Altitude estimator for a rotary-wing drone with multiple rotors
US8989924B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 12, 2013 |
| Grant date | Mar 24, 2015 |
| Priority date | — |
| Expiry date | Mar 12, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C5/005
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The drone comprises altitude determination means (134), with an estimator (152) combining the measures of an ultrasound telemetry sensor (154) and of a barometric sensor (156) to deliver an absolute altitude value of the drone in a terrestrial system. The estimator comprises a predictive filter (152) incorporating a representation of a dynamic model of the drone making it possible to predict the altitude based on the motor commands (158) and to periodically readjust this prediction as a function of the signals delivered by the telemetry sensor (154) and the barometric sensor (156). Validation means analyze the reflected echoes and possibly modify the parameters of the estimator and/or allow or invalidate the signals of the telemetry sensor. The echo analysis also makes it possible to deduce the presence and the configuration of an obstacle within the operating range of the telemetry sensor, to apply if need be a suitable corrective action.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.