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METHOD FOR CONTROLLING A MULTI-ROTOR ROTARY-WING DRONE, WITH CROSS WIND AND ACCELEROMETER BIAS ESTIMATION AND COMPENSATION

  • US 20150057844A1
  • Filed: 03/27/2013
  • Published: 02/26/2015
  • Est. Priority Date: 03/30/2012
  • Status: Active Grant
First Claim
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1. A method for piloting a rotary-wing drone (10) with multiple rotors (12) driven by respective motors (110) able to be controlled to pilot the drone in attitude and speed,said method comprising:

  • the generation of angular set-points (θ

    , φ

    ) and the application of these set-points to a control loop (120) of the drone motors, these set-points being adapted to control the attitude of the drone about pitch (22) and roll (24) axes,the establishment of at least one dynamic model of the drone, describing horizontal speed components of the drone as a function of the drag coefficients and the mass of the drone, of the Euler angles characterizing the attitude of the drone with respect to an absolute terrestrial coordinate system, as well as of the rotational speed of the drone about a vertical yaw axis;

    the measurement of the aerodynamic drag force of the drone, derived from a measurement of acceleration of the drone;

    the measurement of the relative speed of the drone with respect to the ground; and

    the application to said dynamic model of the drone, by a Kalman predictive filter, of said measurements of aerodynamic drag force and of speed relative to the ground, so as to produce an estimation of the horizontal speed components of the cross wind,the method being characterized in that;

    the Kalman predictive filter is a six-state filter, such states comprising;

    two components of the speed of displacement of the drone relative to the ground, expressed in a coordinate system linked to the drone,two components of the speed of wind relative to the ground, expressed in an absolute terrestrial coordinate system linked, andtwo horizontal components of drone accelerometer bias.

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