Method and Apparatus For Remotely Controlling and Stabilizing Unmanned Aircraft
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Accused Products
Abstract
An aid for remotely controlling unmanned aircraft and particular helicopters, which allow the pilot at least approximately to directly stir the angle of inclination, thus for instance a pitch(elevator) and/or roll angle, so that on neutralizing of the steering stick, the respective angle of attitude returns autonomously, and to a large extent goes back to the horizontal position. To this end, a closed-loop control of the inclination is carried out, in that an angular rate signal is being integrated to an actual value, and a nominal value is admixed behind the forming of the integral, wherein the time of integration is shortened in order to avoid null drifts, in particular by feeding a portion of the actual value and/or the nominal value back into the input of the integrator. Furthermore, a vectorial rotation of the integrated actual values by a yaw signal.
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Citations
80 Claims
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1-61. -61. (canceled)
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62. A method for controlling an unmanned remote controlled airborne object capable of hovering comprising the steps of:
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generating a steering signal formed by a pilot using a pickup unit and wherein for achieving at least in part an automatic restoring of the horizontal attitude of the airborne object when the pickup unit is neutralized; generating at least one rotation signal of an angular rate of at least one of an inclination pitch (elevator) and roll is formed, the at least one rotation signal is integrated with respect to time using an integrator, and the integral is being drawn upon, within the scope of a closed-loop-control, as an actual value of an angle of inclination, and a steering signal is being drawn upon as a nominal value of an inclination angle, and the difference between the actual value and the nominal value is transferred to an actuator unit controlling the flight attitude, and wherein the duration of the integration time is narrowed down accordant to a defined time constant or accordant to a defined time window. - View Dependent Claims (63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74)
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75. A device for flight stabilising of an unmanned and remote controllable airborne object and for achieving at least in part an automatic restoring of the horizontal attitude of the airborne object, comprising:
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an angular rate sensor for at least one of the inclination axes roll and pitch (elevator), an integrator for a measured signal from said angular rate sensor, and an electronic circuit suitable adapted to mix a steering signal given by the pilot as a nominal-value, next to an integral of the measured signal as an actual value of an inclination angle, or to form a difference between the nominal value and actual value, wherein the duration of the integration time is narrowed down according to a defined time constant or a defined time window. - View Dependent Claims (76, 77, 78, 79)
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80. Method for flight stabilization of an unmanned remote controlled airborne object capable of hovering, in particular rotary wing aircraft, using an angular rate sensor for at least one of the inclination axes roll and pitch (elevator) whose measured signal is integrated with respect to time, characterized in that:
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a steering signal given by the pilot, hereinafter referred to as nominal value, is admixed next to the integral of the measured signal or subject to a difference formed with the integral of the measured signal, said measured signal hereinafter referred to as actual value; furthermore characterized in that the duration of the integration time is narrowed down accordant to a defined time constant or accordant to a defined time window, wherein the time constant or time window is longer than the time of common steering deflections.
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Specification