US Patent 10384782 Airborne payload control system

A method for an airborne payload system includes receiving, from a sensor on a payload line, information about the payload line, wherein the payload line comprises a first end wound about a main reel of a winch system and a second end configured to couple to a payload. The method further includes providing instructions, based on the received information, to the unmanned aircraft and the winch system in order to control a position of the second end of the payload line.