Title:
小型無人ヘリコプタの自律制御方法
Document Type and Number:
Japanese Patent JP4133435
Kind Code:
B2
Abstract:
An autonomous control method autonomously controls a small unmanned helicopter toward target values, such as a set position and velocity, by deriving model formulas well suited for the autonomous control of small unmanned helicopters, by designing an autonomous control algorithm based on the model formulas, and by calculating the autonomous control algorithm. The autonomous control system includes sensors that detect current position, attitude angle, altitude relative to the ground, and absolute azimuth of a nose of the small unmanned helicopter; a primary computational unit that calculates optimal control reference values for driving the helicopter from a target position or velocity values; a secondary computational unit that converts data collected by the sensors and the computational results as numeric values that are output by the primary computational unit into pulse signals; a ground station host computer used as the computational unit for the autonomous control system; and so on.
Inventors:
Kenzo Nonami
Spicy ball
Daigo Fujiwara
Kensaku Hazawa
Keitaro Matsuzaka
Spicy ball
Daigo Fujiwara
Kensaku Hazawa
Keitaro Matsuzaka
Application Number:
JP2003049570A
Publication Date:
August 13, 2008
Filing Date:
February 26, 2003
Export Citation:
Assignee:
Kenzo Nonami
Spicy ball
Daigo Fujiwara
Kensaku Hazawa
Hirobo Co., Ltd.
Spicy ball
Daigo Fujiwara
Kensaku Hazawa
Hirobo Co., Ltd.
International Classes:
B64C13/20; A63H30/04; B64C27/04; B64C39/02; G05B13/04; G05D1/00; G05D1/08; G05D1/10; G05D1/12
Domestic Patent References:
| JP2001306144A | ||||
| JP2000118498A | ||||
| JP9146606A | ||||
| JP7277286A | ||||
| JP7234722A | ||||
| JP4325185A | ||||
| JP4318608A | ||||
| JP2161295A |
Attorney, Agent or Firm:
Hajime Sakai
Masahiro Kurai
Masahiro Kurai