5 m while achieving a time error ≤0.6 s and an incidence angle deviation ≤2° among multiple missiles. Simulation and test results both demonstrate that the four-missile cooperative attack achieves time dispersion within 1s, satisfying engineering practicality and anti-interference requirements.
Xie, Lijun, Wang, Deshuang, Yang, Xiaodong, Zhang, Tingting, Li, Yang
UAV Path Planning Method for Urban-Mountain Mixed Environments Based on Improved Divine Religions Algorithm2026-99-18407/17/2026
This paper, for the first time, applies the Divine Religions Algorithm (DRA) to three-dimensional UAV path planning. Targeting the complex terrain of urban-mountain mixed environments, we propose a novel method that incorporates multiple enhancements, including A* initialization, single-point disturbance mutation, and adaptive weighting. First, the A* algorithm is employed to generate high-quality initial paths, serving as the skeleton of the population. Innovative mechanisms such as terrain-adaptive disturbances and dynamic weight adjustment are integrated to achieve both efficiency and robustness in path optimization. Comparative experiments with Genetic Algorithm (GA) and Crowned Porcupine Optimization (CPO) show that the improved DRA algorithm exhibits significant advantages in terms of path length, safety margin, average altitude variation, average turning angle, and overall cost function. It consistently obtains superior paths and achieves faster convergence. The results demonstrate that the proposed approach provides an efficient, adaptive, and practical intelligent optimization tool for UAV path planning in urban-mountain mixed or similarly complex environments, offering promising prospects for engineering applications.
Fang, Lianyu, Yi, Wenjun
Research on the Design of Low-altitude Intelligent Logistics Air Membrane Station2026-99-18447/17/2026
Since the concept of low-altitude economy was included in the national plan, many application scenarios have continuously promoted the innovation of low-altitude technology. This paper presents a design scheme for low-altitude intelligent logistics air-supported membrane service stations, analyzes their technical advantages over traditional logistics service stations, conducts investment estimates for trial operation projects, and demonstrates their scientificity and economy, providing a new solution for intelligent logistics.
Li, Xing, Chen, Panpan, Qing, Qiang, Shang, Ming, Zhu, Lili, Wang, Shuai
Aircraft Optoelectronic Payload Transfer Alignment and Dynamic Error Compensation Algorithm Research2026-99-18497/17/2026
This paper proposes a multi-source dynamic error compensation algorithm for the transfer alignment of airborne optoelectronic payloads. This method addresses performance limitations of micro-inertial navigation systems (micro-INS) in complex dynamic environments, specifically those arising from accumulated device noise and the inability to perform static alignment due to installation errors. The algorithm’s core is the Extended Kalman Filter (EKF) technology. By constructing a “velocity + attitude” matching model between the UAV’s master inertial navigation system (MINS) and the optoelectronic payload’s slave inertial navigation system (SINS), it leverages high-precision MINS navigation information to correct SINS errors. Utilizing a 21-dimensional state space equation and measurement equation, the algorithm achieves real-time estimation and compensation of various errors, including attitude misalignment angles, sensor biases, installation errors, and flexure deformation. Simulation results demonstrate significant alignment accuracy improvement. Post-lever arm effect compensation, velocity errors are stably controlled within 0.01 m/s. Concurrently, flexure deformation angle compensation substantially reduces misalignment angle fluctuations across all directions, enhancing system stability and maintaining low misalignment angles. These findings validate the proposed error compensation strategy’s effectiveness.
Zhang, Lu, Li, Mao, Wang, Shiyong, Lei, Chao
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