Method for controlling a multi-rotor rotary-wing drone, with cross wind and accelerometer bias estimation and compensation
US9488978B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 27, 2013 |
| Grant date | Nov 8, 2016 |
| Priority date | — |
| Expiry date | Mar 27, 2033 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64U2201/20
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The attitude and speed of the drone are controlled by angular commands applied to a control loop (120) for controlling the engines of the drone according to the pitch and roll axes. A dynamic model of the drone, including, in particular, a Kalman predictive filter, represents the horizontal speed components of the drone on the basis of the drone mass and drag coefficients, the Euler angles of the drone relative to an absolute terrestrial reference, and the rotation of same about a vertical axis. The acceleration of the drone along the three axes and the relative speed of same in relation to the ground are measured and applied to the model as to estimate (128) the horizontal speed components of the cross wind. This estimation can be used to generate corrective commands (126) that are combined with the angular commands applied to the control loop of the drone in terms of pitch and roll.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.