Patent ID: 11983017

Abstract:
A method for determining a maneuvering reserve in an aircraft having a number of propulsion units, preferably a multirotor VTOL aircraft, most preferably an aircraft with electrically operated drive units for the rotors, including the steps: a) Determining a control vector, τ, for the aircraft, τ=(L M N F)T, the components of which represent control torques of the aircraft around the roll axis, L, the pitch axis, M, and the yaw axis, N, and a total thrust, F, b) Approximating an existing four-dimensional control volume, D, of the aircraft by a four-dimensional ellipsoid, E, the axes of which represent the control torques, L, M, N, of the aircraft and the total thrust, F, c) Determining a normalized control vector, τind=(Lind Mind Nind Find)T for the aircraft, using axis dimensions, Lmax, Mmax, Nmax, Fmax, of the ellipsoid, in particular semi-axis dimensions of the ellipsoid; and d) Outputting at least the normalized control vector, τind, for determining a permissible flight maneuver in at least one dimension of the four-dimensional control volume.