US 12,466,551 B2
Aerial vehicle with uncoupled heading and orientation
Linar Ismagilov, North York (CA); and Maksym Korol, Hamilton (CA)
Assigned to VECTORED PROPULSION TECHNOLOGIES INC., North York (CA)
Filed by VECTORED PROPULSION TECHNOLOGIES INC., North York (CA)
Filed on Sep. 15, 2023, as Appl. No. 18/468,275.
Application 18/468,275 is a continuation of application No. 16/921,354, filed on Jul. 6, 2020, granted, now 11,780,579.
Application 16/921,354 is a continuation of application No. 15/499,023, filed on Apr. 27, 2017, granted, now 10,737,780, issued on Aug. 11, 2020.
Claims priority of provisional application 62/328,266, filed on Apr. 27, 2016.
Prior Publication US 2024/0002050 A1, Jan. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B64C 39/02 (2023.01); B64C 27/08 (2023.01); B64C 27/20 (2023.01); B64C 27/28 (2006.01); B64C 27/52 (2006.01); B64C 29/00 (2006.01); B64U 10/14 (2023.01); B64U 50/18 (2023.01); B64U 50/19 (2023.01)
CPC B64C 27/28 (2013.01) [B64C 27/52 (2013.01); B64C 29/0033 (2013.01); B64U 10/14 (2023.01); B64U 50/18 (2023.01); B64U 50/19 (2023.01); B64U 2201/20 (2023.01)] 19 Claims
OG exemplary drawing
 
1. An aerial vehicle (AV) comprising a frame, a processor, a plurality of sensors, at least three gimballed thrust or propulsion units driven by an on board power source that applies thrust to each of the at least three gimballed thrust or propulsion units independently from any other of the at least three gimballed thrust or propulsion units and, actuates movement of each of the at least three gimballed thrust or propulsion units relative to the frame of the AV independent from the thrust applied to any other of the at least three gimballed thrust or propulsion units, wherein the at least three gimballed thrust or propulsion units orient and vary thrust independent of: the frame of the AV, and any other gimballed thrust or propulsion unit, wherein the AV has individual motors for each of the at least three gimballed thrust or propulsion units for separate control of the thrust by the processor and the on board power source, wherein each of the at least three gimballed thrust or propulsion units have a gimbal frame for tilting of its motor in two degrees-of-freedom to provide rotational capability, wherein the processor is configured to trigger control commands to each of the at least three gimballed thrust or propulsion units to rotate the respective gimballed thrust or propulsion unit using its gimbal frame based on a computed rotation metric.