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公开(公告)号：EP2813428A1
公开(公告)日：2014-12-17
申请号：EP13171364.6
申请日：2013-06-11
发明人： Briod, Adrien , Kornatowski, Przemyslaw Mariusz , Klaptocz, Adam , Zufferey, Jean-Christophe , Floreano, Dario
CPC分类号： B64C39/024 , B64C2025/325 , B64C2201/027 , B64C2201/108
摘要： The present invention concerns a vertical take-off and landing aerial vehicle flying thanks to a propulsion system (e.g. one or more propellers) that generates an upward force (lift) to counter gravity. The present invention proposes a vertical take-off and landing aerial vehicle comprising an inner frame (312), a gimbal system (301) and an outer frame (304), said inner frame comprising a propulsion system (101,102) and a control system, said propulsion system being able to generate a lift force, said control system being able to control the orientation of the inner frame, said gimbal system connecting the inner frame to the outer frame with at least two rotation axis allowing rotation freedom between the outer frame to rotate independently from the inner frame.
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2.发明公开Method to determine a direction and amplitude of a current velocity estimate of a moving device 审中-公开一种用于确定移动物体的速度的电流估计的方向和幅度的方法
公开(公告)号：EP2730888A1
公开(公告)日：2014-05-14
申请号：EP12191669.6
申请日：2012-11-07
CPC分类号： G01P3/36 , G01C21/165 , G01C22/00
摘要： A new method for the estimation of ego-motion (the direction and amplitude of the velocity) of a mobile device comprising optic-flow and inertial sensors (hereinafter the apparatus). The velocity is expressed in the apparatus's reference frame, which is moving with the apparatus. The method relies on short-term inertial navigation and the direction of the translational optic-flow in order to estimate ego-motion, defined as the velocity estimate (that describes the speed amplitude and the direction of motion). A key characteristic of the invention is the use of optic-flow without the need for any kind of feature tracking. Moreover, the algorithm uses the direction of the optic-flow and does not need the norm, thanks to the fact that the scale of the velocity is solved by the use of inertial navigation and changes in direction of the apparatus.
摘要翻译： 用于移动装置，其包括光流和惯性传感器（装置后开始）的自运动（方向和速度的振幅）的估计的一种新方法。 速度是过表达的在装置的参考帧，所有这一切都与装置移动。 该方法以估计自运动，其定义为速度估计（即描述了速度的振幅和运动的方向）上的短期惯性导航和平移光流的方向凭借。 本发明的关键特征是，而不需要任何类型的特征跟踪的使用光流的。 更上方，该算法使用所述光流的方向，并且不需要的规范，由于速度的比例由在该装置的方向上的使用惯性导航和变化的解决factthat。
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公开(公告)号：EP2813428B1
公开(公告)日：2017-04-19
申请号：EP13171364.6
申请日：2013-06-11
发明人： Briod, Adrien , Kornatowski, Przemyslaw Mariusz , Klaptocz, Adam , Zufferey, Jean-Christophe , Floreano, Dario
CPC分类号： B64C39/024 , B64C2025/325 , B64C2201/027 , B64C2201/108
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