Suspended aerial vehicle system with thruster stabilization and system for controlling a uspended aerial vehicle system

Abstract

A hovering flight vehicle system includes a mothership and a flight vehicle connected to the mothership, wherein the flight vehicle is a probe that enables the flight vehicle to generate thrust via a propulsion assembly that allows takeoff and landing, wherein the propulsion assembly includes one or more propellers that direct airflow in various directions. The hovering flight vehicle system also includes one or more controllable exhaust devices, each of which has an exhaust side that allows air to flow out of the propulsion assembly, and wherein an opening on the exhaust side increases the force generated on the open exhaust side. Further disclosed is a system for controlling the hovering flight vehicle system, wherein a controller can be configured to receive information associated with a desired position of a flight vehicle, determine a flight path, and determine adjustments.

Description

[Technical Field]

[0001] One aspect of this invention relates to an aircraft, specifically an aircraft that coordinates a support line and a thruster for stability. Other aspects are also described. [Previous Technology]

[0002] Avionics has greatly benefited from the latest innovations in batteries and the miniaturization of complex electronic components, such as processors. One of the fastest-growing segments of the field, among both hobbyists and professionals, is small unmanned aerial vehicles, often referred to as drones or probes. This emerging technology has creative applications in many fields, such as photography, military, wildlife conservation, and architecture.

[0003] The development and exploration of future applications still present challenges in drone technology. For example, drone flight distance continues to involve trade-offs between factors such as size, battery cost, and noise generation. These considerations are crucial in applications that allow drones to navigate in dense urban environments or transport heavy loads over long distances, such as package delivery. These factors are particularly important when convincing a regulatory agency that a developed system is feasible and safe. Known solutions continue to address the trade-offs between distance, size, and maneuverability. [Summary of the Invention]

[0004] One aspect of the present invention relates to an aircraft in which propulsion capability has been enhanced by a support line connected to the aircraft. This hovering aircraft system with propulsion stabilization provides a general solution to current challenges in the field of unmanned aerial vehicles (UAVs), reducing footprint, lowering noise, and offering other benefits such as extended flight time, bandwidth, and higher payload capacity than conventional UAV products.

[0005] In one embodiment, a support line is attached to a bearing point on the aircraft. The support line can be configured to support the weight of the aircraft and distribute the weight of the aircraft to a "grounded" anchor point located outside the aircraft. For example, the support line can be connected to a winch system that can be wound around the support line, thereby increasing the tension within the support line and potentially pulling the aircraft toward the winch system.

[0006] The aircraft may have a form of directional propulsion, such as a rotor. For example, the aircraft may be configured as a "quadcopter." A controller may be able to operate the position of the aircraft through the coordinated action of the winch system that winds or unwinds the support line and the thrusters that can change the magnitude of the generated force and the angle of the propulsion generated relative to the support line. This coordination allows the controller to optimize the energy output required to move or maintain the position of the aircraft, since the propulsion required to counteract gravity can be offset by the support line. If a smaller force output from the thrusters is required, the size of the thrusters and the support structure, such as the battery, can be reduced, and the aircraft can maintain equal or greater capabilities in areas such as flight time and load capacity. The smaller thrusters and support structure within the aircraft result in a smaller footprint and lower noise distribution, increasing the aircraft's maneuverability.

[0007] Noise generated by one or more propellers in a propulsion assembly is due to disk load. Disk load is indicated by the amount of pressure felt by one or more propellers, as a function of the force required to be generated by the propeller and the size of the propeller itself. For example, disk load can be determined based on the weight of the aircraft, the area of ​​the rotor disk, or the area swept by the blades of a rotor. Therefore, reducing disk load or reducing head speed will immediately reduce the noise generated by the propulsion assembly.

[0008] The coordination between the winch system and the thrusters can bring other benefits. For example, due to the necessity of the support line to transfer the thrusters against environmental forces (such as gravity or wind loads), the thrusters can be used to effectively orient the aircraft. For example, by maximizing the tension within the support line, the aircraft can maintain a stationary position when oriented perpendicular to the direction of gravity.

[0009] In one embodiment, the aircraft may be connected to another aircraft via the support line. For example, the vehicle may be one of the aircraft in a "mothership" configuration, which allows the mothership to carry at least a portion of the weight of the aircraft. The mothership may have features that enhance long-duration flight efficiency, providing the system with the benefits of a larger aircraft while maintaining the accessibility provided by a smaller aircraft.

[0010] The system can be configured for specific functions. For example, the flight vehicle may be able to attach to a payload, release a payload, clean a remote surface, dismantle weapons, or perform any of the various functions provided by the system.

[0011] In some embodiments, the technology described herein relates to a hovering flight vehicle system comprising: a mothership, a flight vehicle physically connected to the mothership, wherein the flight vehicle is a probe that causes the flight vehicle to generate thrust via a propulsion assembly that allows takeoff and landing, wherein the propulsion assembly comprises: one or more propellers that direct airflow in various directions; and one or more controllable exhaust devices, wherein each of the one or more controllable exhaust devices has an exhaust side that allows air to flow out of the propulsion assembly, and wherein an opening on the exhaust side amplifies the force generated on the open exhaust side.

[0012] In some embodiments, the technology described herein relates to a hovering flight vehicle system, wherein a controller is configured to coordinate the propulsion of the mothership and the propulsion of the flight vehicle.

[0013] In some cases, the technology described herein relates to a hovering flight vehicle system in which the mothership is capable of flight.

[0014] In some embodiments, the technology described herein relates to a hovering flight vehicle system, wherein the flight vehicle is connected to the mother ship by a support line entity.

[0015] In some embodiments, the technology described herein relates to a levitating flight vehicle system, wherein one or more propellers are impellers that guide airflow in various directions.

[0016] In some embodiments, the technology described herein relates to a hovering flight vehicle system, wherein one or more propellers each have a blade angle, and wherein the one or more propellers each having the blade angle provide an air inlet for airflow into the propulsion assembly, and wherein the blade angle is adjusted to increase airflow.

[0017] In some embodiments, the technology described herein relates to a hovering flight vehicle system, the propulsion assembly further comprising a deflector array, wherein the deflector array directs airflow toward the exhaust side.

[0018] In some embodiments, the technology described herein relates to a hovering flight vehicle system, wherein one or more propellers each have a fixed blade, wherein the one or more propellers each having the fixed blade provide an air inlet for airflow into the propulsion assembly.

[0019] In some embodiments, the technology described herein relates to a hovering flight vehicle system, the propulsion assembly further comprising a deflector array, wherein the deflector array directs airflow toward the exhaust side.

[0020] In some embodiments, the technology described herein relates to a hovering flight vehicle system comprising: a flight vehicle, wherein the flight vehicle is a detector, such that the flight vehicle generates thrust via a propulsion assembly that allows takeoff and landing, wherein the propulsion assembly comprises: an impeller that directs air flow in various directions; and one or more controllable exhaust devices, wherein each of the one or more controllable exhaust devices has an exhaust side that allows air to flow out of the impeller, and wherein an opening on the exhaust side increases the force generated on the open exhaust side.

[0021] In some embodiments, the technology described herein relates to a hovering flight vehicle system comprising: a flight vehicle, wherein the flight vehicle is a detector, such that the flight vehicle generates thrust via a propulsion assembly that allows takeoff and landing; wherein the propulsion assembly comprises: one or more propellers, each having a blade angle, wherein the one or more propellers having the blade angle provide an air inlet for airflow into the propulsion assembly and wherein the blade angle is adjusted to increase airflow; one or more baffles, wherein the one or more baffles have an exhaust side that allows airflow out, and wherein an opening on the exhaust side increases the force generated on the open exhaust side; and a deflector array, wherein the deflector array guides airflow toward the exhaust sides.

[0022] In some embodiments, the technology described herein relates to a hovering flight vehicle system comprising: a flight vehicle, wherein the flight vehicle is a detector, such that the flight vehicle generates thrust via a propulsion assembly that allows takeoff and landing; wherein the propulsion assembly comprises: one or more propellers, each having a fixed blade, wherein the one or more propellers having the fixed blades provide an air inlet for airflow into the propulsion assembly; one or more baffles, wherein the one or more baffles have an exhaust side that allows airflow out, and wherein an opening on the exhaust side increases the force generated on the open exhaust side; and a deflector array, wherein the deflector array guides airflow toward the exhaust sides.

[0023] In some aspects, the technology described herein relates to a system for controlling a hovering flight vehicle system, comprising: a controller configured to receive information associated with a desired position of a flight vehicle, determining a flight path of the flight vehicle, including determining that an adjustment is needed to the length of a support line attached to the flight vehicle, and determining that an adjustment is needed to a thruster on the flight vehicle, and coordinating the manipulation of the support line and the manipulation of the thruster to position the flight vehicle to the desired position.

[0024] In some embodiments, the technology described herein relates to a system for controlling a hovering flight vehicle system, wherein the information includes a generated position setpoint and a generated position error associated with the desired position of the flight vehicle.

[0025] In some embodiments, the technology described herein relates to a system for controlling the hovering flight vehicle system, wherein the controller transmits information associated with the actuator mapping to an actuator controller.

[0026] In some embodiments, the technology described herein relates to a system for controlling the hovering flight vehicle system, wherein the actuator controller provides inputs associated with adjustments required to be made to one of the thrusters on the flight vehicle.

[0027] In some cases, the technology described herein relates to a system for controlling the hovering flight vehicle system, which further includes estimating the desired position based on a position sensor.

[0028] In some cases, the technology described herein relates to a system for controlling the hovering flight vehicle system, wherein the position sensor comprises two or more position sensors.

[0029] In some embodiments, the technology described herein relates to a system for controlling the hovering flight vehicle system, wherein the adjustment required to one of the thrusters on the flight vehicle includes controlling one or more controllable exhaust openings.

[0030] In some embodiments, the technology described herein relates to a system for controlling the hovering flight vehicle system, wherein adjustments to one of the propellers on the flight vehicle are required, including the control of one or more propellers.

Implementation Method

[0040] [Incorporated by reference to any priority application] Any and all applications that identify a foreign or domestic priority claim in the filing data sheet filed together with this application are incorporated by reference in accordance with 37 CFR 1.57.

[0041] This application claims priority to U.S. Provisional Patent Application No. 63 / 570,716, filed March 27, 2024, entitled “SUSPENDED AERIAL VEHICLE SYSTEM WITH THRUSTER STABILIZATION”, the entire contents of which are expressly incorporated herein by reference.

[0042] Several aspects of the invention will now be explained with reference to the accompanying drawings. Where the shape, relative position, and other aspects of the described components are not explicitly defined, the scope of the invention is not limited to the components shown, which are for illustrative purposes only. Furthermore, although many details are set forth, it should be understood that some aspects of the invention can be practiced without such details. In other examples, well-known circuits, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0043] Embodiments of the present invention primarily pertain to a thrust-stabilized hovering flight vehicle system. The thrust-stabilized hovering flight vehicle system may include a flight vehicle connected to a support line, wherein the support line can be anchored distally to an anchor point. In one exemplary embodiment, the flight vehicle system may include an unmanned aerial vehicle (UAV) or detector attached to a support line that connects the UAV to an anchor point, such that a first end of the support line is connected to the UAV. Although the present invention discusses applications without a human pilot on the flight vehicle, it is conceivable that, in the embodiments of the present invention, the flight vehicle may have a pilot or human user without departing from the concept of the invention. The anchor point may include a winch system operably capable of changing the length of the deployed support line or winch line. The anchor point to which the winch system is attached may vary depending on the application. For example, the anchor point may be a stable surface, such as the top of a building, or a moving surface, such as a second flight vehicle.

[0044] In some embodiments, a UAV may take the form of an aircraft that generates thrust independently or not entirely dependent on a rotor. For example, a UAV may contain a directional thruster. The thruster may be connected to a tank or hose capable of supplying material to the thruster, which is ejected from the thruster to provide a force. Some examples are gas-type thrusters, chemical propellants, and directional airflow blowers. It is also contemplated that a UAV may utilize a combustion motor to generate thrust. Other examples of thrusters capable of generating directional, concentrated propulsion are conceivable without departing from the concept of the invention. Therefore, although the thruster assembly illustrates one embodiment of the invention, the terms "thruster" and "propulsion engine" as used herein may refer to any form of directional propulsion generation system known in the art.

[0045] Providing a UAV with vertical lift in the form of a winch system amplifies the desired characteristics of the UAV, making it an ideal solution for widespread applications, while addressing some of the core shortcomings of UAVs. The winch system allows the UAV to reduce energy consumption because the amount of propulsion required to maintain a desired altitude is reduced or eliminated. The UAV's footprint can also be reduced, for example, by reducing the size of the thrusters needed to generate sufficient lift, and by unloading essential components such as a battery or controller that can be connected via support lines. Furthermore, since the UAV does not need to be fully self-supporting in the vertical direction, the available propulsion / power on other axes (lateral and attitude control) is greatly increased.

[0046] Furthermore, the versatility of the system, which provides various types of anchor points and UAV functionality, allows for numerous applications. For example, the winch system allows the UAV to generate thrust in unconventional directions. When the UAV is actively levitated by the winch system, the thrusters on the UAV do not need to provide lift to maintain the UAV's height. The thrusters can be used to provide a force perpendicular to gravity. For example, if the UAV's task is to place decals at a designated location on an exterior window of a skyscraper, the winch system can be anchored above the location. With the winch system supporting the UAV at the desired height, the thrusters on the UAV can generate a thrust against the window sufficient to adhere the decals. Additionally, the winch system can dynamically adjust the length of the support line to allow the UAV to travel in a plane perpendicular to gravity.

[0047] The UAV can be configured to perform the function of effectively navigating narrow airspace. For example, the UAV can deliver a package to a balcony, potentially avoiding a hanging and narrow fence. This capability allows the UAV to perform deliveries in dense and restricted urban environments. Examples of packages that can be delivered in this way include consumer goods such as books, clothing, or electronics from a warehouse, fulfillment center, or transit point. Other examples may include point-to-point delivery, such as food, medical equipment, and pharmaceuticals. These examples are not limiting, as it is conceivable that the UAV can pick up and deliver any goods that meet the extended size and weight limits achievable by the system.

[0048] In this document, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous flying vehicle that can perform certain functions without the need for a human pilot. Examples of flight-related functions may include (but are not limited to) sensing its environment or operating in the air without the need for input from an operator.

[0049] The UAV can be autonomous or semi-autonomous. For example, some functions can be controlled by a remote operator, while others are performed autonomously. Furthermore, a UAV can be configured to allow a remote operator to take over functions that can be autonomously controlled by the UAV. Additionally, a given type of function can be remotely controlled at one level of abstraction and autonomously executed at another. For example, a remote operator can control a UAV's high-level navigation decisions, such as specifying when the UAV should change position, while the UAV's navigation system autonomously controls more subtle navigation decisions, such as route selection, obstacle avoidance, etc. Other examples are also possible.

[0050] A UAV can take many forms. For example, a UAV can take the form of a rotary aircraft, such as a helicopter or multi-wing aircraft, a fixed-wing aircraft, a jet aircraft, a ducted fan aircraft, a lighter-than-air spacecraft, such as a blimp or a maneuverable balloon, a tailed aircraft, a glider and / or an ornithopter, and other possibilities. Furthermore, the terms "unmanned aircraft," "unmanned flight vehicle system" ("UAVS"), or "unmanned aviation system" ("UAS") can also be used to refer to a UAV.

[0051] The UAV may possess maneuverability, allowing for adjustment of its pitch, roll, yaw, and / or altitude in various ways. For example, rotors provide propulsion and maneuverability to the UAV. More specifically, each rotor includes blades attached to a motor. This configuration allows the rotors to enable the UAV to take off vertically (takeoff) and land, maneuver in any direction including the lateral direction, and / or hover. Furthermore, the blade pitch can be adjusted as a group and / or differentiated, allowing the UAV to perform three-dimensional aerial maneuvers, such as an inverted hover, a continuous tail-down tic-toc, a circle, a spin circle, a spin stall turn, a knife-edge turn, an immelmann turn, a flapping turn, and a traveling roll, etc. When adjusting the pitch of all blades to perform this aerial maneuver, this can be referred to as adjusting the "collective pitch" of the UAV. Conversely, the pitch of all stationary and non-adjustable blades can be referred to as the "fixed pitch" of the UAV. Alternatively, the UAV can adjust the rotor speeds collectively or separately to perform maneuvers. For example, by maintaining a constant speed on one of the three rotors and reducing the speed on a fourth rotor, the UAV can roll to the right, roll to the left, pitch forward, or pitch backward, depending on the rotor whose speed is reduced. Specifically, the UAV can roll in the direction of the rotors with reduced speed. As another example, simultaneously increasing or decreasing the speed of all rotors will cause the UAV to increase or decrease its altitude respectively. As another example, increasing or decreasing the speed of rotors rotating in the same direction will cause the UAV to perform a yaw movement to the left or right. These are just a few examples of different types of maneuvers achievable by independently or collectively adjusting the RPM and / or rotor rotation direction. Similar operations can be considered in embodiments that do not utilize rotor propulsion.

[0052] The UAV may also include a housing. The housing may contain and / or connect to the rotor, and contain other necessary or desired components, such as a motor, control electronics such as an inertial measurement unit (IMU) and / or an electronic speed controller, a battery, other sensors and / or a payload, and other possibilities. The UAV may include two housings, each configured to contain two rotors, and the housings are connected by a shaft. However, it is conceivable that a single housing may contain all the rotors of the UAV. Alternatively, three or more housings may be used, each housing containing at least one rotor, and the housings are connected to form part of the UAV.

[0053] The shaft allows each housing connected to the shaft to rotate independently, such that a first housing near the proximal end of the shaft can rotate in a first direction, and a second housing at the distal end of the shaft can rotate in a second direction. Additionally, the shaft allows the first housing to rotate in the same direction, but at a different degree or speed than the second housing. The shaft also allows a first housing to remain in a static orientation, while the second housing can rotate relative to the first housing. In some embodiments, the UAV may utilize multiple shafts. For example, the shafts may be orthogonally connected, wherein each shaft is capable of rotating independently of the others, such that a rotor connected to a first shaft can maintain an orientation independent of a rotor connected to a second shaft.

[0054] In a further embodiment, the UAV may include a rotor protector. Such a rotor protector can be used for various purposes, such as protecting the rotor from damage, protecting the UAV structure from damage, and protecting nearby objects from rotor damage. Furthermore, the rotor protector can be used as a silencer to reduce the noise generated by the high-speed rotation of the rotor. It should be understood that an embodiment without a rotor protector is also feasible. Furthermore, rotor protectors of different shapes, sizes, and functions are feasible without departing from the scope of the invention.

[0055] In a further embodiment, the UAV may include one or more communication systems. The communication systems may include one or more wireless interfaces and / or one or more wired interfaces, allowing the UAV to communicate via one or more networks. Such wireless interfaces may provide communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11 protocol), LTE, WiMAX (e.g., an IEEE 802.16 standard), a radio frequency identification (RFID) protocol, near field communication (NFC), and / or other wireless communication protocols. Such wired interfaces may include an Ethernet interface, a Universal Serial Bus (USB) interface, or a similar interface for communication via a wire, a twisted pair, a coaxial cable, an optical link, a fiber optic link, or other physical connection to a wired network.

[0056] In one example embodiment, the UAV may include a communication system that allows both short-range and long-range communication. For example, the UAV may be configured for short-range communication using Bluetooth and long-range communication under a CDMA protocol. In this embodiment, the UAV may be configured to act as a "hotspot," or in other words, as a gateway or proxy server between a remote support device and one or more data networks (such as cellular networks and / or the Internet). With this configuration, the UAV can facilitate data communication that the remote support device itself cannot perform.

[0057] For example, a UAV may provide a WiFi connection to a remote device and act as a proxy server or gateway for a cellular service provider's data network, for example, the UAV may connect to the network according to an LTE or a 5G protocol. The UAV may also act as a proxy server or gateway for a high-altitude balloon network, a satellite network, or a combination of such networks, which a remote device cannot otherwise access.

[0058] One embodiment pertains to a support line connected to a UAV. The support line may be connected to the UAV at one of its first ends. The support line may be made of various materials. For example, if flexibility is required, the support line may comprise high tensile strength polymer fibers, metals and / or synthetic cables, ropes, and other materials exhibiting sufficient strength and flexibility. In another embodiment, the support line may be rigid, such that the distance between the first end and the second end of the support line is substantially fixed. In yet another embodiment, the support line may involve multiple rigid components, such as a chain configuration or a telescopic rod configuration.

[0059] The support line may be connected to a point on the UAV, which is designed to distribute some or all of the UAV's weight to the support line. For example, the support line may be directly connected to a component of the UAV, such as a shaft or propulsion assembly. The support line may include a snap-fit ​​link located at a first end of the support line, which may engage with a U-bolt connection attached to a component of the UAV, although similar attachment members are conceivable without departing from the concept of the invention. Alternatively, the support line may be connected to a specially designed support line attachment mechanism that connects to a point on the UAV or to another component connected to the UAV. The support line may be attached to the UAV in a manner that allows for rotational freedom relative to the propulsion assembly while maintaining the ability to bear some or all of the gravity and inertial loads of the hovercraft system.

[0060] The support line may include a conduit connecting the UAV to a power or data source. For example, in an embodiment where at least a portion of the power distribution system is not "onboard" of the UAV, the conduit may transmit power from a power source located outside the UAV, such as at a second end of the support line to the UAV. In this case, the conduit may include a cable connecting a battery at the second end of the support line to an onboard power distribution system on the UAV. It is conceivable that an energy storage device may be located within the onboard power distribution system, in which case a power cable within the conduit may be used to charge the onboard energy storage device (such as a battery). In another example, the conduit may carry a data transmission line (e.g., for transmitting data-encoded electrical signals) and / or an optical fiber line (e.g., for transmitting data-encoded optical signals) formed of a conductive material. A central controller and / or operator, which may be located at the second end of the support line, may remotely control the operation of the UAV by sending commands to the UAV via a signal cable, and the UAV may have an onboard processor. Similarly, the UAV may use a signal cable to send sensor data back to the central controller and / or operator.

[0061] In some embodiments, the hovercraft system can achieve precise positioning of the UAV relative to a mother ship by varying the length of the support line, which is coordinated with variations in the propulsion characteristics generated by the UAV's onboard thrusters. Through the coordination of the winch system and the thrusters, the UAV can reposition itself relative to the mother ship from position A to position B via various possible trajectories.

[0062] The precise positioning of the UAV described herein is achieved by a hovering flight vehicle system, which allows the UAV to maintain a stationary position while changing position during the mother ship's flight mode. For example, when the UAV maintains a substantially stationary position relative to a fixed reference point (such as a reference plane on the ground), a mother ship may have a flight path pattern consisting of a circular holding pattern. Coordinated changes in the propulsion engine and winch system can reposition the UAV relative to the mother ship. For example, if the mother ship serves as the fixed reference point for the UAV, and the movement of the mother ship relative to the ground is negligible, the UAV appears to hover below the mother ship in a manner similar to the holding pattern shown in the illustration. This indicates that the UAV can continuously adjust the thrust vector of the propulsion engine, while the winch system can continuously adjust the length of the support line to maintain a desired position relative to a fixed point. This continuous adjustment of the UAV's position or vector can occur during the mother ship's movement, such that, for example, the UAV and the mother ship rotate in opposite directions. Therefore, a UAV can reach any position within its flight envelope when the envelope shifts due to the mother ship's movement, without altering the mother ship's flight mode. When the UAV maintains a stationary position relative to a fixed reference point, the maximum perimeter of the holding mode that the mother ship can maintain can be controlled by the maximum length of one of the support lines.

[0063] One embodiment of the present invention may include a single UAV connected to one of multiple motherships. The UAV may be supported by a first mothership and a second mothership via a first support line and a second support line, respectively. Each of the first and second support lines may be operated by a single winch system or multiple winch systems. The lengths of the first and second support lines may be coordinated with the UAV's propulsion system and with the flight modes of the first and second motherships during operation of the hovercraft system. The UAV is substantially capable of reaching any position within the envelope of each mothership.

[0064] One embodiment of the present invention may also include a control system that coordinates the operation of a support line and a propulsion engine to position and / or orient the UAV in a desired location. The system controller may include a controller that receives various command inputs, such as a desired position of the UAV. The controller may determine, via winch actuation and the propulsion engine, the necessary adjustments to the length of the support line are required to move the UAV from an initial position to the desired position. The controller may instruct the individual thrusters or thruster assemblies within the propulsion engine to generate thrust in a desired direction and magnitude, such as to achieve any position and orientation of the UAV, such that a first thruster or first thruster assembly may have a first direction and / or a first magnitude, and a second thruster or second thruster assembly may have a second direction and / or a second magnitude. It is also considered that the thrust generated by the propulsion engine relative to the orientation of the UAV may be static. The orientation of the UAV can be changed by altering the thrust generated by individual thrusters on the UAV, and by changing the tension of the support line through a combination of winding the support line and changing the thrust. Reducing or increasing the tension within the support line can also be used for other purposes. For example, if the UAV is traveling along a complex route, there may be no direct line of sight between the UAV and the anchor point. In this case, the UAV may require greater "slack" within the support line, and therefore the controller can reduce the tension within the support line.

[0065] In one embodiment where the hovercraft system includes a mothership, the propulsion engine may include thrusters on the mothership, allowing the system controller to coordinate and control the UAV and the thrusters on the mothership. Therefore, the system controller can coordinate the operation of changes in the mothership's thrust, the UAV's thrust, and the support line length. It should be understood that when the system controller coordinates changes in the support line length, the mothership's propulsion attributes, and the UAV's propulsion attributes, this coordination may include not changing the support line length, the mothership's propulsion attributes, and the UAV's propulsion attributes when the system controller determines that it does not change any desired combination of these attributes, up to and including a situation where at least one of the UAV and the mothership produces zero propulsion desiredness. For example, the system controller may dynamically operate the support line length in response to changes in the UAV's position to maintain support line tension and prevent sudden movements of the UAV. Simultaneously or concurrently, the system controller may dynamically operate the thrust conditions of the mothership and / or the UAV to achieve a desired position and orientation of the UAV.

[0066] FIG1 illustrates an example of a hovercraft system using a thruster assembly to generate thrust. The thruster assembly 100 may include an impeller 110, a first controllable exhaust device 150A, a second controllable exhaust device 150B, a third controllable exhaust device 150C, and a fourth controllable exhaust device 150D, each controllable exhaust device acting as an exhaust side. As shown in FIG1, the impeller 110 includes two counter-rotating impellers stacked on top of each other. In some embodiments, the impeller 110 may include two rotating impellers stacked on top of each other. In some embodiments, the thruster assembly 100 may include a single impeller (e.g., one of the two rotating impellers shown in FIG1). In some embodiments, the impeller 110 may be stationary and non-rotating. In any of the embodiments, the thruster assembly 100 may include two or more impellers. The thruster assembly 100 may include fewer or more than four controllable exhaust devices. In some embodiments, the controllable exhaust outlet may be a baffle, slat, cover, and / or opening. In some embodiments, a controllable or actuable exhaust device may be a controllable component that controls airflow (e.g., stopping and starting airflow into and / or out of the propeller assembly). An impeller may also refer to a propeller.

[0067] In an exemplary embodiment, air can flow into the impeller 110 and exit in all directions. In some embodiments, all four controllable exhaust devices can be opened, generating equal forces on each side where the controllable exhaust devices are located, thereby providing thruster stability for the aircraft. In other embodiments, when all four controllable exhaust devices are closed, air can be recirculated throughout the thruster assembly 100 and ultimately directed out to the open exhaust side. Due to a back pressure, the recirculated air can increase the total thrust generated.

[0068] In the general operation of an aircraft or probe, only one controllable exhaust or one exhaust side can be opened at a time. For example, given an ambient environment, wind or gusts may flow from the side of the controllable exhaust device 150D. To maintain propulsion stability, the parallel controllable exhaust device 150B may be opened. On the other hand, once the wind direction changes, the controllable exhaust device 150D may be opened, while the controllable exhaust device 150B may be closed. In any embodiment, the controllable exhaust device can be opened and closed to control the propulsion generated by the thruster assembly 100. In some embodiments, the thruster assembly 100 may further include one or more air inlets, such as a first air inlet 170A and a second air inlet 170B. In some embodiments, the controllable exhaust device can be positioned in various configurations such that air can flow out in any direction. For example, the controllable exhaust device may be positioned such that air is directed out of the exhaust side in an out-of-vertical plane direction (e.g., rather than in the horizontal plane direction shown in FIG1). In another example, the controllable exhaust device may be positioned such that air is directed out of the exhaust side at an angle. Although the propeller assembly with four controllable exhaust devices and one of the four sides is illustrated in Figure 1 and described in some embodiments herein, the propeller assembly may include any other number of controllable exhaust devices and / or sides in some cases. For example, the propeller assembly may be octagonal with eight controllable exhaust devices and one of the eight sides.

[0069] Figure 2 illustrates another example of a hovercraft system using a thruster assembly 205 to generate thrust. The thruster assembly allows air to pass through the center of an impeller, as indicated by 230A. A thruster assembly 205 may include two or more impellers, wherein a first impeller 210 rotates clockwise and a second impeller 220 rotates counterclockwise. In some embodiments, the first impeller 210 may rotate counterclockwise and the second impeller may rotate clockwise. As airflow passes through the center of the impellers, the lateral airflow generated by the operation of the two or more impellers may direct the airflow in all directions, as indicated by 240A. In some embodiments, air may flow through various portions of the impellers (e.g., horizontally and / or at an angle to the sides). For example, in some embodiments, air may flow through an annular ring disposed around the center of the impeller. In some embodiments, the thruster assembly is configured such that air flows in and out in opposite directions (180 degrees).

[0070] In some embodiments, the impeller 110 may include a top plate and a bottom plate. In some embodiments, the impeller may act as a deflector (e.g., without a top plate and / or bottom plate) to guide airflow by deflecting air. In some embodiments, one or more propeller assemblies described herein include two rotating impellers stacked on top of each other, wherein the plate sides of the impellers face each other. In other embodiments, one or more propeller assemblies described herein include two rotating impellers stacked on top of each other, wherein the plate sides of the impellers face away from each other. In other embodiments, one or more propeller assemblies described herein include two rotating impellers stacked on top of each other, wherein the plate sides of the impellers face the same direction.

[0071] Figure 3 illustrates another example of a hovercraft system using a thruster assembly 305 to generate thrust. The thruster assembly 305 allows airflow through the center of the impeller, as indicated by 330A. As the airflow flows through the center of the impeller, the lateral airflow generated by the operation of one or more impellers can direct the airflow in all directions, as indicated by 340A.

[0072] Figures 4A and 4B illustrate an example of a hovercraft system using a controllable exhaust device in a thruster assembly to generate thrust. In some embodiments, the thruster assembly may include one or more controllable exhaust devices to act as a lateral exhaust device. In Figure 4A, a controllable exhaust device 405A includes a closed exhaust device 410A, and the air flowing in the thruster assembly can become recirculated air 420A. In Figure 4B, a controllable exhaust device 405B includes an open exhaust device 410B, wherein the air flowing through the thruster assembly can exit 420B to generate thrust for the hovercraft.

[0073] Figures 5A and 5B illustrate another example of a hovercraft system using a thruster assembly to generate thrust. In some embodiments, the thruster assembly may include a collective pitch control. The collective pitch control can collectively change the pitch angle of all rotor blades (i.e., all rotor blades change simultaneously), wherein the rotor blades are independent of their position in the rotational cycle. In some embodiments, the thruster assembly may include one or more openings. In some embodiments, air may flow into the thruster assembly at an angle (not shown) and flow out to the exhaust side at the same or different angles. Thus, if a collective pitch input is made, all blades change equally, and as a result, the hovercraft can increase or decrease its airflow from the rotor. If the hovercraft tilts forward, an increase in total lift can produce an acceleration and a given amount of lift. Typically, the rotor blades can rotate to change their angle of attack to increase or decrease lift while maintaining a constant rotational speed. In any of the embodiments, the thruster may refer to rotor blades or blades.

[0074] In Figure 5A, the thruster assembly 500A includes four openings: a first exhaust side 515A, a second exhaust side 516A, a third exhaust side 517A, and a fourth exhaust side 518A. In some embodiments, air may flow into the thruster assembly from the top (525A, 527A) or the bottom (526A, 528A). In some embodiments, air may flow into the thruster assembly through an annular ring formed around the center of the thruster assembly. In some embodiments, air may flow into the thruster assembly at an angle (not shown) relative to the exhaust side. As air flows through the thruster assembly 500A, a deflector array 510 may be used to guide the airflow toward an exhaust side. In some embodiments, the deflector array 510 acts as a deflector to guide the airflow. For example, if all four exhaust sides remain open and the rotor blades (550A, 570A) are collectively angled, there is a nominal airflow, also known as zero lateral force. Therefore, the hovering flight vehicle can be stabilized and temporarily stopped for a predetermined period of time.

[0075] In Figure 5B, the rotor blades can be independently modified. Based on collective pitch control and input, the hovercraft can maneuver in all directions. The thruster assembly 500B includes four openings: a first exhaust side 515B, a second exhaust side 516B, a third exhaust side 517B, and a fourth exhaust side 518B. In embodiments, air can flow into the thruster assembly from the top (525B, 527B) or the bottom (526B, 528B). As air flows through the thruster assembly 500B, a deflector array 510 can be used to guide the airflow toward an exhaust side. For example, the blade angles on the two thrusters (550B, 570B) can be changed to generate more airflow on the right side. Therefore, more flow can occur on the first exhaust side 515B and the second exhaust side 516B, generating a greater force, indicated by F2, than on the opposite side, indicated by F1. In some embodiments, air can flow into and out of the thruster assembly at various angles.

[0076] Figures 6A and 6B illustrate another example of a hovercraft system using a thruster assembly to generate thrust. In some embodiments, the thruster assembly may include a fixed-pitch control. In contrast to a collective pitch control, the blades may be configured at a single angle, and the lift varies with the rotational speed.

[0077] In Figure 6A, the thruster assembly 600A may include four controllable exhaust devices (e.g., baffles, slats, or openings): a first exhaust side 615A, a second exhaust side 616A, a third exhaust side 617A, and a fourth exhaust side 618A. In an embodiment, air may flow into the thruster assembly from the top (625A, 627A) or the bottom (626A, 628A). As air flows through the thruster assembly 600A, a deflector array 610 may be used to direct the airflow toward an exhaust side. For example, if all four exhaust sides remain closed and the rotor blades (650A, 670A) are fixed at an angle, a nominal airflow, also known as zero lateral force, exists. Therefore, the hovering flight vehicle can stabilize and temporarily stop for a predetermined period of time.

[0078] In Figure 6B, the propeller assembly 600B may include four controllable exhaust devices (e.g., baffles, slats, or openings): a first exhaust side 615B, a second exhaust side 616B, a third exhaust side 617B, and a fourth exhaust side 618B. In embodiments, air may flow into the propeller assembly from the top (625B, 627B) or the bottom (626B, 628B). As air flows through the propeller assembly 600B, a deflector array 610 may be used to direct the airflow toward one exhaust side. For example, if both exhaust sides (615B, 616B) are open and the rotor blades (650B, 670B) are fixed at an angle, more flow may be possible on the first exhaust side 615B and the second exhaust side 616B, generating a greater force indicated by F. In some embodiments, air may flow into and out of the propeller assembly at any angle.

[0079] Figure 7 illustrates an example controller system 705 for operating a hovercraft system, including a controller 710, an airflow system 725, and a UAV / detector system 750. The controller 710 may include a processor 711, memory 715, manual input 717, manual output 719, a transmitter / receiver 721, and a communication interface 723. The controller 710 can receive various command inputs 717, such as a desired position of the UAV. The controller 710 can determine the necessary adjustments required to the airflow system 725 and the UAV / detector system 750 to move the UAV from its initial position to the desired position. The controller 710 can guide individual thrusters or thruster assemblies within the propulsion engine to generate thrust in a desired direction and magnitude to achieve any position and orientation of the UAV, such that a first thruster or first thruster assembly may have a first direction and / or a first magnitude, and a second thruster or second thruster assembly may have a second direction and / or a second magnitude. It is also believed that the propulsion generated by the propulsion engine can be static relative to the orientation of the UAV.

[0080] In one embodiment where the hovercraft system includes a mothership, the propulsion assembly may include propulsion units on the mothership, such that the controller 710 can coordinate and control the UAV and the propulsion units on the mothership. Therefore, the system controller 710 can coordinate the propulsion operations of the mothership and the UAV. Simultaneously or concurrently, the controller 710 can dynamically operate the propulsion conditions of the mothership and / or the UAV to achieve a desired position and orientation for the UAV. In some embodiments, the system controller 710 may be included in the UAV, the mothership, a separate control station, and / or other vehicles.

[0081] The airflow system 725 may include a slat / baffle controller 730, an impeller controller 735, and a blade controller 740. The UAV / detector system 750 may include a positioning system 755, a position detector / sensor 760, an actuator command 765, a detector dynamics 770, an actuator controller 775, and a position error 780. In any of the embodiments, one or more sensors, one or more controllers, and one or more systems may be used.

[0082] The controller 710 may receive feedback ("sensor data") from a sensor 760, which may be used for various purposes, such as optimizing the total energy output of the hovercraft system and performing closed-loop control when positioning the UAV. For example, the sensor 760 may allow the controller 710 to calculate an optimized lift direction and magnitude that can be generated by the propulsion engine. The sensor 760 may measure the flight properties of the mothership. Sensor feedback from the mothership and the UAV may be used during the operation of the hovercraft system to coordinate the flight of the mothership and the UAV. It is envisioned that these properties may be measured or estimated indirectly. The system controller 710 may use various inputs 717 to determine the optimal thrust angle and magnitude. The thrust angle may be controlled by a blade controller 740.

[0083] For example, a hovercraft system may include a sensor for calculating the direction and magnitude of gusts. The system controller 710 may direct the propulsion engine to generate a counter-thrust to substantially counteract the wind's effect on the UAV's position. Sensors 760 may provide other data related to the system's operation, which the controller 710 may use to guide the winch actuator and propulsion engine. For example, optical sensors may be used to determine whether the flight path is unobstructed, and if not, what alternative flight path is unobstructed. Sensor 760 may be a single sensor or multiple sensors, and may be located within, adjacent to, or remote from the system, while still being able to measure attributes related to the system's operation. In some embodiments, sensor 760 may include a distributed sensor array.

[0084] Different states of the program can be performed by one or more human users. For example, a remote operator can determine a route for the mothership and coordinate its flight, such as by remotely manipulating the mothership. Similarly, a remote operator may be able to control the flight of a UAV.

[0085] The controller 710 may be at least partially embodied as one or more embedded or general-purpose processors, computers, processing devices, or computing devices with memory. The controller 710 may also be partially embodied as performing or operating various functions and / or logic (e.g., computer-readable instructions, code, devices, circuits, processing circuits, etc.) of elements of the manner described in the embodiments herein. The controller 710 may be mounted and fixed within or connected to any component of the hovercraft system. Furthermore, the controller 710 may be remote from the system and may communicate directly or indirectly with the system.

[0086] In any of the embodiments, components of the UAV / detector system 750 may communicate with the controller 710. For example, the positioning system 755, position detector / sensor 760, actuator command 765, detector dynamics 770, actuator controller 775, and position error 780 may transmit information to and receive information from the controller 710. In other embodiments, components of the airflow system may transmit information to and receive information from the controller 710. For example, the slat / baffle controller 730, impeller controller 735, and blade controller 740 may transmit information to and receive information from the controller 710. In some embodiments, the airflow system 725 may be associated with the UAV / detector system 750.

[0087] In some embodiments, the controller 710 is entirely located within the mothership. In other embodiments, the controller 710 is entirely located within the UAV. In other embodiments, the controller 710 is entirely located within another entity (e.g., another mothership or another UAV, or one of the control units on the ground). In other embodiments, the controller 710 is implemented in a distributed manner and distributed across two or more such entities (e.g., mothership, UAV, another mothership, another UAV, ground control unit, etc.). Similarly, in some embodiments, one or more sensors described herein may be entirely located within the mothership, entirely located within the UAV, entirely located within another entity (e.g., another mothership or another UAV, or one of the control units on the ground), or implemented in a distributed manner and distributed across two or more such entities (e.g., mothership, UAV, another mothership, another UAV, ground control unit, etc.).

[0088] The controller 710 may include a processor 711, a memory 715, inputs 717, outputs 719, and a transmitter / receiver 721. Inputs 717 and outputs 719 may refer to I / O devices. Some or all of the components may be interconnected via a system bus. The processor 711 may be single-threaded or multi-threaded and may have one or more cores. The processor 711 can execute instructions, such as instructions stored in the memory 715 and / or storage devices. Information can be received and output using one or more I / O devices.

[0089] Memory 715 can store information and can be a computer-readable medium, such as volatile or non-volatile memory. The storage device can provide storage for a computer system and can be a computer-readable medium. In various embodiments, the storage device can be one or more of a flash memory device, a hard disk device, an optical disk device, a magnetic tape device, or any other type of storage device.

[0090] The I / O device provides input / output operations for the computer system. The I / O device may include a keyboard, a pointing device, and / or a microphone. The I / O device may further include a display unit for displaying a graphical user interface or communication interface 723, a speaker, and / or a printer. External data may be stored in one or more accessible external databases.

[0091] The features of this embodiment described herein can be implemented in digital electronic circuit systems and / or computer hardware, firmware, software, and / or combinations thereof. The features of this embodiment can be implemented in a computer program product tangibly embodied in an information carrier such as a machine-readable storage device and / or a transmitted signal for execution by a programmable processor. Embodiments of the method steps can be executed by a programmable processor that executes an instruction program to perform the functions of the described implementation scheme by manipulating input data and generating output.

[0092] The features of this embodiment described herein can be implemented in one or more computer programs that can execute on a programmable system including at least one programmable processor, the at least one programmable processor being coupled to receive data and / or instructions from a data storage system, at least one input device, and at least one output device, and to transmit data and / or instructions to the data storage system, at least one input device, and at least one output device. A computer program may include a set of instructions that can be used directly or indirectly in a computer to perform a specific activity or produce a specific result. A computer program may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including as a standalone program or as a module, component, sub-formula, or other unit suitable for use in a computing environment.

[0093] A suitable processor for executing an instruction program may include, for example, both general-purpose and special-purpose processors, and / or one or more processors of any type of computer. Typically, a processor may receive instructions and / or data from a read-only memory (ROM) or a random access memory (RAM) or both. The computer may include a processor for executing instructions and one or more memories for storing instructions and / or data.

[0094] Generally, a computer may also include one or more large storage devices for storing data files, or be operatively communicating with such storage devices. These devices include magnetic disks, such as internal hard disks and / or removable disks, magneto-optical disks, and / or optical disks. Storage devices suitable for tangibly embodying computer program instructions and / or data may include all forms of non-volatile memory, including, for example, semiconductor storage devices such as EPROM, EEPROM, and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM discs. The processor and memory may be supplemented or incorporated therein by one or more ASICs (Application-Specific Integrated Circuits).

[0095] To provide interaction with a user, the features of this embodiment can be implemented on a computer having a display device or a communication interface 723, such as an LCD (liquid crystal display) monitor, for displaying information to the user. The computer may further include a keyboard, a pointing device such as a mouse or a trackball, and / or a touch screen through which the user can provide input to the computer.

[0096] The features of this embodiment can be implemented in a computer system that includes a back-end component, such as a data server, and / or includes an intermediary software component, such as an application server or an internet server, and / or includes a front-end component, such as a client computer having a graphical user interface (GUI) and / or an internet browser, or any combination thereof. The components of the system can be connected by digital data communication of any form or medium, such as a communication network. Examples of communication networks may include, for example, a LAN (Local Area Network), a WAN (Wide Area Network), and / or computers and networks forming an internet.

[0097] A computer system may include a client and a server. A client and a server may be geographically isolated from each other and interact through a network, as described herein. The relationship between a client and a server may be established by computer programs running on their respective computers and having a client-server relationship with each other.

[0098] Figure 8 illustrates an example method 800 for operating a hovercraft system. A UAV / detector flight controller system 805 may include a series of steps to control airflow within a hovercraft system. The UAV / detector flight controller system 805 may include a setpoint, which may include a position setpoint, a velocity setpoint, and / or an acceleration setpoint. The UAV / detector flight controller system 805 may first generate a position setpoint 810 (or alternatively, a velocity setpoint and / or an acceleration setpoint). In step S801, the position setpoint 810 may initiate a position error 820. In step S802, information associated with the position error 820 (or alternatively, a velocity error and / or an acceleration error) may be fed as a command input to a controller 830. Given such commands, the controller 830 may output a force or torque command to the actuator mapping 840 in step S803. In step S804, actuator mapping 840 can provide actuator commands to actuator controller 850. In step S805, actuator controller can apply actuator force or torque and affect detector dynamics 860. In step S806, detector dynamics will move the hovering vehicle to its detector position. To determine whether the hovering vehicle has reached its detector position, a series of detector position sensors 870 (or alternatively, velocity sensors and / or acceleration sensors) can be used. In step S807, detector position sensors 870 will continuously communicate with UAV / detector flight controller system 805 to reduce position error 820.

[0099] Although certain configurations have been described and shown in the accompanying drawings, it should be understood that such configurations are for illustration only and not for limiting the broad invention, and the invention is not limited to the specific structures and configurations shown and described, as various other modifications can be made by those skilled in the art. [Simplified Explanation of the Diagram]

[0031] Figure 1 illustrates an example of a hovercraft system that uses a thruster assembly to generate thrust.

[0032] Figure 2 illustrates another example of a hovering flight vehicle system that uses a thruster assembly to generate thrust.

[0033] Figure 3 illustrates another example of a hovering flight vehicle system that uses a propulsion assembly to generate thrust.

[0034] Figures 4A and 4B illustrate an example of a hovercraft system that uses a controllable exhaust device in a propulsion assembly to generate thrust.

[0035] Figures 5A and 5B illustrate another example of a hovering flight vehicle system that uses a thruster assembly to generate thrust.

[0036] Figures 6A and 6B illustrate another example of a hovering flight vehicle system that uses a thruster assembly to generate thrust.

[0037] Figure 7 illustrates an example controller system of one of the operating hovercraft systems.

[0038] Figure 8 illustrates an example method of operating a hovering flight vehicle system.

[0039] Several aspects of the present invention are illustrated in the accompanying drawings by way of example rather than limitation, and the same element symbols in the drawings indicate similar elements. It should be noted that the reference to "a" or "an" aspect in the present invention does not necessarily refer to the same aspect, and both mean at least one. Furthermore, for the sake of brevity and to reduce the total number of drawings, a given drawing may be used to illustrate the features of more than one aspect of the present invention, and for a given aspect, not all elements in the drawing are necessary.

Claims

1. A suspended aerial vehicle system, comprising: A mothership, an aircraft connected to the mothership by a support line entity, wherein the aircraft is a rover that generates thrust via a propulsion assembly that allows takeoff and landing, wherein the propulsion assembly includes: one or more propellers that direct airflow in various directions; one or more controllable exhaust devices, each of which has an exhaust side that allows air to flow out of the propulsion assembly, and wherein an opening on the exhaust side increases the force generated on the open exhaust side; and a controller configured to coordinate the propulsion of the mothership and the propulsion of the aircraft.

2. The hovering flight vehicle system of claim 1, wherein the mothership is capable of flight.

3. The hovering flight vehicle system of claim 1, wherein the one or more propellers are impellers that guide the airflow in various directions.

4. The hovering flight vehicle system of claim 1, wherein the one or more propellers each have a blade angle, and wherein the one or more propellers each having the blade angle provide an air inlet for airflow into the propulsion assembly, and wherein the blade angle is adjusted to increase airflow.

5. As in claim 2, the hovering flight vehicle system, the propulsion assembly further includes a deflector array, wherein the deflector array directs airflow toward the exhaust side.

6. The hovering flight vehicle system of claim 1, wherein the one or more propellers each have a fixed blade, wherein the one or more propellers each having the fixed blade provide an air inlet for the airflow into the propulsion assembly.

7. The hovering flight vehicle system of claim 3, wherein the propulsion assembly further includes a deflector array, wherein the deflector array directs airflow toward the exhaust side.

8. The hovering flight vehicle system of claim 7, further comprising: One or more baffles, wherein the one or more baffles have an exhaust side that allows air to flow out.

9. A system for controlling a hovering flight vehicle system, comprising: A controller is configured to receive information associated with a desired position of an aircraft, determine a flight path of the aircraft, including determining that an adjustment is needed to the length of a support line attached to the aircraft, and determining that an adjustment is needed to a thruster on the aircraft, and coordinating the manipulation of the support line and the thruster to position the aircraft to the desired position.

10. The system of claim 9, used to control the hovering flight vehicle system, wherein the information includes a generated position setpoint and a generated position error associated with the desired position of the flight vehicle.

11. The system of claim 10, used to control the hovering flight vehicle system, wherein the controller transmits information associated with the actuator mapping to an actuator controller.

12. The system of claim 11, for controlling the hovercraft system, wherein the actuator controller provides inputs associated with adjustments required to be made to one of the thrusters on the hovercraft.

13. The system of claim 12, used to control the hovering flight vehicle system, further comprising estimating the desired position based on a position sensor.

14. The system of claim 13 for controlling the hovering flight vehicle system, wherein the position sensor comprises two or more position sensors.

15. The system of claim 9, used to control the hovering flight vehicle system, wherein the adjustments required to one of the thrusters on the flight vehicle include controlling one or more controllable exhaust vents.

16. The system of claim 9, which is used to control the hovering flight vehicle system, wherein the adjustments required to one of the thrusters on the flight vehicle include the control of one or more propellers.

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