Altitude Or Attitude Control Or Indication Patents (Class 701/4)
  • Patent number: 12399510
    Abstract: An aircraft system includes an aircraft, which further includes at least one propeller to provide a flight power for the aircraft; a communication interface configured to communicate with a parachute; at least one storage medium, storing at least one set of instructions for controlling the aircraft system; and at least one processor in communication with the at least one memory. when the aircraft system is in operation, the at least processor executes the at least one set of instruction to: obtain a propeller locking instruction of the aircraft, and perform a corresponding operation based on the propeller locking instruction. The corresponding operation include a first operation. The first operation, corresponds to a scenario where the aircraft is in a flight state, includes: in response to the propeller locking instruction, the aircraft controlling the at least one propeller to stop and locking the at least one propeller, and deploying the parachute by the aircraft.
    Type: Grant
    Filed: December 15, 2023
    Date of Patent: August 26, 2025
    Assignee: SZ DJI TECHNOLOGY CO., LTD.
    Inventors: Kai Wang, Peilu Si, Fu Li
  • Patent number: 12371059
    Abstract: Techniques for analyzing driving scenarios are discussed herein. For example, techniques may include determining, based at least in part on log data representing a scenario of the vehicle operating in an environment, a plurality of frames of the scenario. For individual frames, the techniques may determine a respective set of discrete areas of the environment based on a respective position of the vehicle in the frame, determine a respective set of labels for the discrete areas for the individual frame, determine respective agent feature values of agent features for agents in individual discrete areas of the discrete areas of the individual frame, and determine a feature vector for the scenario by aggregating agent feature values of the individual frames based on the labels for the discrete areas for the frame. An action may then be performed based at least in part on the feature vector.
    Type: Grant
    Filed: July 29, 2022
    Date of Patent: July 29, 2025
    Assignee: Zoox, Inc.
    Inventors: Eric Yan Tin Chu, Andrew Glen Tsao
  • Patent number: 12353387
    Abstract: Facilitating analytics such as retrospective analysis includes ingesting session data. It further includes summarizing the session data and generating leaf-level summarizations of leaf groups present in the session data. It further includes storing the leaf-level summarizations. It further includes deriving parent-level summarizations for a parent group from leaf-level summarizations of leaf groups that are children of the parent group.
    Type: Grant
    Filed: September 12, 2024
    Date of Patent: July 8, 2025
    Assignee: Conviva Inc.
    Inventors: Harshavardhan Kamarthi, Harshil Shah, Yan Li, Bodicherla Aditya Prakash, Vyas Sekar
  • Patent number: 12339673
    Abstract: Methods and associated systems for autonomous package delivery utilize a UAS/UAV, an infrared positioning senor, and a docking station integrated with a package delivery vehicle. The UAS/UAV accepts a package for delivery from the docking station on the delivery vehicle and uploads the delivery destination. The UAS/UAV autonomously launches from its docked position on the delivery vehicle. The UAS/UAV autonomously flies to the delivery destination by means of GPS navigation. The UAS/UAV is guided in final delivery by means of a human supervised live video feed from the UAS/UAV. The UAS/UAV is assisted in the descent and delivery of the parcel by precision sensors and if necessary by means of remote human control. The UAS/UAV autonomously returns to the delivery vehicle by means of GPS navigation and precision sensors. The UAS/UAV autonomously docks with the delivery vehicle for recharging and preparation for the next delivery sequence.
    Type: Grant
    Filed: October 10, 2023
    Date of Patent: June 24, 2025
    Assignee: Aero Velocity Inc.
    Inventors: Elliot T. Bokeno, Thaddeus M. Bort, Jr., Stephen S. Burns, Martin Rucidlo, Wei Wei, Donald L Wires
  • Patent number: 12330806
    Abstract: A landing zone designator system includes two sets of antennas; the first set of antennas defines a first vertical lobe at a first known orientation to the landing pad and the second set of antennas defines a second vertical lobe at a second known orientation to the landing pad. A VTOL aircraft including two antennas tracks the vertical lobes to align the aircraft to the center of the landing pad. The aircraft antennas can be rotated or repositioned dynamically to accommodate the orientation of the aircraft.
    Type: Grant
    Filed: January 17, 2022
    Date of Patent: June 17, 2025
    Assignee: Rockwell Collins, Inc.
    Inventors: Michael J. Krenz, Stephen Tongue
  • Patent number: 12312067
    Abstract: A method of operating an aircraft based on movement of a control stick. The method includes creating a deadband of the control stick, where the deadband extends between the central axis and a first angular distance from the central axis, controlling, in response to the control stick being positioned within the deadband, the aircraft according to a first control mode, controlling, in response to the control stick being positioned outside of the deadband, the aircraft according to a second control mode, and adjusting a size of the deadband such that the deadband extends between the central axis and a second angular distance from the central axis.
    Type: Grant
    Filed: January 24, 2023
    Date of Patent: May 27, 2025
    Assignee: Lockheed Martin Corporation
    Inventors: Leonard Wengler, Matthew T. Luszcz
  • Patent number: 12301167
    Abstract: A monitoring system that is configured to monitor a property is disclosed. The monitoring system includes a sensor that is configured to generate sensor data that reflects an attribute of the property; a solar panel that is configured to generate and output power; and a monitor control unit. The monitor control unit is configured to: monitor the power outputted by the solar panel; determine that the power outputted by the solar panel has deviated from an expected power range; based on determining that the power outputted by the solar panel has deviated from the expected power range, access the sensor data; based on the power outputted by the solar panel and the sensor data, determine a likely cause of the deviation from the expected power range; and determine an action to perform to remediate the likely cause of the deviation from the expected power range.
    Type: Grant
    Filed: October 11, 2023
    Date of Patent: May 13, 2025
    Assignee: Alarm.com Incorporated
    Inventor: Caspar John Anderegg
  • Patent number: 12298106
    Abstract: A missile guidance method that applies a curvature parameterization to a line-of-sight unit vector between a missile and a target. A line-of-sight rotation rate is derived from the line-of-sight unit vector with the applied curvature parameterization. In some embodiments, the curvature parameterization is learned by a deep learning network (e.g., a deep neural network that includes a recurrent layer). The deep neural network may be optimized using meta reinforcement learning over an ensemble of engagement scenarios with varying target behavior.
    Type: Grant
    Filed: March 31, 2023
    Date of Patent: May 13, 2025
    Assignee: Arizona Board of Regents on Behalf of the University of Arizona
    Inventors: Brian Gaudet, Roberto Furfaro
  • Patent number: 12288471
    Abstract: In an aspect an apparatus for determining a most limiting parameter of an electric aircraft is presented. An apparatus includes at least a processor and a memory communicatively connected to the at least a processor. A memory contains instructions configuring at least a processor to receive aircraft data from a sensing device. A sensing device is configured to measure a parameter of an electric aircraft and generate aircraft data. At least a processor is configured to determine a most limiting parameter of an electric aircraft as a function of aircraft data. At least a processor is configured to communicate a most limiting parameter to a pilot indicator in communication with the at least a processor and memory communicatively connected to the at least a processor. A pilot indicator is configured to display a most limiting parameter to a user.
    Type: Grant
    Filed: May 25, 2022
    Date of Patent: April 29, 2025
    Assignee: BETA AIR LLC
    Inventors: Herman Wiegman, Thomas Henck, Sarah Overfield, Richard Donnelly
  • Patent number: 12286211
    Abstract: Four or more rotors installed on an aircraft include: a pair of first rotors that are left/right symmetrically arranged in front of a front wing about a position overlapping the central axis of a fuselage in plan view; and a pair of second rotors that are left/right symmetrically arranged between the front wing and a rear wing about a position overlapping the central axis of the fuselage in a plan view. The distance between the fuselage and the second rotors in the width direction is longer than the distance between the fuselage and the first rotors in the width direction.
    Type: Grant
    Filed: December 15, 2020
    Date of Patent: April 29, 2025
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Masahiko Asanuma, Hiroki Oyama, Kohei Maruyama, Kazuma Yoshii, Naoyuki Togo, Yuji Ishitsuka
  • Patent number: 12277863
    Abstract: The present disclosure relates to an information processing apparatus, an information processing method, a program, and an information processing system capable of more easily realizing route planning. A route planning unit selects, on the basis of priority information regarding setting of the moving route, a viaport where a moving object stops over from among a plurality of charging ports that charges the moving object, and sets a moving route of a moving object from a departure point to a destination. The technology according to the present disclosure can be applied to, for example, an information processing apparatus that performs automatic piloting of a drone.
    Type: Grant
    Filed: December 28, 2020
    Date of Patent: April 15, 2025
    Assignee: SONY GROUP CORPORATION
    Inventors: Shohei Yamamoto, Kenta Kawamoto, Takayoshi Takayanagi, Kohei Urushido, Shun Lee, Kazumi Aoyama
  • Patent number: 12264917
    Abstract: According to one embodiment, an attitude angle derivation device includes an acquisition part, a storage, and a processor. The acquisition part is configured to acquire a rotation angle related to a first coordinate system. The rotation angle is obtained from an angle sensor located in an object. The storage is configured to store the rotation angle and an attitude angle. The attitude angle is related to a second coordinate system of the object. The processor is configured to acquire the rotation angle and the attitude angle, update the attitude angle based on a temporal change of the rotation angle derived from the rotation angle, and output the updated attitude angle.
    Type: Grant
    Filed: August 23, 2022
    Date of Patent: April 1, 2025
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Daiki Ono, Ryunosuke Gando, Yasushi Tomizawa
  • Patent number: 12258145
    Abstract: Load stability systems and methods for stabilizing swinging motions of suspended loads. The load stability systems include a fully automated, self-powered device that employs thrust to counteract and control lateral and rotational motion of an external load. The device is a temporary installment on the load, cable, or boom, and is agnostic to the platform from which it is suspended.
    Type: Grant
    Filed: August 7, 2020
    Date of Patent: March 25, 2025
    Assignee: Vita Inclinata IP Holdings LLC
    Inventors: Derek Sikora, Caleb B. Carr, Logan Goodrich
  • Patent number: 12258017
    Abstract: A vehicle controller includes: a surrounding area recognition unit that detects a state surrounding a subject vehicle; a human detection unit that detects a specific target object in a specific area into which entry of the specific target object is restricted; an automated driving control part that provides control such that the subject vehicle follows a vehicle traveling ahead thereof, based on a result detected by the surrounding area recognition unit. The automated driving control part makes the subject vehicle operate at at least one of a first support status, and a second support status which has an automated degree higher than that of the first support status or has a task required to be done by a vehicle occupant of the subject vehicle less than that of the first support status.
    Type: Grant
    Filed: June 15, 2023
    Date of Patent: March 25, 2025
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Katsuya Yashiro
  • Patent number: 12248903
    Abstract: Systems, methods, and computer-readable media are provided for using a mobile drone delivery device. The mobile drone delivery device determines a general location thereof to be provided to a drone. The drone then uses that general location to approach a vicinity of the mobile drone delivery device. Each of the drone and the mobile drone delivery device then communicates with each other to determine a precise location such that the drone may land on the mobile drone delivery device.
    Type: Grant
    Filed: August 10, 2022
    Date of Patent: March 11, 2025
    Assignee: T-MOBILE INNOVATIONS LLC
    Inventor: Syam Sarasamma Kunjukrishnan
  • Patent number: 12240283
    Abstract: A mechanical system includes a curved beam and a motor coupled to the curved beam. The curved beam is configured to buckle at two different locations along the positive and negative portions of its load/displacement curve, corresponding to opposite and equal sense bending directions. The motor is configured to impart a flapping motion to the curved beam.
    Type: Grant
    Filed: October 14, 2022
    Date of Patent: March 4, 2025
    Assignee: Arizona Board of Regents on behalf of Arizona State University
    Inventors: Daniel Aukes, Mohammad Sharifzadeh, Yuhao Jiang
  • Patent number: 12242285
    Abstract: The method can include: optionally determining an aircraft state; determining a transition event; verifying an aircraft configuration; determining an aircraft alert state; and performing an action. However, the method can additionally or alternatively include any other suitable elements. The method functions to facilitate configuration checking and/or validation of configuration changes. Additionally or alternatively, the method can function to facilitate human-in-the-loop operation of a semi-autonomous aircraft (e.g., with an autonomous agent fulfilling the roles of one pilot of a multi-pilot aircraft). Additionally or alternatively, the method can function to autonomously respond to inconsistencies or failures associated with aircraft configuration changes.
    Type: Grant
    Filed: January 25, 2024
    Date of Patent: March 4, 2025
    Assignee: Merlin Labs, Inc.
    Inventors: Matthew George, Alexander Naiman, Angel Macias, Aubrey Kalashian, Kevin Elfenbein
  • Patent number: 12228419
    Abstract: An evaluation computing system may implement techniques to validate a vehicle controller, such as based on a detection of a systematic fault. The evaluation computing system may access data (e.g., log data and/or map data) associated with an operation of the vehicle in an environment as controlled by the controller. The evaluation computing system may modify a portion of the map data representative of a simulated change associated with a portion of the environment. The evaluation computing system may run a simulation with a simulated environment, generated based on the modified map data, to determine whether the controller detects and/or mitigates the simulated change in a sufficient manner. Based on a determination of whether or not the controller detects and/or mitigates the simulated change in a sufficient manner, the evaluation computing system may determine an error associated with the controller or may validate the controller.
    Type: Grant
    Filed: July 29, 2021
    Date of Patent: February 18, 2025
    Assignee: Zoox, Inc.
    Inventors: Guillermo Duenas Arana, Soroush Dean Khadem, Till Kroeger
  • Patent number: 12223843
    Abstract: An aviation advisory module may include processing circuitry configured to receive data indicative of internal factors and external factors related to route optimization of an aircraft. At least some of the external factors may include dynamic parameters that are changeable while the aircraft is in-flight. The processing circuitry may also be configured to generate a guidance output associated with a route of the aircraft based on integration of the internal factors and the external factors to optimize the route for a user-selected cost parameter, and provide a graphical representation of the guidance output along with comparative data or context information associated with the user-selected cost parameter.
    Type: Grant
    Filed: August 26, 2020
    Date of Patent: February 11, 2025
    Assignee: SMARTSKY NETWORKS LLC
    Inventor: Bruce J. Holmes
  • Patent number: 12223849
    Abstract: An unmanned aircraft system (UAS) control apparatus is disclosed. In embodiments, the UAS control apparatus is embodied in a control station to manage command and control (C2) functions for UAS operations in a designated coverage volume including a geofenced interference region proximate to the control station, controlling each UAS via connections on a spectrum of C2 channels. The UAS control apparatus generates flight plans for UAS operations, providing separation and keeping UAS operations away from the control station to minimize RF interference with other UAS C2 connections. Should a UAS be required to operate proximate to the control station, the UAS control apparatus employs dynamic spectrum management with respect to other concurrently operating UAS to eliminate, reduce, or mitigate RF interference resulting from the encroaching UAS.
    Type: Grant
    Filed: June 29, 2021
    Date of Patent: February 11, 2025
    Assignee: Rockwell Collins, Inc.
    Inventors: George Tyler Barney, Nicholas Liberko, Boe A. Svatek, Kevin McElroy, David Fogerty, Corrie E. Block
  • Patent number: 12204346
    Abstract: Systems and methods for flight control on an electric aircraft. The system includes a propulsor configured to generate lift to propel an electric aircraft, a pilot input mechanically coupled to the electric aircraft, a sensor communicatively connected to the pilot input, and a flight controller communicatively connected to the sensor. Sensor is configured to detect an input datum from the pilot input and convert the input datum into a command datum for the propulsor as a function of input mapping. Input mapping is determined as a function of the phase of flight.
    Type: Grant
    Filed: August 18, 2022
    Date of Patent: January 21, 2025
    Assignee: BETA AIR LLC
    Inventors: Nicholas Moy, Collin Freiheit
  • Patent number: 12188957
    Abstract: Embodiments of the present disclosure set forth techniques for compensating for a roll effect for an optical sensor. The techniques include receiving sensor data from at least one sensor associated with the vehicle, detecting an amount of a roll of the vehicle based on the sensor data, generating a command based on the detected amount of roll, and controlling an orientation of the optical sensor based on the command.
    Type: Grant
    Filed: June 28, 2021
    Date of Patent: January 7, 2025
    Assignee: Harman International Industries, Incorporated
    Inventors: Prithvi Kambhampati, Nikhil Patel
  • Patent number: 12190742
    Abstract: An object of the present disclosure is to provide a flight management apparatus capable of improving the safety of flying objects. In one example, a flight management apparatus (10) of the present disclosure includes a determination unit (12) configured to determine whether a specific space cell in a space is already reserved based on a reservation state about the specific space cell, when the flight management apparatus receives a request for permission to move to the specific space cell from a flying object; and a permission unit (13) configured to permit the movement to the specific space cell of the flying object when the determination unit determines the specific space cell is not reserved, and not to permit the movement to the specific space cell of the flying object when the determination unit determines the specific space cell is already reserved.
    Type: Grant
    Filed: October 27, 2021
    Date of Patent: January 7, 2025
    Inventor: Aaron Sanjaya Benedek
  • Patent number: 12181489
    Abstract: A method of checking accuracy of an air data probe system onboard a vehicle is disclosed. An embodiment of the method involves: calculating airspeed measurements from air data provided by the probe system; calculating vehicle speed measurements based on sensor data collected from at least one sensor system onboard the vehicle, wherein the vehicle speed measurements are distinct and independent of the airspeed measurements, and the vehicle speed measurements are calculated without using the air data; comparing a calculated airspeed measurement against a calculated vehicle speed measurement to obtain a speed difference, wherein the calculated airspeed measurement and the calculated vehicle speed measurement correspond to a measurement time during which the vehicle is moving forward; and initiating at least one corrective action onboard the vehicle when magnitude of the speed difference exceeds a threshold value.
    Type: Grant
    Filed: May 9, 2022
    Date of Patent: December 31, 2024
    Assignee: GULFSTREAM AEROSPACE CORPORATION
    Inventors: Thomas Landers, Michael Malluck
  • Patent number: 12159538
    Abstract: An aircraft with a unit to transmit information on ability/inability of pilots to fly the aircraft. Guidance avionics include guidance architecture and a flight controller to fly the aircraft. The guidance architecture has two dissimilar guidance chains and a selection unit connected thereto, to the flight controller and to the unit for measuring physical ability/inability, a first guidance chain to compute a main path for the aircraft towards a destination airport based on a current state of the aircraft by following a flight plan and to compute main guidance instructions for following the main path, a second guidance chain to compute an emergency path for the aircraft towards a diversion airport based on an initial portion of the common path with the main path and to compute emergency guidance instructions for following the emergency path. The selection unit receives the main and emergency guidance instructions and transmits either one to the flight controller.
    Type: Grant
    Filed: July 26, 2021
    Date of Patent: December 3, 2024
    Assignee: Airbus Operations (S.A.S.)
    Inventors: Sylvain Raynaud, Jean-Claude Mere, Thomas Pastre, Fabien Perrin, Jean Guilhamet
  • Patent number: 12154441
    Abstract: Techniques for establishing the sufficiency of a path planner to avoid multiple obstacles in planning a path from a starting location to a destination location is presented. The techniques can include: iterating, until a stopping condition occurs: obtaining, from the path planner, a path from the starting location to the destination location; representing the path from the starting location to the destination location as a disjunction of logical terms; conjoining the disjunction of terms to a conjunction of terms representing previously considered paths; determining a satisfiability condition of the conjunction of terms; and for a positive satisfiability condition, adding at least one corresponding obstacle of the plurality of obstacles to the path planner; and providing an indication of sufficiency of the path planner to avoid the obstacles in planning a path from the starting location to the destination location based on the stopping condition.
    Type: Grant
    Filed: September 23, 2021
    Date of Patent: November 26, 2024
    Assignee: Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company
    Inventors: Craig John Bonnoit, Anubhav Guha
  • Patent number: 12148183
    Abstract: A method is provided for supporting an aircraft approaching a runway on an airfield. The method includes receiving a sequence of images of the airfield, captured by a camera onboard the aircraft approaching the runway. For at least one image of the sequence of images, the method includes applying the image(s) to a machine learning model trained to predict a pose of the aircraft relative to the runway. The machine learning model is configured to map the image(s) to the pose based on a training set of labeled images with respective ground truth poses of the aircraft relative to the runway. The pose is output as a current pose estimate of the aircraft relative to the runway for use in at least one of monitoring the current pose estimate, generating an alert based on the current pose estimate, or guidance or control of the aircraft on a final approach.
    Type: Grant
    Filed: November 16, 2021
    Date of Patent: November 19, 2024
    Assignee: The Boeing Company
    Inventors: Nick S. Evans, Eric R. Muir, Cullen W. Billhartz, Jasper P. Corleis
  • Patent number: 12134393
    Abstract: A device for controlling the movement of a motor vehicle, including a longitudinal controller and a lateral controller which are capable of generating, from first information relating to the road layout and second information relating to the dynamic behaviour of the vehicle, control commands intended for actuators for controlling the longitudinal and lateral movement of the vehicle. The device includes a prediction model which is supplied with the first and second information and is capable of determining future states of the vehicle for future positions of the vehicle over a plurality of iterations defining a future road portion. The model is connected to a module for determining whether driving limit values are violated, which module is capable of determining, for each future state, whether one of the state variables defining the future state reaches or exceeds a driving limit value, and of deducing a future risk situation.
    Type: Grant
    Filed: September 3, 2020
    Date of Patent: November 5, 2024
    Assignee: AMPERE s.a.s.
    Inventors: David Gonzalez Bautista, Vicente Milanes
  • Patent number: 12135372
    Abstract: A method for detecting and modeling objects in space using LIDAR is disclosed. The method includes transmitting a laser beam to detect at least one object in space. Further, the method includes detecting one or more data related to at least one object. The detection is based upon the principle of reflection of the object in a vacuum. Further, said one or more data related to at least one object obtained from the detection unit is processed. Further, one or more information is determined from the processed data related to at least one object. The one or more information is mapped corresponding to the related at least one object. The method further comprises measuring one or more parameters associated with at least one of the mapped objects and modeling the measurement data related to at least one of the mapped objects.
    Type: Grant
    Filed: April 6, 2020
    Date of Patent: November 5, 2024
    Inventors: Anirudh Sharma, G Geetha, Rahul Rawat, Sai Gansesh Reddy, Sikindar Vatturi, Tanveer Ahmad
  • Patent number: 12124274
    Abstract: The embodiments are a landing control method, an aircraft, and a storage medium. The method is applied to the aircraft, and includes: the current frame template image is subjected to image feature extraction, and the extracted image features are used to train the position filter and the scale filter of the first template image; the position information of the first template image in the next frame image is predicted by using the position filter and the scale filter; and the landing of the aircraft is corrected by using the position information, such that the aircraft can dynamically track the preset takeoff and landing point for landing, so as to realize the accurate landing of the aircraft.
    Type: Grant
    Filed: April 25, 2022
    Date of Patent: October 22, 2024
    Assignee: AUTEL ROBOTICS CO., LTD.
    Inventor: Zehua Men
  • Patent number: 12103705
    Abstract: An aerial drone is provided with a central passage and a rotating frame. A payload moves within the central passage through the drone body into a deployed position. The payload engages with the rotating frame and can be rotated into a desired orientation below the drone.
    Type: Grant
    Filed: November 9, 2022
    Date of Patent: October 1, 2024
    Inventor: Lucas Trenshaw
  • Patent number: 12085932
    Abstract: A handheld device and method for entering data and controlling functions of an aerial vehicle are disclosed. The handheld device includes an interface that communicates with a processor and a memory of the aerial vehicle; input devices that receive input from an operator of the handheld device, a display device that displays information related to the input received from the operator via the input devices, and one or more processors. The one or more processors can receive input data from the input devices to modify a field value maintained in the memory of the aerial vehicle. The one or more processors can present, at the display device, an output data corresponding to the input data, and periodically transmit one or more signals to modify the field value maintained in the memory of the aerial vehicle via the interface based on the input data.
    Type: Grant
    Filed: April 21, 2022
    Date of Patent: September 10, 2024
    Assignee: LOCKHEED MARTIN CORPORATION
    Inventors: Jason E. Browning, Elissa Sue Ciganik, Kathryn P. Guy
  • Patent number: 12084200
    Abstract: A ground state determination system for an aircraft includes sensors configured to detect parameters of the aircraft and a flight control system implementing a ground state module. The ground state module includes a ground state monitoring module configured to monitor the parameters and a ground state determination module configured to compare each of the parameters monitored by the ground state monitoring module to a respective parameter threshold to determine whether the aircraft is on a surface.
    Type: Grant
    Filed: November 3, 2021
    Date of Patent: September 10, 2024
    Assignee: Textron Innovations Inc.
    Inventors: Russell C. Peters, Aaron M. Hitchcock, Nathaniel Gordon Lundie
  • Patent number: 12078486
    Abstract: Systems and methods for navigation with magnetic field sensors are provided. For example, a system includes a magnetic gradient sensor that measures a magnetic gradient. The system also includes one or more inertial sensors that provide inertial measurements. Additionally, the system includes a magnetic field sensor that measures magnetic fields. Further, the system includes one or more processors that execute computer-readable instructions that direct the one or more processors to estimate a magnetic field based on the measured magnetic gradient and a velocity estimate from the inertial measurements. The computer-readable instructions also direct the one or more processors to calculate an error for the magnetic field and other navigation parameters using an additional magnetic field measurement from the magnetic field sensor.
    Type: Grant
    Filed: July 27, 2021
    Date of Patent: September 3, 2024
    Assignee: Honeywell International Inc.
    Inventor: Sally Ann Keyes
  • Patent number: 12078507
    Abstract: A method is provided for supporting one or more ground vehicles on a mission that includes traversal of a ground region. The method includes accessing geospatial data produced from an aerial survey of the ground region, and performing an analysis of the geospatial data to produce terrain data that describes the ground region. The terrain data is weighted based on constraints of the one or more ground vehicles, and an order of priority of criteria of the mission. A map is constructed in which the ground region is expressed as a geospatially-mapped array of the weighted terrain data, and the map is searched for a path that meets the criteria of the mission. The path is described by a series of waypoints that define a route across the ground region, and an indication of the route is output for the one or more ground vehicles to traverse during the mission.
    Type: Grant
    Filed: November 12, 2021
    Date of Patent: September 3, 2024
    Assignee: Insitu, Inc.
    Inventors: Kalani A. Armstrong, Andrew P. Lancaster
  • Patent number: 12067554
    Abstract: Described herein are systems, methods, and apparatuses for performing a user-less payment for an item upon its delivery by an unmanned delivery vehicle. The unmanned delivery vehicle may navigate to a delivery location, receive payment information, initiate a payment transaction with a remote server, and release the item at a specified location upon successful completion of the payment transaction. Upon arrival of the unmanned delivery vehicle, a wireless data transmission device may send payment information to a remote server, and the remote server may provide the unmanned delivery vehicle with an indication of whether the item can be released and a specific location at which the item can be released.
    Type: Grant
    Filed: December 30, 2022
    Date of Patent: August 20, 2024
    Assignee: Visa International Service Association
    Inventor: Yuexi Chen
  • Patent number: 12060156
    Abstract: A system for maintaining attitude control under degraded or depleted energy source conditions using multiple electric propulsors includes a plurality of propulsors, at least an energy source providing electric power to the plurality of propulsors and a vehicle controller communicatively coupled to each propulsor and configured to calculate initial power levels for the plurality of propulsors, the initial power levels including an initial power level for each propulsor, determine an energy output capacity of the least an energy source under load, calculate, by the vehicle controller, an aggregate potential demand of the plurality of propulsors as a function of the initial power levels, determine that electric potential is insufficient to match the aggregate potential demand, and for each initial power level generate a reduced power level, the reduced power level less than the initial power level and direct a corresponding propulsor to consume electrical power at the reduced power level.
    Type: Grant
    Filed: June 15, 2021
    Date of Patent: August 13, 2024
    Assignee: BETA AIR, LLC
    Inventors: Kyle B. Clark, Herman Wiegman
  • Patent number: 12062293
    Abstract: The method can include performing inference using the system; and can optionally include training the system components. The method functions to automatically interpret flight commands from a stream of air traffic control (ATC) radio communications. The method can additionally or alternatively function to train and/or update a natural language processing system based on ATC communications. Additionally, the method can include or be used in conjunction with collision avoidance and/or directed perception for traffic detection associated therewith.
    Type: Grant
    Filed: September 5, 2023
    Date of Patent: August 13, 2024
    Assignee: Merlin Labs, Inc.
    Inventors: Matthew George, Alexander Naiman, Michael Pust, Joseph Bondaryk
  • Patent number: 12055392
    Abstract: There are approximately 35,000 abandoned and unplugged oil and gas wells in New York with no known location. Unplugged wells emit methane, a strong greenhouse gas, which has the potential to significantly contribute to global climate change and act as a pollutant chemical. A long-range UAV equipped with methane sensors, MagPike (atomic magnetometer), and LiDAR sensors successfully detected unmarked well sites using characteristic magnetic signals generated by vertical metal piping preserved in the ground. The optimal flight altitude and transect spacing was determined for detection driven by the total field strength of the Earth's magnetic field and the height of tree canopies determined by LiDAR. Traditional methods of identifying oil and gas wells are costly and less powerful in acquisition of data such as using large magnetometers attached to helicopters.
    Type: Grant
    Filed: May 14, 2021
    Date of Patent: August 6, 2024
    Assignee: The Research Foundation for The State University of New York
    Inventors: Alex Nikulin, Timothy S. De Smet
  • Patent number: 12049308
    Abstract: A cotton topping unmanned aerial vehicle having cutter discs and front grain lifting baffle plates is provided, the unmanned aerial vehicle includes an unmanned aerial vehicle body, a carrying component, a grain lifting component, and a cutting component. The carrying component includes a suspension, an electric push rod mounting base, an electric push rod, a motor mounting base, and motors. An upper end of the electric push rod is bolted to the electric push rod mounting base. The motor mounting base is welded to a lower end of the electric push rod. The grain lifting component is grain lifting baffle plates which include a left baffle plate and a right baffle plate, and both the left baffle plate and the right baffle plate are welded to guard plates.
    Type: Grant
    Filed: August 31, 2020
    Date of Patent: July 30, 2024
    Assignee: SHANDONG UNIVERSITY OF TECHNOLOGY
    Inventors: Xin Han, Yubin Lan, Juan Wang, Zhaoqi Liu, Ziyue Zhao, Changsheng Xi, Jieying Chen, Luming Sha
  • Patent number: 11983467
    Abstract: A Rapid Aero Modeling program and process may be applied to computational experiments such as computational fluid dynamics (CFD) programs to obtain aerodynamic models which may be in the form of polynomial equations. The program and process may be utilized to estimate (develop) aerodynamic models appropriate for flight dynamics studies, simulations, and the like. Feedback loops are provided around computational codes to rapidly guide testing toward aerodynamic models that meet user-defined fidelity criteria. A user has the freedom to choose a specific level of fidelity in terms of prediction error, in advance of a CFD test (computation).
    Type: Grant
    Filed: January 8, 2021
    Date of Patent: May 14, 2024
    Inventors: Patrick C. Murphy, Pieter G. Buning, Benjamin M. Simmons
  • Patent number: 11972533
    Abstract: Introduced here computer programs and associated computer-implemented techniques for establishing the dimensions of interior spaces. These computer programs are able to accomplish this by combining knowledge of these interior spaces with spatial information that is output by an augmented reality (AR) framework. Such an approach allows two-dimensional (2D) layouts to be seamlessly created through guided corner-to-corner measurement of interior spaces.
    Type: Grant
    Filed: April 26, 2023
    Date of Patent: April 30, 2024
    Assignee: Flyreel, Inc.
    Inventors: Victor Palmer, Cole Winans
  • Patent number: 11948468
    Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.
    Type: Grant
    Filed: July 2, 2021
    Date of Patent: April 2, 2024
    Assignee: Aurora Flight Sciences Corporation
    Inventor: Martin Kearney-Fischer
  • Patent number: 11932397
    Abstract: According to the present invention there is provided a method of taking a measurement using a sensor mounted on an aerial vehicle, the aerial vehicle having one or more propellers and one or more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly, and a sensor mounted on the aerial vehicle, the method comprising the steps of, operating the one or more motors to drive the one or more propellers to cause the vehicle to fly; at a first time instant, slowing down or turning off said one or more motors; while the one or more motors are slowed down or turned off, taking a measurement using said sensor; at a second time instant, which is after the measurement has been taken using the sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly. There is further provided a corresponding aerial vehicle.
    Type: Grant
    Filed: September 15, 2022
    Date of Patent: March 19, 2024
    Assignee: Verity AG
    Inventors: Markus Hehn, Luciano Beffa
  • Patent number: 11927680
    Abstract: A method for estimating the pressure measurement bias of a barometric sensor in a wireless terminal. A location engine using the method generates an enhanced estimate of the measurement bias. The location engine generates the enhanced estimate based in part on Global Navigation Satellite System (GNSS)-based estimates of the elevation of the wireless terminal, which the terminal generates as it concurrently makes barometric pressure measurements. Each GNSS-based estimate of elevation is often generated from noisy measurements and has an associated uncertainty. The location engine accounts for the uncertainty in the GNSS estimates of elevation by applying an optimal estimation technique, such as Kalman filtering, on the biased pressure measurements and the GNSS-based estimates.
    Type: Grant
    Filed: April 21, 2021
    Date of Patent: March 12, 2024
    Assignee: Polaris Wireless, Inc.
    Inventors: Jerome Arthur Blaha, Jr., Scot Douglas Gordon, Jeffrey Noel Wu, Jian Zhu
  • Patent number: 11921521
    Abstract: A method of controlling an aircraft having multiple configurations is provided, wherein each configuration is controlled by a different control law implemented by a flight control device and transition from one configuration to another configuration is achieved by gradually blending out a control law for one configuration and by gradually increasing an impact of a control law for another configuration in the flight control device based on an estimated flight condition of the aircraft by dynamically adjusting, in the flight control device, respective maximum and minimum limit values of control volumes, which control volumes are defined by parameter ranges of control parameters in connection with a corresponding control law for the one configuration and for the other configuration, respectively.
    Type: Grant
    Filed: February 23, 2021
    Date of Patent: March 5, 2024
    Assignee: Volocopter GmbH
    Inventors: Burak Yüksel, Sebastian Mores
  • Patent number: 11907982
    Abstract: Systems and methods are provided for coordinating an Unmanned Vehicle (UV) to perform authenticated delivery of goods. A method for coordinating a delivery may include instructing, via a communication network, a user device to collect user preferences on delivery logistics. The method may also include receiving the user preferences from the user device. The method may also include receiving user financial data from a financial service provider server. The method may also include receiving real-time information comprising location information of a UV and a user device. The method may also include authorizing the delivery of the package if an authentication process is satisfied based on the user preferences, the user financial data, and the real-time information. The method may also include transmitting to the UV a command to complete the delivery, if the delivery is authorized. The method may also include transmitting to the UV an abort command, if the delivery is not authorized.
    Type: Grant
    Filed: December 7, 2021
    Date of Patent: February 20, 2024
    Assignee: Capital One Services, LLC
    Inventors: Jeremy J. Phillips, Kevin S. Park, Shane F. Blackman
  • Patent number: 11897486
    Abstract: Techniques described are related to determining when a discrepancy between data of multiple sensors (e.g., IMUs) might be attributable to a sensor error, as opposed to operating conditions, such as sensor bias or noise. For example, the sensor data is passed through one or more filters (e.g., bandpass filter) that model the bias or noise, and the filtered data may then be compared for consistency. In some examples, consistency may be based on residuals or some other metric describing discrepancy among the filtered sensor data.
    Type: Grant
    Filed: November 29, 2021
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventors: Derek Adams, Eric Andre Senant, Weihung Ko, Michael Carsten Bosse
  • Patent number: 11900824
    Abstract: The aircraft threat envelope protection system employs a threat envelope data structure in a computer-readable medium that stores at least one trigger condition for each of a plurality of different types of threats associated with the aircraft, and modeled using a common schema. A processor computes plural different projected trajectories representing different possible aircraft paths through spacetime. The processor associates at least some of the plurality of the threats to specific trigger points in spacetime along each of the projected trajectories. The processor will deprecate ones of the projected trajectories when they are deemed not viable to recover from a threat. The processor initiates an aircraft protective response when all projected trajectories but one have been deprecated and the aircraft is within a predetermined proximity to the closest trigger point in spacetime along the non-deprecated trajectory.
    Type: Grant
    Filed: April 3, 2023
    Date of Patent: February 13, 2024
    Assignee: GULFSTREAM AEROSPACE CORPORATION
    Inventors: Kevin Prosser, Thomas Landers, Abhishek Vaidya, Alborz Sakhaei, Blake Finlayson
  • Patent number: 11899447
    Abstract: An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify power signals transmitted to actuators of the aerial vehicle, causes the aerial vehicle to conform within the indicated flight characteristics of the determined mode, generate an output signal modified by the gain value based on the input signal, and transmit a power signal based on the output signal to each actuator of the aerial vehicle.
    Type: Grant
    Filed: November 8, 2021
    Date of Patent: February 13, 2024
    Assignee: GoPro, Inc.
    Inventors: Benjamin Tankersley, Joseph Anthony Enke, Donald Allen Severns