Ground vehicle-like control for remote control aircraft

• US 10,059,446 B2
• Filed: 06/06/2016
• Issued: 08/28/2018
• Est. Priority Date: 06/06/2016
• Status: Active Grant

• Current Assignee: Traxxas LP (Traxxas)
• Original Assignee: Traxxas LP (Traxxas)
• Inventors: Erhart, Wesley Ronald, Schmitz, Scott Rollin Michael, Kawamura, Thomas Michael, Hohnholt, Richard Douglas, Poteet, Kent
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): TAVERAS, KENNY ABEL
• Application Number:
  US15/174,935
• Publication Number:
  US 20170349277A1
• Time in Patent Office: 813 Days
• Field of Search: None
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/0808 specially adapted for aircraft

Abstract

A hand-held radio transmit controller for remotely controlling an aircraft, and a method for controlling a remote control aircraft offering ground vehicle-like control.

Claims

1. A method for a remote control aircraft offering ground vehicle-like control, the method comprising:

receiving an altitude command from a transmitter controller;

receiving at least one steering angle control input from a transmitter controller;

an electronic state estimation process, executed by a processor, comprising estimating an attitude, an acceleration, and a velocity of the aircraft;

an electronic steering control process, executed by a processor, comprising;

mapping a model of a ground vehicle, the ground vehicle including a wheel base, comprising mapping the at least one steering angle control input to steering of the model of the ground vehicle; and

utilizing the mapping of the model of the ground vehicle, the aircraft velocity estimate, and the at least one steering angle control input to command at least an aircraft yaw rate, an aircraft bank angle, and an aircraft pitch angle; and

an electronic flight control process, executed by a processor, comprising controlling the aircraft to the aircraft yaw rate, aircraft bank angle, the aircraft pitch angle and the aircraft pitch rate commanded by the electronic steering control process and maintaining an altitude set by the altitude command.

2. The method of claim 1, wherein the electronic flight control process controls the aircraft to follow the contour of a terrain over which it flies, and maintain a constant altitude above the ground.

3. The method of claim 1, wherein the electronic flight control process of the aircraft increases altitude in response to an obstacle in its path.

4. The method of claim 1, wherein the electronic flight control process controls the aircraft to follow the contour of a terrain over which it flies, and follow a trajectory as the contour of the terrain rises and falls.

5. The method of claim 4, wherein the electronic flight control process controls the aircraft to perform tricks while following said trajectory, the tricks comprising flips, rolls, spins and combinations thereof.

6. The method of claim 1, wherein the method further comprises the electronic flight control process:

estimating aberrant conditions; and

adjusting the state of the model of the ground vehicle to account for the aberrant conditions;

wherein the aircraft mimics the behavior of the ground vehicle under the aberrant conditions.

7. The method of claim 6, wherein the aberrant conditions may comprise one or more of the following:

oversteer/understeer behavior;

road traction corresponding to road conditions; and

inertial delay effects.

8. The method of claim 1, further comprising the steps of:

receiving a braking command from the transmitter controller;

the electronic flight control process controlling the aircraft to reduce speed to zero;

wherein the electronic flight control process maintains zero speed until a forward speed command is received.

9. The method of claim 1, further comprising the steps of;

receiving a speed command that goes from non-zero speed to zero speed;

in the absence of a braking command, the electronic flight control process maintaining forward motion while gradually and continuously reducing speed.

10. The method of claim 1, further comprising the step of:

the electronic steering control process controlling pitch angle and pitch rate in response to the at least one steering angle control input.

11. The method of claim 1, wherein the electronic flight control process further comprises:

entering a hover mode while forward speed is zero, wherein the at least one steering angle control input controls the aircraft bank angle; and

exiting the hover mode upon receipt of a non-zero forward speed command.