Method of piloting a rotary wing drone having multiple rotors
US8474761B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 6, 2011 |
| Grant date | Jul 2, 2013 |
| Priority date | — |
| Expiry date | Nov 30, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0858
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
This method implements a transition from i) moving state in which the drone is flying at speed and tilt angle that are not zero to ii) hovering state in which the drone has speed and tilt angle that are both zero. The method comprises: a) measuring horizontal linear speed, tilt angles, and angular speeds at the initial instant; b) setting stopping time value; c) on the basis of initial measurements and set stopping time, parameterizing a predetermined predictive function that models optimum continuous decreasing variation of horizontal linear speed as a function of time; d) applying setpoint values to a loop for controlling motors of the drone, which values correspond to target horizontal linear speed precalculated from said parameterized predictive function; and e) once hovering state has been reached, activating a hovering flight control loop for maintaining drone at speed and tilt angle that are zero relative to the ground.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.