Distance sensed vertical descent arrest system and methods

Abstract

An aerial payload vehicle descent arrest system is disclosed in which a flight controller may receive outputs from multiple sensors including at least one global navigation satellite system receiver and multiple relative range sensors. Sensor data are fused using a state prediction algorithm to estimate an above-ground-level height relative to a target destination. Based on the estimated height and descent conditions, the system may generate a descent arrest device trigger signal to deploy a parachute, rotor, airbag, or other arrest mechanism before payload delivery. The trigger height may be dynamically recalculated in response to detected faults or changing descent characteristics, and may incorporate data from ground-based sensors proximate the target destination.