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    Health based actuator allocation
    1.
    发明授权
    Health based actuator allocation 有权

    公开(公告)号：US11834188B2

    公开(公告)日：2023-12-05

    申请号：US17828729

    申请日：2022-05-31

    Applicant: Kitty Hawk Corporation

    Inventor： Christopher Scott Saunders ,  Mark Johnson Cutler

    IPC: B64D31/06 ,  B64D45/00 ,  G07C5/08 ,  G05D1/08 ,  G05D1/10

    CPC classification number: B64D31/06 ,  B64D45/00 ,  G07C5/0808 ,  B64D2045/0085 ,  G05D1/0808 ,  G05D1/101

    Abstract: Commands, including a first and second command associated with a first and second rotor module, are determined based at least in part on a set of desired forces or moments and a plurality of health metrics, including by determining a plurality of differences between the plurality of health metrics and a threshold and assigning a lower thrust value to the first command based at least in part on the first difference and a higher thrust value to the second command based at least in part on the second difference, where the first difference indicates a higher degree of wear on the first rotor module than the second difference indicates for the second rotor module. The commands are sent to the rotor modules and after the commands are performed, updated health metrics are determined.

    SUPPLEMENTAL ATTITUDE WITH ENGAGED AND DISENGAGED INPUT DEVICE MODES
    5.
    发明申请
    SUPPLEMENTAL ATTITUDE WITH ENGAGED AND DISENGAGED INPUT DEVICE MODES 审中-公开

    公开(公告)号：US20190171234A1

    公开(公告)日：2019-06-06

    申请号：US16107833

    申请日：2018-08-21

    Applicant: Kitty Hawk Corporation

    Inventor： Alexander David Selwa ,  Mark Johnson Cutler

    IPC: G05D1/08 ,  B64C29/00 ,  B64C17/00 ,  B64C19/00

    Abstract: An input attitude associated with an input device of an aircraft is received. A supplemental attitude is generated, including by selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state and selecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state. The input attitude and the supplemental attitude are combined in order to obtain a combined attitude. The aircraft is controlled using the combined attitude.

    ACTUATOR MONITORING SYSTEM USING INERTIAL SENSORS
    9.
    发明申请
    ACTUATOR MONITORING SYSTEM USING INERTIAL SENSORS 有权

    公开(公告)号：US20230118206A1

    公开(公告)日：2023-04-20

    申请号：US18083325

    申请日：2022-12-16

    Applicant: Kitty Hawk Corporation

    Inventor： Mark Johnson Cutler

    IPC: B64D45/00 ,  B64C13/16 ,  B64F5/60 ,  G01C21/16

    Abstract: Sensor data is received from an inertial measurement unit on a vehicle. An observed attitude and an observed attitude rate of the vehicle are determined based on the sensor data. Using a model associated with a vehicle failure mode, an expected attitude and an expected attitude rate of the vehicle are determined. A malfunctioning rotor is determined based on the observed attitude, the observed attitude rate, the expected attitude, and the expected attitude rate. In response to identifying the malfunctioning rotor, a responsive action is performed, including by updating a geometry matrix so that at least one non-malfunctioning rotor in the plurality of rotors compensates for the malfunctioning rotor.

    AUTOMATED SELF-TESTING
    10.
    发明申请
    AUTOMATED SELF-TESTING 有权

    公开(公告)号：US20220119127A1

    公开(公告)日：2022-04-21

    申请号：US17495554

    申请日：2021-10-06

    Applicant: Kitty Hawk Corporation

    Inventor： Alexander David Selwa ,  Mark Johnson Cutler

    IPC: B64D45/00 ,  G07C5/08 ,  G07C5/00

    Abstract: A flight-time variable associated with an aircraft is determined including by determining the flight-time variable while the aircraft is flying. It is determined whether the aircraft is airworthy based at least in part on the flight-time variable. In response to determining that the aircraft is not airworthy, the aircraft is automatically landed.

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