# On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds

## TL;DR

This paper presents a guidance law for small UAVs that effectively prevents run-away in strong winds by using online wind estimates and energy-based airspeed compensation, demonstrated through real mountain flight tests.

## Contribution

It introduces a nonlinear guidance law with wind compensation for small UAVs, addressing the challenge of strong wind conditions in autonomous flight.

## Key findings

- Track-keeping errors less than 1 meter in gusty winds
- Maintained a mean ground speed within 0.5 m/s of commanded minimum
- Validated in real mountain flight experiments with gusts up to 13 m/s

## Abstract

Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter winds rising to levels near or exceeding the vehicles' nominal airspeed. In this paper, we develop a nonlinear lateral-directional path following guidance law with explicit consideration of online wind estimates. Energy efficient airspeed reference compensation logic is developed for excess wind scenarios (i.e. when the wind speed rises above the airspeed), enabling either mitigation, prevention, or over-powering of excess wind induced run-away from a given path. The developed guidance law is demonstrated on a representative small, low-speed test UAV in two flight experiments conducted in mountainous regions of Switzerland with strong, turbulent wind conditions, gusts reaching up to 13 meters per second. We demonstrate track-keeping errors of less than 1 meter consistently maintained during a representative duration of gusting, excess winds and a mean ground speed undershoot of 0.5 meters per second from the commanded minimum forward ground speed demonstrated in over 5 minutes of the showcased flight results.