Gopro, Inc.

Skydio, Inc.

Axel Murguet

Garance Bruneau

Pascal Gohl

Joseph Anthony Enke

Thomas Gubler

Jean-Bernard Berteaux

Benjamin P Tankersley

Sammy Omari

Fabio Diem

Lukas Schmid

Benjamin Tankersley

An aerial vehicle, comprising: one or more motors, one or more sensors, and a flight sub-system. The one or more sensors configured to detect data. The flight sub-system includes an attitude controller module; a rate controller module; and a compensator module. The compensator module is configured to: determine a maximum RPM of the one or more motors or a maximum torque of the one or more motors; receive a torque vector from the rate controller module; determine a rotational speed of the one or more motors to generate a desired flight orientation based upon the torque vector; and consider sensor data from the one or more sensors to adjust the rotational speed of the one or more motors.

Variable condition motor controller

Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

Relative image capture device orientation calibration

A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

Stabilizing an image capture device includes stabilizing the image capture device as the image capture device captures images; responsive to detecting an exceptional activity, stopping the stabilizing of the image capture device; and after the exceptional activity is completed, stabilizing the image capture device again. An image stabilization device for stabilizing an imaging device includes a processor that is configured to set at least one of a pitch angle or a roll angle of the image stabilization device to respective constant values and allow a yaw angle of the image stabilization device to vary; while the yaw angle is less than a threshold angle, maintain the yaw angle at a constant relative to a reference platform; when the yaw angle reaches the threshold angle, stop keeping the yaw angle relative to a reference platform constant; and set the yaw angle to follow a direction of motion of the reference platform.

Adaptive modes of operation based on user intention or activity

A method for stabilizing an imaging device with an image stabilization device includes setting a setpoint of the imaging device to a default setpoint, the setpoint corresponds to an orientation of the imaging device; stabilizing the imaging device with the image stabilization device according to the default setpoint; determining whether a flip condition exists; in response to determining that the flip condition exists, stopping operation of the image stabilization device so that the default setpoint is no longer maintained and the imaging device is not stabilized; and in response to determining that the flip condition does not exist, maintaining the default setpoint to stabilize the imaging device.

An aerial vehicle platform includes an aerial vehicle, a gimbal coupled to the aerial vehicle, and a camera mounted to the gimbal. An attitude sensing system includes an inertial measurement unit to sense attitude and an attitude adjustment module to generate an attitude adjustment for adjusting the sensed attitude to compensate for drift error.

Fast attitude error correction

The disclosure describes systems and methods for stabilizing an imaging device with an image stabilization device. The image stabilization device includes sensors, one or more arms, one or more motors, and a control unit. The sensors provide sensor data including orientation data, angular velocity data, and acceleration data. Each of the motors is associated with a respective arm. The control unit is configured to set a setpoint of the imaging device to a default setpoint, receive sensor data from the sensors, determine whether a flip condition exists, in response to determining that the flip condition exists, fix the setpoint of the imaging device, and in response to determining that the flip condition does not exists, maintain the default setpoint of the imaging device by moving at least one of respective arms with one of the respective motors.

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Zurich, Switzerland

Axel Murguet