Patent ID: 9671787
Date: 2017-06-06
CPC Classifications: A63H,G05D

Claim:
1. A method of dynamic control of a rotary-wing drone with multiple rotors driven by respective motors with application of differentiated motor commands to pilot the drone in attitude, altitude and speed, this method being a method for operating a transition: from an initial state, in which the drone has its motors turned-off, to a final state, in which the drone is in a lift condition, and from which the drone can be piloted by a user, the drone comprising: said method comprising steps of: said method being characterized in that, the altimeter means comprises a predictive-filter estimator that incorporates a representation of a dynamic model of the drone and operates based on a state vector containing altitude and horizontal speed variables, said method comprising the following successive steps: a) initializing the predictive-filter estimator; b) throwing the drone in the air by the user from an initial state, with the motors turned-off; c) detecting a free fall state such that the norm of the drone acceleration is lower than a predetermined threshold for a predetermined minimum duration; d) upon detection of said free fall state, fast starting by: e) then, after a duration at least equal to a time of response of the motors to said turn-on, stabilizing the drone by: f) detection of a stabilization state such that the norm of the total angular speed of the drone is lower than a predetermined threshold; and g) upon detection of the stabilization state, switching to the final state.