公开(公告)号：US08886368B2

公开(公告)日：2014-11-11

申请号：US13749782

申请日：2013-01-25

Applicant: Prox Dynamics AS

Inventor： Petter Muren ,  Dag Henning Paulsen

IPC: B64C19/00 ,  G05D1/00 ,  G06F3/0484

CPC classification number: B64C19/00 ,  G05D1/0016 ,  G05D1/0038 ,  G06F3/04842

Abstract: The present invention discloses a control stick for controlling an UAV formed by a bar with buttons on the bar head and a GUI displaying airplane like icons providing feedback of current steering control status of a UAV.

Abstract translation: 本发明公开了一种控制杆，用于控制由条形杆上的杆形成的UAV，以及显示飞机的GUI，其提供对UAV的当前转向控制状态的反馈的图标。

公开(公告)号：US20140129057A1

公开(公告)日：2014-05-08

申请号：US13855124

申请日：2013-04-02

Applicant: Prox Dynamics AS

Inventor： Alexander Philip Hall ,  Trygve Frederik Marton ,  Petter Muren

IPC: G05D1/02

CPC classification number: G05D1/0202 ,  G01P5/02 ,  G05D1/0204

Abstract: Local wind fields can be predicted if both the airspeed and the ground speed of the helicopter are known. An aircraft that uses an inertial navigation unit, autopilot and estimator allows a measure of ground speed to be known with good certainty. The embodiments herein extends this system to allow an estimate of the local wind field to be found without actively using an airspeed sensor, but instead combining the measurements of an accelerometer and a drag force model and a model of controlled aerodynamics of the aircraft to estimate the airspeed, which again can be used to estimate the local wind speed.

Abstract translation: 如果直升机的空速和地面速度都已知，则可以预测局部风场。 使用惯性导航单元，自动驾驶仪和估计器的飞机可以很好地确定地面速度的测量。 这里的实施例扩展了该系统以允许在不主动使用空速传感器的情况下找到局部风场的估计，而是组合加速度计和拖曳力模型的测量以及飞行器的受控空气动力学模型以估计 空速，再次可以用来估计当地的风速。

公开(公告)号：US09031719B2

公开(公告)日：2015-05-12

申请号：US13855124

申请日：2013-04-02

Applicant: Prox Dynamics AS

Inventor： Alexander Philip Hall ,  Trygve Frederik Marton ,  Petter Muren

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0202 ,  G01P5/02 ,  G05D1/0204

Abstract: Local wind fields can be predicted if both the airspeed and the ground speed of the helicopter are known. An aircraft that uses an inertial navigation unit, autopilot and estimator allows a measure of ground speed to be known with good certainty. The embodiments herein extends this system to allow an estimate of the local wind field to be found without actively using an airspeed sensor, but instead combining the measurements of an accelerometer and a drag force model and a model of controlled aerodynamics of the aircraft to estimate the airspeed, which again can be used to estimate the local wind speed.

Abstract translation: 如果直升机的空速和地面速度都已知，则可以预测局部风场。 使用惯性导航单元，自动驾驶仪和估计器的飞机可以很好地确定地面速度的测量。 这里的实施例扩展了该系统以允许在不主动使用空速传感器的情况下找到局部风场的估计，而是组合加速度计和拖曳力模型的测量以及飞行器的受控空气动力学模型以估计 空速，再次可以用来估计当地的风速。

公开(公告)号：US20140257596A1

公开(公告)日：2014-09-11

申请号：US14261182

申请日：2014-04-24

Applicant: Prox Dynamics AS

Inventor： Dag Henning Paulsen ,  Petter Muren

IPC: B64C19/00

CPC classification number: B64C19/00 ,  G05D1/0038 ,  G05D1/0044

Abstract: The embodiments herein disclose a method and a remote control for controlling and monitoring surrounding areas of an Unmanned Aerial Vehicle (UAV) by an operator with a remote control comprising a flight display. The embodiments disclose a surprising advantageously effect for the purposes of controlling and monitoring the surroundings of a UAV by combining the image captured by a UAV camera with a transparently overlaid positional and navigation map providing a perception enabling the operator to have a complete overall view of the situation, utilizing a common screen section of a flight display and thereby not having to shift eye view. Viewing images and positional and navigation information in the way described has shown not to interfere with each other, rather on the contrary.

公开(公告)号：US08744647B2

公开(公告)日：2014-06-03

申请号：US13749918

申请日：2013-01-25

Applicant: Prox Dynamics AS

Inventor： Dag Henning Paulsen ,  Petter Muren

IPC: B64C19/00

CPC classification number: B64C19/00 ,  G05D1/0038

Abstract: A method and a remote control for controlling and monitoring surrounding areas of an Unmanned Aerial Vehicle (UAV) by an operator with a remote control comprising a flight display are provided. The method and remote control provide an advantageously effect for the purposes of controlling and monitoring the surroundings of a UAV by combining the image captured by a UAV camera with a transparently overlaid positional and navigation map providing a perception enabling the operator to have a complete overall view of the situation, utilizing a common screen section of a flight display and thereby not having to shift eye view. Viewing images and positional and navigation information should not interfere with each other.

Abstract translation: 提供了一种用于由包括飞行显示器的遥控器的操作者控制和监视无人机（UAV）周围区域的方法和遥控器。 该方法和遥控器通过将由UAV摄像机拍摄的图像与透明地重叠的位置和导航地图组合而控制和监视无人机的周围环境提供了有利的效果，其提供感知能使操作者具有完整的整体视图 的情况下，利用飞行显示器的公共屏幕部分，从而不必使视线偏移。 查看图像和位置和导航信息不应相互干扰。

公开(公告)号：US20140142784A1

公开(公告)日：2014-05-22

申请号：US13749782

申请日：2013-01-25

Applicant: Prox Dynamics AS

Inventor： Petter Muren ,  Dag Henning Paulsen

IPC: B64C19/00 ,  G06F3/0484

CPC classification number: B64C19/00 ,  G05D1/0016 ,  G05D1/0038 ,  G06F3/04842

Abstract: The present invention discloses a control stick for controlling an UAV formed by a bar with buttons on the bar head and a GUI displaying airplane like icons providing feedback of current steering control status of a UAV.

Abstract translation: 本发明公开了一种控制杆，用于控制由条形杆上的杆形成的UAV，以及显示飞机的GUI，其提供对UAV的当前转向控制状态的反馈的图标。

公开(公告)号：US08682506B2

公开(公告)日：2014-03-25

申请号：US13778212

申请日：2013-02-27

Applicant: Prox Dynamics AS

Inventor： Trygve Frederik Marton ,  Geir Morten Egeberg Mellem ,  Pal Hagh Sandberg ,  Petter Muren ,  Dag Henning Paulsen

IPC: G05D1/08 ,  B64C27/467

CPC classification number: B64C19/00 ,  B64C27/04 ,  B64C27/57 ,  G05D1/0858

Abstract: A method and device for precise control of and controller design for aircrafts consisting of at least one spinning part and at least one non-spinning part is provided. The required torques for control of the spinning parts and for the non-spinning parts are continuously and individually calculated. All torques are combined to get the correct torque for the complete aircraft. Doing this, it's possible to continuously apply the correct torque, both correctly distributed among the roll and pitch axes (correct angle), and correct magnitude. The result is a decoupling of the roll and pitch axes, simplifying controller design to a design of two single input single output controllers, one for each axe.

Abstract translation: 提供了由至少一个纺纱部分和至少一个非纺纱部分组成的用于飞机的精确控制和控制器设计的方法和装置。 用于控制纺纱部件和非纺纱部件的所需扭矩是连续和单独计算的。 所有扭矩相结合，以获得整个飞机的正确扭矩。 做到这一点，可以连续地应用正确分配在滚动轴和俯仰轴之间的正确扭矩（正确的角度），并确定大小。 结果是滚动和俯仰轴的解耦，简化了控制器设计到两个单输入单输出控制器的设计，每个轴一个。

公开(公告)号：US20180002008A1

公开(公告)日：2018-01-04

申请号：US15545308

申请日：2016-01-20

Applicant: PROX DYNAMICS AS

Inventor： Petter Muren ,  Trygve Frederik Marton ,  Ivar Johnsrud ,  Päl Hagh Sandberg

IPC: B64C27/72 ,  B64C27/51 ,  B64C27/58

CPC classification number: B64C27/72 ,  A63H27/12 ,  B64C27/51 ,  B64C27/58 ,  B64C2201/024 ,  Y02T50/34

Abstract: The present invention discloses a rotor control system where rapid changes in rotor torque are transferred into moment forces acting about the blade pitch axis of a rotor blade in a thrust-generating rotor, to ultimately control the movements of a rotary wing aircraft. The moment forces acting on the rotor blade are transferred through a carefully adjusted damping member in order to allow rapid changes in rotor torque to create cyclic changes in blade pitch angle, while slow or permanent changes are cancelled out and affects the rotational speed and the thrust generated by the rotor, without permanently affecting the blade pitch angle of individual rotor blades.

公开(公告)号：US20140067162A1

公开(公告)日：2014-03-06

申请号：US13749918

申请日：2013-01-25

Applicant: Prox Dynamics AS

Inventor： Dag Henning Paulsen ,  Petter Muren

IPC: B64C19/00

CPC classification number: B64C19/00 ,  G05D1/0038

Abstract: The embodiments herein disclose a method and a remote control for controlling and monitoring surrounding areas of an Unmanned Aerial Vehicle (UAV) by an operator with a remote control comprising a flight display. The embodiments disclose a surprising advantageously effect for the purposes of controlling and monitoring the surroundings of a UAV by combining the image captured by a UAV camera with a transparently overlaid positional and navigation map providing a perception enabling the operator to have a complete overall view of the situation, utilizing a common screen section of a flight display and thereby not having to shift eye view. Viewing images and positional and navigation information in the way described has shown not to interfere with each other, rather on the contrary.

Abstract translation: 本文的实施例公开了一种用于由包括飞行显示器的遥控器的操作者控制和监视无人驾驶飞行器（UAV）的周围区域的方法和遥控器。 这些实施例公开了通过将由UAV照相机捕获的图像与透明地重叠的位置和导航图组合的方式来控制和监视UAV的周围环境的目的而令人惊奇的有利的效果，该映射提供了感知，使操作者能够完全看到 情况，利用飞行显示器的普通屏幕部分，从而不必使视线偏移。 以所描述的方式观看图像和位置和导航信息已经显示出不会相互干扰，而恰恰相反。

公开(公告)号：US20130306787A1

公开(公告)日：2013-11-21

申请号：US13778212

申请日：2013-02-27

Applicant: Prox Dynamics AS

Inventor： Trygve Frederik Marton ,  Geir Morten Egeberg Mellem ,  Pal Hagh Sandberg ,  Petter Muren ,  Dag Henning Paulsen

IPC: B64C19/00

CPC classification number: B64C19/00 ,  B64C27/04 ,  B64C27/57 ,  G05D1/0858

Abstract: A method and device for precise control of and controller design for aircrafts consisting of at least one spinning part and at least one non spinning part is provided. The required torques for control of the spinning parts and for the non-spinning parts are continuously and individually calculated. All torques are combined to get the correct torque for the complete aircraft. Doing this, it's possible to continuously apply the correct torque, both correctly distributed among the roll and pitch axes (correct angle), and correct magnitude. The result is a decoupling of the roll and pitch axes, simplifying controller design to a design of two single input single output controllers, one for each axe.

Abstract translation: 提供了由至少一个纺纱部分和至少一个非纺纱部分组成的用于飞机的精确控制和控制器设计的方法和装置。 用于控制纺纱部件和非纺纱部件的所需扭矩是连续和单独计算的。 所有扭矩相结合，以获得整个飞机的正确扭矩。 做到这一点，可以连续地应用正确分配在滚动轴和俯仰轴之间的正确扭矩（正确的角度），并确定大小。 结果是滚动和俯仰轴的解耦，简化了控制器设计到两个单输入单输出控制器的设计，每个轴一个。