US 11,774,987 B2
Control of vehicle movement by application of geometric algebra and state and error estimation
Ian J. McEwan, Pasadena, CA (US); Thomas D. Williams, Shutesbury, MA (US); Jeffery J. Alholm, Kansas City, MO (US); John C. Blessing, Kansas City, KS (US); Jacob B. Davisson, Lawrence, KS (US); Frank C. Glazer, Amherst, MA (US); Jay D. Manifold, Kansas City, MO (US); and Laurence R. Williams, Sunderland, MA (US)
Assigned to Digital Aerolus, Inc., Lenexa, KS (US)
Filed by Digital Aerolus, Inc., Lenexa, KS (US)
Filed on Feb. 5, 2021, as Appl. No. 17/168,289.
Application 17/168,289 is a continuation of application No. 16/219,609, filed on Dec. 13, 2018, granted, now 10,915,117.
Claims priority of provisional application 62/598,235, filed on Dec. 13, 2017.
Prior Publication US 2021/0247782 A1, Aug. 12, 2021
Int. Cl. G05D 1/10 (2006.01); G01C 21/18 (2006.01); B64C 39/02 (2023.01); G05D 1/08 (2006.01)
CPC G05D 1/101 (2013.01) [B64C 39/024 (2013.01); G01C 21/18 (2013.01); G05D 1/0825 (2013.01); G05D 1/0858 (2013.01); B64U 2201/104 (2023.01)] 19 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle having a chassis, an inertial measurement unit (IMU), a propulsion system, a transceiver, and a processor, the method comprising, via the processor:
obtaining vehicle inertia data via the IMU;
obtaining vehicle state data and vehicle control data via the transceiver, the vehicle control data corresponding to pilot inputs;
determining a control aspect of the vehicle control data, the control aspect being derived from control signals corresponding to the pilot inputs;
determining dynamic parameters of the vehicle based on at least one of the vehicle inertia data, vehicle state data, and vehicle control data;
incorporating the dynamic parameters and the control aspect into geometric algebra multivectors;
calculating a movement control decision based on the dynamic parameters and the control aspect via the geometric algebra multivectors;
generating a movement control instruction signal based on the movement control decision; and
controlling movement of the vehicle by sending the movement control instruction signal to the propulsion system such that the propulsion system effects the movement control decision.