A method and system for controlling movement of a vehicle. Movement, orientation, and position data of the vehicle is collected. A model of kinematics of the vehicle and its environment is created and a Theory of World model is produced and updated. The model includes geometric algebra multivectors. Errors and noise are stored as geometrically meaningful first-class objects within the multivectors. Geometric algebra operations are used to manipulate the model during operation. Error and noise data are propagated and manipulated using geometric algebra operations to reflect measurement and processing errors or noise. The models are used in generation of control data with a primary intent of ensuring stability. Operations such as intersections are used to compare position, orientation, and movement of the vehicle against position, orientation, and movement of objects in its environment. System tasks include, but are not limited to, kinematics, inverse kinematics, collision avoidance, and dynamics.

A method and system for controlling movement of a vehicle. Movement, orientation, and position data of the vehicle is collected. A model of kinematics of the vehicle and its environment is created and a Theory of World model is produced and updated. The model includes geometric algebra multivectors. Errors and noise are stored as geometrically meaningful first-class objects within the multivectors. Geometric algebra operations are used to manipulate the model during operation. Error and noise data are propagated and manipulated using geometric algebra operations to reflect measurement and processing errors or noise. The models are used in generation of control data with a primary intent of ensuring stability. Operations such as intersections are used to compare position, orientation, and movement of the vehicle against position, orientation, and movement of objects in its environment. System tasks include, but are not limited to, kinematics, inverse kinematics, collision avoidance, and dynamics.

A flight control computer of an aircraft is likely to operate in a so-called incidence protection mode in which it is configured to compute the deflection orders of an elevator as a function of incidence angle values supplied by a set of incidence probes, so as to keep the incidence angle of the aircraft within a range of acceptable incidence angle values. The flight control computer is configured to, when only one incidence probe is operational: compute a first estimated incidence angle value of the aircraft, by a first estimator and a second estimated incidence angle value of the aircraft, by a second estimator unlike the first estimator; and keep the incidence protection mode activated as long as the incidence angle value supplied by the single operational incidence probe is consistent with at least one out of the first estimated incidence angle value and the second estimated incidence angle value.

System and techniques for drone obstacle avoidance using real-time wind estimation are described herein. A wind metric is measures at a first drone and communicated to a second drone. In response to receiving the wind metric, a flight plan of the second drone is modified based on the wind metric.

A system and method that function to generate an updated vehicle state based on a previous vehicle state and a set of sensor measurements. The previous vehicle state can be selected from a set of redundant prior vehicle state candidates. The system and method can optionally detect and correct for sensor measurement faults or failures, prior to updating the vehicle state.

To enable flexibly altering the configuration of an unmanned aircraft, the remote-control device is provided with: a receiving part which receives, via a communication network, sensor information transmitted from one or more mobile objects; a control unit that calculates, on the basis of the received sensor information and attitude control information that pertains to attitude control of a collective including as inputted elements at least one mobile object and that is set on the basis of configuration information pertaining to the configuration of the collective, a control manipulation quantity for manipulating the mobile objects, and generates a control signal including the control manipulation quantity; and a transmission part which transmits the generated control signal to the mobile objects.

A device for estimating an aircraft's speed relative to the ground and heading, while making no use of the rotation of the Earth or of the Earth's magnetic field. The device comprises in particular a first linear estimator that hybridizes a measurement of the speed of the aircraft relative to the ground as provided by a global navigation satellite system (GNSS) receiver with measurements of the acceleration and the attitudes of the aircraft coming from an attitude and heading reference system (AHRS) device without a gyrocompass and without a magnetometer. The first estimator is made linear by replacing the single heading error estimate state of prior art embodiments with two states, namely estimates of the sine and of the cosine of the heading error.

Methods, apparatus, and articles of manufacture to perform observer based control of a vehicle are disclosed. An example apparatus includes an error module to calculate a difference between a first state of a vehicle and a second state of the vehicle, the second state based on a measurement from a sensor, an observer module to determine a third state of the vehicle based on the difference, a baseline control module to generate a first command based on the third state, and a vehicle module to execute the first command to control the vehicle.

A system and method that function to generate an updated vehicle state based on a previous vehicle state and a set of sensor measurements. The previous vehicle state can be selected from a set of redundant prior vehicle state candidates. The system and method can optionally detect and correct for sensor measurement faults or failures, prior to updating the vehicle state.

An estimation system includes a module for measuring a current angle of attack and current flight parameters of the aircraft, a module for estimating a current lift coefficient of the aircraft from the current flight parameters and from a mass of the aircraft, a module for estimating an angle of attack for a zero lift from the current angle of attack, from the current lift coefficient and from a slope of an affine part of at least one theoretical curve describing a lift coefficient of the aircraft as a function of an angle of attack, a module for estimating the current position of the flaps of the aircraft from the angle of attack for a zero lift and a module for sending the current position of the flaps to a user device.