Altitude estimator for a rotary-wing drone with multiple rotors

摘要

The drone comprises altitude determination means (134), with an estimator (152) combining the measures of an ultrasound telemetry sensor (154) and of a barometric sensor (156) to deliver an absolute altitude value of the drone in a terrestrial system. The estimator comprises a predictive filter (152) incorporating a representation of a dynamic model of the drone making it possible to predict the altitude based on the motor commands (158) and to periodically readjust this prediction as a function of the signals delivered by the telemetry sensor (154) and the barometric sensor (156). 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.

主权项

1. A rotary-wing drone (10) with multiple rotors (12) driven by respective motors (110) controlled by application of differentiated motor commands (158) so as to pilot the drone in attitude and speed, said drone comprising altitude estimator circuit (134), adapted to deliver an absolute altitude value of the drone expressed in an absolute terrestrial system, comprising:
a telemetry sensor (154), adapted to estimate a relative distance separating the drone from a surface (18) reflecting echoes of ultrasound pulses emitted by the drone,characterized in that the altitude estimator circuit (134) further comprise:
a barometric sensor (156), adapted to deliver a drone altitude variation signal; an estimator (152), receiving as an input the signals delivered by the telemetry sensor and by the barometric sensor, and combining these signals to deliver as an output said absolute value of altitude of the drone; a state estimator module for validating the signal delivered by the telemetry sensor, adapted to analyze the echoes reflected, and, based on the result of this analysis, to modify accordingly the parameters of the estimator and/or allow or inhibit the application to the estimator of the signal delivered by the telemetry sensor; and wherein the state estimator module is further adapted to analyze the echoes reflected, and, based on the result of this analysis, to deduce the presence and the configuration of an obstacle in the operating range of the telemetry sensor and to apply to the estimator a corrective action adapted to compensate for the effect of the obstacle on the relative distance estimated by the telemetry sensor.