Abstract: A calibration system includes a grid assembly, a platform, and a controller. The grid assembly includes at least one planar grid. The platform couples to a device under test (DUT) and move the DUT to a plurality of test positions in accordance with a motion sequence. Each test position is reached by a rotation about at most two different axes, and as the DUT moves through the motion sequence, at least one camera on the DUT captures image information describing portions of the grid assembly and an inertial measurement unit (IMU) on the DUT captures IMU information. The controller determines calibration information for the at least one camera on the DUT and for the IMU based in part on a parameterized model of the motion sequence of the DUT, the captured image information, and the captured IMU information.

Abstract: A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.

Abstract: A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.