Patent ID: 9387927
Filing Date: 2016-07-12
CPC Classification: B64C,G05D

Claim Text:
1. A rotary-wing drone ( 10 ) with multiple rotors ( 12 ) driven by respective motors selectively controlled by application of differentiated motor commands to pilot the drone in altitude and speed, comprising: plurality of sensors adapted to deliver respective drone-state signals, such sensors comprising: a predictive-filter estimator incorporating a representation of a dynamic model of the drone, this filter being adapted to perform a prediction of at least one state value of the drone based on the motor commands and to periodically readjust this prediction as a function of the signals delivered by the sensors, wherein the drone further comprises navigation means adapted to determine position coordinates of the drone in an absolute coordinate system (NED) linked to the ground, and in that these navigation means: are autonomous means adapted to operate without reception of signals external to the drone; comprise image analysis means ( implement the predictive-filter estimator (