| 摘要 |
A system for determining the position and/or velocity of an autonomous aircraft in a low-cost, low- weight manner independent of external technological dependencies such as satellites or beacons is claimed. The solution comprises a combination of traditional technologies (IMUs, altitude sensing, control systems, visual sensing technology, etc.) coupled with algorithms to implement their combined use. The solution is small enough for inclusion on small mass aircraft, yet its precision and capability make it useful for large aircraft as well. Using aircraft position or velocity data, an outer control loop algorithm determines an aircraft target angle and an inner control loop algorithm outputs commands to cause the aircraft to achieve the target angle. Executing these commands, the aircraft can autonomously take-off and land, station hold in a very precise manner, and fly in very close proximity to other objects with little chance of collision.
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