US 11,932,402 B2
State information and telemetry for suspended load control equipment apparatus, system, and method
Derek Sikora, Denver, CO (US); Sami Dean, Aurora, CO (US); and Logan Goodrich, Boulder, CO (US)
Assigned to Vita Inclinata IP Holdings LLC, Broomfield, CO (US)
Filed by Vita Inclinata IP Holdings LLC, Broomfield, CO (US)
Filed on Mar. 10, 2023, as Appl. No. 18/120,217.
Application 18/120,217 is a continuation of application No. 16/847,448, filed on Apr. 13, 2020, granted, now 11,618,566.
Claims priority of provisional application 62/833,394, filed on Apr. 12, 2019.
Prior Publication US 2023/0227161 A1, Jul. 20, 2023
Int. Cl. B64D 1/22 (2006.01); G06F 18/2113 (2023.01); G06F 18/25 (2023.01)
CPC B64D 1/22 (2013.01) [G06F 18/2113 (2023.01); G06F 18/25 (2023.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus to control a load, comprising:
a computer processor and a memory;
a sensor suite, wherein the sensor suite is to obtain a sensor data regarding a position and orientation of the load;
a data fusion module in the memory, wherein, when executed by the computer processor, the data fusion module is to determine a state estimate of the load in a coordinate frame based on the sensor data;
a thruster; and
a decision and control module in the memory, wherein, when executed by the computer processor, the decision and control module is to control the thruster to output at least one of a lateral force or torque on the load based on the state estimate of the load in the coordinate frame and is to thereby control the load;
wherein the thruster is configured to be located at, on, or proximate to the load at a bottom of a suspension cable beneath a carrier.