Autonomous helicopter posture regulation to moving reference frames
First Claim
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1. A method of flying an aircraft, comprising:
- determining a trajectory of a moving object relative to the aircraft;
determine, from the trajectory of the moving object, a reference frame of the moving object;
flying the aircraft via a processor to maintain the aircraft at a selected offset from the moving object for the determined trajectory of the moving object;
implementing a flight command to fly the aircraft along a flight path using calculations performed with respect to the determined reference frame;
tracking a rotation of the moving object about an axis of the moving object; and
performing one of mimicking the rotation of the moving object at the aircraft and mimicking the rotation of the moving object at a slung load conveyed by the aircraft.
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Abstract
A system and method for flying an aircraft is disclosed. A perception system at the aircraft tracks a trajectory of a moving object. A processor determines, from the trajectory of the moving object, a reference frame in which the moving object is stationary and establishes the aircraft at a selected offset from the moving object for the trajectory of the moving object. The aircraft is flown along a flight path based on the selected offset using calculations performed with respect to the determined reference frame.
18 Citations
11 Claims
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1. A method of flying an aircraft, comprising:
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determining a trajectory of a moving object relative to the aircraft; determine, from the trajectory of the moving object, a reference frame of the moving object; flying the aircraft via a processor to maintain the aircraft at a selected offset from the moving object for the determined trajectory of the moving object; implementing a flight command to fly the aircraft along a flight path using calculations performed with respect to the determined reference frame; tracking a rotation of the moving object about an axis of the moving object; and performing one of mimicking the rotation of the moving object at the aircraft and mimicking the rotation of the moving object at a slung load conveyed by the aircraft. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An autonomous flight control system for an aircraft, comprising:
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a perception system at the aircraft for tracking a trajectory of a moving object; and a processor configured to; determine, from the trajectory of the moving object, a reference frame in which the moving object is stationary; establish the aircraft at a selected offset from the moving object for the trajectory of the moving object; fly the aircraft along a flight path based on the selected offset using calculations performed with respect to the determined reference frame; track a rotation of the moving object about an axis; and perform one of mimicking the rotation of the moving object at the aircraft and mimicking the rotation of the moving object at a slung load conveyed by the aircraft. - View Dependent Claims (8, 9, 10, 11)
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Specification