Parrot Drones

Parrot

Mathieu Babel

Henri Seydoux

Francois Callou

Gilles Foinet

Nicolas Texier

Nicolas Martin

Yoni Benatar

François Callou

A drone including a barometric sensor adapted to deliver a drone altitude signal; a sensor for measuring the attitude of said drone, adapted to estimate at least one angle of attitude of the drone, and altitude determination means adapted to deliver a drone altitude value, expressed in an absolute terrestrial reference system. The drone includes a relative wind speed sensor adapted to measure the relative wind speed and the altitude determination means includes a device for memorizing predetermined altitude compensation data, an altitude estimator receiving as an input the signals delivered by the attitude measurement sensor and by the relative wind speed sensor and by the barometric sensor and combining these signals with the altitude compensation data memorized in the memorized device to output the estimated drone altitude value.

Altitude estimator for a drone

A new method of dynamic control of a rotary-wing drone in throw start includes the steps of: a) initializing a predictive-filter altitude estimator; b) the user throwing the drone in the air with the motors turned off; c) detecting the free fall state; d) upon detecting the free fall state, fast start with turn-on of the motors, open-loop activation of the altitude control means, and closed-loop activation of the attitude control means; e) after a motor response time, stabilizing the drone by closed-loop activation of the altitude control means, and closed-loop activation of the attitude control means; f) detecting a stabilization state such that the total angular speed of the drone is lower than a predetermined threshold; and g) upon detecting the stabilization state, switching to a final state in which the drone is in a stable lift condition and pilotable by the user.

Method of dynamic control of a rotary- wing drone in throw start

The drone comprises altitude determination means (), with an estimator () combining the measures of an ultrasound telemetry sensor () and of a barometric sensor () to deliver an absolute altitude value of the drone in a terrestrial system. The estimator comprises a predictive filter () incorporating a representation of a dynamic model of the drone making it possible to predict the altitude based on the motor commands () and to periodically readjust this prediction as a function of the signals delivered by the telemetry sensor () and the barometric sensor (). Validation means analyze the reflected echoes and possibly modify the parameters of the estimator and/or allow or invalidate the signals of the telemetry sensor. The echo analysis also makes it possible to deduce the presence and the configuration of an obstacle within the operating range of the telemetry sensor, to apply if need be a suitable corrective action.

Altitude estimator for a rotary-wing drone with multiple rotors

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Paris, France

Mathieu Babel