METHOD OF PILOTING A MULTIPLE ROTOR ROTARY-WING DRONE TO FOLLOW A CURVILINEAR TURN
First Claim
1. A method of piloting a rotary wing drone (10), the method comprising the following steps:
- a) a remote control appliance (16) producing a turning command to follow a curvilinear path;
b) the drone both i) receiving said command and ii) acquiring instantaneous measurements of the linear velocity components, of the angles of inclination, and of the angular velocities of the drone; and
c) on the basis of the received command and of the measurements acquired in step b), generating setpoint values for a drone control loop (64-80), these setpoint values controlling the horizontal linear speed and the inclination of the drone relative to a frame of reference associated with the ground so as to make the drone follow said curvilinear path (C) with a predetermined tangential speed (u), wherein;
the drone is a drone of the quadricopter type having multiple rotors driven by respective motors (72);
the control loop (64-80) controls the horizontal linear speed and the inclination of the drone by taking different actions on the speeds of rotation of said motors (72); and
said command is a rate of turn command comprising a right or left turn direction parameter and a parameter defining a setpoint for the instantaneous radius of curvature of the turn.
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Accused Products
Abstract
The respective motors of the drone (10) can be controlled to rotate at different speeds in order to pilot the drone both in attitude and speed. A remote control appliance produces a command to turn along a curvilinear path, this command comprising a left or right turning direction parameter and a parameter that defines the radius of curvature of the turn. The drone receives said command and acquires instantaneous measurements of linear velocity components, of angles of inclination, and of angular speeds of the drone. On the basis of the received command and the acquired measurements, setpoint values are generated for a control loop for controlling motors of the drone, these setpoint values controlling horizontal linear speed and inclination of the drone relative to a frame of reference associated with the ground so as to cause the drone to follow curvilinear path (C) at predetermined tangential speed (u).
77 Citations
14 Claims
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1. A method of piloting a rotary wing drone (10), the method comprising the following steps:
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a) a remote control appliance (16) producing a turning command to follow a curvilinear path; b) the drone both i) receiving said command and ii) acquiring instantaneous measurements of the linear velocity components, of the angles of inclination, and of the angular velocities of the drone; and c) on the basis of the received command and of the measurements acquired in step b), generating setpoint values for a drone control loop (64-80), these setpoint values controlling the horizontal linear speed and the inclination of the drone relative to a frame of reference associated with the ground so as to make the drone follow said curvilinear path (C) with a predetermined tangential speed (u), wherein; the drone is a drone of the quadricopter type having multiple rotors driven by respective motors (72); the control loop (64-80) controls the horizontal linear speed and the inclination of the drone by taking different actions on the speeds of rotation of said motors (72); and said command is a rate of turn command comprising a right or left turn direction parameter and a parameter defining a setpoint for the instantaneous radius of curvature of the turn. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification