US 11,703,885 B2
Method and system for bode plot information collection for hovering/fixed-wing unmanned aerial vehicles (UAVS)
Nicholas Andrew Playle, Winnipeg (CA); Maziar Mardan, Winnipeg (CA); Tyler Desmond Melmoth, Winnipeg (CA); and Howard William Loewen, Winnipeg (CA)
Assigned to 4596286 Manitoba Inc., Winnipeg (CA)
Filed by MicroPilot Inc., Stony Mountain (CA)
Filed on Sep. 7, 2018, as Appl. No. 16/124,667.
Claims priority of provisional application 62/557,337, filed on Sep. 12, 2017.
Prior Publication US 2023/0176590 A1, Jun. 8, 2023
Int. Cl. G05B 13/04 (2006.01); G05D 1/08 (2006.01)
CPC G05D 1/0825 (2013.01) [G05B 13/042 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for stabilizing a UAV (Unmanned Aerial Vehicle) autopilot system during creation of a Bode plot, the method comprising:
creating a Bode plot generation input signal at discrete frequencies;
adding the Bode plot generation input signal to an input of a control loop of the UAV;
collecting data from multiple points within the control loop of the UAV;
calculating magnitude and phase of the control loop the UAV at the multiple points using the data collected;
recording the magnitude and phase for the multiple points in a datalog;
comparing the magnitude and phase for the multiple points to calculate the gain and phase margins for open loop responses in the control loop of the UAV;
creating a Bode plot for at least one of the following: i) a closed loop response of the attitude and/or rate loops of the UAV, ii) an open loop response of the attitude and/or rate loops of the UAV and iii) a response of the UAV; and
outputting the Bode plot.