Method of dynamically controlling the attitude of a drone in order to execute a flip type maneuver automatically
US8983684B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 11, 2012 |
| Grant date | Mar 17, 2015 |
| Priority date | — |
| Expiry date | Mar 7, 2033 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA63H27/12
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
This method controls the drone in order to flip through a complete turn about its roll axis or its pitching axis. It comprises the steps of: a) controlling its motors simultaneously so as to impart a prior upward vertical thrust impulse to the drone; b) applying different and non-servo-controlled commands to the motors so as to produce rotation of the drone about the axis of rotation of the flip, from an initial angular position to a predetermined intermediate angular position; and then c) applying individual control to the motors, servo-controlled to a reference target trajectory, so as to finish off the rotation of the drone through one complete turn about the axis of rotation, progressively from the intermediate angular position with a non-zero angular velocity to a final angular position with a zero angular velocity.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.