Methods and Systems for Conserving Power During Hover Flight
First Claim
1. A method comprising:
- sensing a speed of an apparent wind on an aircraft, wherein the aircraft is coupled to a ground station via a tether;
based on the sensed speed of the apparent wind and Iii) a weight of the tether, determining, by one or more processors, a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory pulls the tether along a catenary path above ground;
based on the trajectory and a weight of the aircraft, determining a vertical thrust for the aircraft to travel the trajectory in the apparent wind; and
providing instructions to cause an actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory.
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Accused Products
Abstract
An example method may include determining a drag force of an apparent wind on an aircraft that is coupled to a ground station via a tether. The method also includes determining a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory causes the tether to unfurl along a catenary path above ground. The method further includes determining an orientation of the aircraft to travel the trajectory in the apparent wind so that an actuator of the aircraft is configured to provide a vertical thrust in a direction substantially perpendicular to the ground. The method also includes determining a vertical thrust for the aircraft at the orientation to travel the trajectory in the apparent wind. The method also includes providing instructions to cause the actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory.
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Citations
20 Claims
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1. A method comprising:
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sensing a speed of an apparent wind on an aircraft, wherein the aircraft is coupled to a ground station via a tether; based on the sensed speed of the apparent wind and Iii) a weight of the tether, determining, by one or more processors, a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory pulls the tether along a catenary path above ground; based on the trajectory and a weight of the aircraft, determining a vertical thrust for the aircraft to travel the trajectory in the apparent wind; and providing instructions to cause an actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer readable storage memory having stored therein instructions, that when executed by a computing device that includes one or more processors, causes the computing device to perform functions comprising:
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sensing a speed of an apparent wind on an aircraft, wherein the aircraft is coupled to a ground station via a tether; based on (i) the sensed speed of the apparent wind and (ii) a weight of the tether, determining a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory pulls the tether along a catenary path above ground; based on the trajectory and a weight of the aircraft, determining a vertical thrust for the aircraft to travel the trajectory in the apparent wind; and providing instructions to cause an actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory. - View Dependent Claims (18)
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19. A computing device comprising:
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one or more processors; and memory configured to store instructions, that when executed by the one or more processors, cause the computing device to perform functions comprising; sensing a speed of an apparent wind on an aircraft, wherein the aircraft is coupled to a ground station via a tether; based on (i) the sensed speed of the apparent wind and (ii) a weight of the tether, determining a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory pulls the tether along a catenary path above ground; based on the trajectory and a weight of the aircraft, determining a vertical thrust for the aircraft to travel the trajectory in the apparent wind; and providing instructions to cause an actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory. - View Dependent Claims (20)
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Specification