Justin Gilbert Thomas

US Patent:

20210271267, Sep 2, 2021

Filed:

Feb 29, 2020

Appl. No.:

16/805765

Inventors:

- Philadelphia PA, US
Justin Thomas - Philadelphia PA, US

International Classification:

G05D 1/08
G05D 1/00
B64C 29/00
B64C 39/02

Abstract:

A method for compensating disturbances in an aerial vehicle having a plurality of thrusters, the disturbances caused by a payload rotating about one or more axes and coupled to the aerial vehicle, the method including the steps of determining aerial vehicle parameters; determining payload parameters comprising physical parameters and dynamic parameters; determining a preferred orientation of the aerial vehicle based on the aerial vehicle parameters and operational instructions; determining a corrective input based on aerial vehicle parameters, payload parameters, and actual orientation feedback; determining an operation of one or more of the plurality of thrusters based on the corrective input and the preferred orientation, then controlling an output of one or more of the plurality of thrusters accordingly; and determining an actual orientation of the aerial vehicle and generating the actual orientation feedback.