Controlling a load suspended on a cable with unreliable information

Abstract

Disclosed are systems, apparatuses, and methods for and related to fusion of an absolute and a relative position, location, or orientation information, when the absolute position, location, or orientation information is unreliable, including through use of relative position, location, or orientation information from a fiber optic gyroscope.

Description

Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct APPARATUS, SYSTEM, AND METHOD TO CONTROL A LOAD SUSPENDED ON A SUSPENSION CABLE WITH UNRELIABLE ABSOLUTE POSITION, LOCATION, OR ORIENTATION INFORMATION FIELD

[0001] This disclosure is directed to improved apparatus, system, and method for and related to control of a thruster, wherein the thruster and a suspended load are suspended on a suspension cable beneath a carrier and wherein the thruster applies torque and or lateral thrust to the suspended load, further wherein a control system outputs a thrust control signal to the thruster, wherein in determining the thrust control signal, the thrust control system compensates for an unreliable absolute position, location, or orientation reference.BACKGROUND

[0002] People, materials, and or equipment ("loads") may be suspended on a suspension cable, e.g. below a moving object, such as a helicopter, crane, or the like, or below a non- mobile object (such as, e.g. a building, bridge, or the like). The suspension cable may be part of a hoist system, to raise and lower the suspension cable and load. Suspended loads are not typically buoyant, though maybe. Cranes, helicopters and non-mobile objects, all with a suspension cable (and optionally with a hoist system), are referred to herein as "carriers". When a load is secured to a suspension cable beneath a carrier, it may be referred to herein as a "suspended load" or as a "load".

[0003] During operations with suspended loads, suspended loads may be subject to wind, impacts with or by other objects, movement by the carrier, change in the suspended load, and other external and internal disturbances or dynamics that may cause the suspended load to move. At times, such movement may be desired, but at times such movement may be undesirable. For example, the movement may move the suspended load away from a desired orientation or location or the movement may be unstable, unpredictable, and or hazardous.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0004] Operators of carriers, such as helicopter crew, crane crew, and building maintenance personnel, may use equipment that provides control of a suspended load, including equipment that provides suspended load control remote from the carrier, e.g. at or near the suspended load, including at or near a terminus of a suspension cable. Such suspended load control equipment may control suspended loads with powered fans, such as electric ducted fans ("EDF"), flywheels, reaction wheels, or the like (together, referred to herein as a "thruster"). Physical and logical components of a control system which provides suspended load control of a suspended load with a thruster, wherein the suspended load and thruster is remote from a carrier on a suspension cable, is referred to herein as a suspended load control system ("SLCS").

[0005] Observed motion of suspended loads may include the following components: vertical translation (motion up and down) along the Z axis (referred to herein as "vertical translation"); horizontal translation along either or both the X and Y axis; and rotation or "yaw" about the Z axis. Roll (rotation about the X axis) and pitch (rotation about the Y axis) may also occur, though if a load is suspended by a cable and is not buoyant, the typical motions are vertical translation, horizontal translation, and yaw. An example of axis, when discussed herein, are illustrated in Figure 1, axis 120. Vertical and horizontal translation and yaw of a suspended load may be caused by movement of the suspension cable, movement of the carrier, winding of a hoist winch up or down relative to a carrier, movement of the load, differences in speed and momentum between the suspended load and the carrier, by wind — including propeller wash, environmental wind, and the like- impacts, and external forces. Horizontal translation can manifest as lateral motion or as conical pendulum motion of the load, with the pivot point of the pendulum where the suspension cable is secured to the carrier ("pendular motion"). Because the carrier may have a relatively fixed elevation and because the suspension cable may have low stretch, pendular motion may include a component of vertical translation. Pendular motion may also be referred to as elliptical motion. Lateral motion may be understood as a special case of pendular motion, when the load swings only in a line along one stable arc.

[0006] When torque is imparted on a suspended load, wherein the torque is not imparted symmetrically around a center of mass or center of rotation of the suspended load (whichDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct may be consistent with a location of the suspension cable, relative to the suspended load), one or more of yaw of the suspended load and or pendular motion of the suspended load may result.

[0007] Yaw, lateral motion, and pendular motion complicate lift operations, cause delays, may cause injury or death of aircrew, crane operators, and of people on the ground, and may cause damage to the suspended load and or other objects. Yaw can produce dizziness and disorientation in humans and transported non-human animals. Yaw and lateral and pendular motion can also interfere with bringing a suspended load into a carrier and or with delivering a suspended load to a location. For example, delivery of a load to a deck of a ship may be complicated by pendular motion or yaw of the load, even if the deck is stable and is not also subject to heave, roll, or pitch, as it may be. For example, bringing a person in a litter into a helicopter or onto a helicopter strut may be hazardous if the litter undergoes yaw or pendular motion, which may become more pronounced as the litter is drawn up to the helicopter. For example, moving construction materials around a construction site with a crane may be hazardous, may be slowed, or may result in damages and loss if the construction materials undergo yaw or pendular motion. One or more components of undesired motion of the load may increase in amplitude and orfrequency and otherwise grow more pronounced as a load is drawn up to the carrier and the suspension cable shortens. Horizontal and pendular motion of a load can also interact with the carrier to produce dangerous reactive or sympathetic motion in the carrier. Yaw of a load can cause winding up or winding down of a suspension cable, unless the suspension cable is separated from the load by a low friction rotational coupling (low friction, relative to the capacity of the suspension cable to store torque as potential energy before it develops a kink).

[0008] In addition, some suspended load operations may involve an obstacle, such as a surface, cliff wall, building, bridge, tree limb, overhang, or other obstacle that may interfere with one or more of carrier, load, and or suspension cable.

[0009] Furthermore, the SLCS may obtain data from multiple sensors, for example, and as noted, angular acceleration may be obtained from a sensor such as, for example, a gyroscope, including a microelectromechanical ("MEMS") gyroscope (also referred toDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct herein as a "vibrating structure gyroscope) and a rotating structure gyroscope (e.g a gyroscope with a spinning rotor), an accelerometer (which may also be a MEMS accelerometer), such as may be found in an inertial measurement unit ("IMU"), or the like; herein, such sensors may be referred to as "accelerometer sensors" or "relative position, location, or orientation sensors" and the information they provide may be referred to as "relative position, location, or orientation information" (discussion herein of "relative position, location, or orientation sensors" should be understood to refer to sensors that determine or obtain position, location, or orientation information relative to an inertial frame of the sensor). Though relative position, location, or orientation sensors are high speed, mechanically reliable, and low-cost, they include moving parts and are prone to "drift" and signal noise, meaning that an orientation, heading, or yaw of the SLCS determined from such a sensor may rapidly become unreliable. For example, during performance of a mission, location (e.g. latitude and longitude) and orientation (e.g. compass heading, yaw, pitch, roll) determined only from relative position, location, or orientation sensors may become unreliable due to drift and noise. Drift and noise may be corrected by fusing data from relative position, location, or orientation sensors with data from other sources, such as a magnetometer or compass or from a Global Position System (GPS) or other geolocation or radionavigation system ("absolute position, location, or orientation sensors"; discussion herein of absolute position, location, or orientation sensors" should be understood to refer to sensors that determine or obtain position, location, or orientation information relative to a coordinate frame). However, data and information from absolute position, location, or orientation sensors (referred to herein as "absolute position, location, or orientation information") may be provided at a relatively low rate or low speed compared to data from relative position, location, or orientation sensors. Consequently, absolute position, location, or orientation information, by itself, may not be suitable to allow an SLCS to control a load. Both relative position, location, or orientation information and absolute position, location, or orientation information may be required to allow an SLCS to control a load.

[0010] However, an SLCS may be used in contexts in which magnetometers and or compasses are unreliable, such as when iron and other metals are near, and when GPS orDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct other geolocation or radionavigation systems or other absolute position and orientation sensors are unavailable, are unreliable, or are subject to additional latency. For example, GPS or other geolocation or radionavigation sensors may be unavailable or unreliable when an SLCS operates in an area subject to electromagnetic interference, as may be produced by equipment such as electrical motors, transmission infrastructure for electricity, from welding equipment, and the like. For example, GPS or other geolocation or radionavigation systems may be unavailable or unreliable when an SLCS operates in a "canyon" which may interfere with receipt of signals used by such absolute position, location, or orientation sensors; canyons may occur when geography, vegetation, or buildings or other structures obscure or cause reflection of signals. Situations when absolute position, location, or orientation sensors produce a slow or unreliable absolute position, location, or orientation information reference may occur frequently and or may occur unexpectedly, particularly in contexts in which SLCS may be asked to operate.

[0011] Needed is an SLCS which can control a load reliably for a useful period of time notwithstanding that it may encounter unreliable absolute position, location, or orientation information.BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 illustrates a suspended load control system ("SLCS"), a load, and a carrier, in which the SLCS and load are in a starting position relative to a target orientation, in accordance with one embodiment.

[0013] Figure 2 schematically illustrates an example of operational components of an SLCS, including a remote interface, in accordance with one embodiment.

[0014] Figure 3 illustrates an operational module of an SLCS including multiple modes or command states in accordance with one embodiment.

[0015] Figure 4 illustrates a decision and control module of an SLCS in accordance with one embodiment.

[0016] Figure 5 illustrates a data fusion and telemetry output module of an SLCS, in accordance with one embodiment.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0017] Figure 6 schematically illustrates electronic computer, hardware, and network connections among operational components of an SLCS in accordance with one embodiment.

[0018] Figure 7 illustrates a gain adjustment module of an SLCS, in accordance with one embodiment.

[0019] Figure 8 illustrates an oblique perspective view of a remove interface of an SLCS, in accordance with one embodiment.

[0020] Figure 9 illustrates an oblique perspective view of the SLCS of Figure 1, in accordance with one embodiment.

[0021] Figure 10 illustrates an autonomous state response module 1000 of an SLCS, in accordance with one embodiment.

[0022] Figure 11 illustrates an oblique parallel projection view of an SLCS secured to a litter, in accordance with an embodiment.

[0023] Figure 12 is a graph illustrating heading accuracy when marginal absolute position, location, or orientation information is fused with relative position, location, or orientation information from a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer and when marginal absolute position, location, or orientation information is rejected and relative position, location, or orientation information is obtained from a fiber optic gyroscope.DETAILED DESCRIPTION

[0024] In various embodiments, as described further herein, a suspended load control system or suspended load stability system ("SLCS"), e.g. SLCS 105, independent from a carrier, e.g. carrier 110, uses a control system of the SLCS, e.g. operational module 300 and decision and control module 400 (and subroutines called therefrom), as well as logical components 201, operational components 600, and thrusters, e.g. thrusters 905A-905D (singular or plural, "thruster"), to apply torque or lateral thrust to a suspended load, e.g. suspended load 115.

[0025] A system model performed by decision and control module 400 may estimate state information of the SLCS and any suspended load secured to the SLCS (herein, references to an SCLS should be understood to also include any load secured the SLCSDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct unless the context makes clear otherwise). State information of the SLCS comprises, represents, or accounts for a state of the SLCS. The state of the SLCS represented in or by the state information comprises, for example, a number of thrusters, e.g. thruster 105, an orientation of the thruster, an absolute or relative direction of thrust of the thruster (e.g. a thrust vector of the thruster), a thrust output of the thruster (e.g. a magnitude of a thrust vector of the thruster), a distance between the thruster and a second thruster, a mass of the load, a distance between the thruster a center of rotation of the load, and a hyperparameter. The hyperparameter may be of or may represent a normalized moment of inertia of the SLCS; the hyperparameter may comprise a ratio of a force command to the thruster and an angular acceleration of SLCS.

[0026] When the SLCS controls pendular motion, the state and configuration information may further comprise a cable length (between carrier and the SLCS), movement, position, and rotation SLCS 105 and suspended load 115, and movement, position, and rotation of carrier 110.

[0027] The system model of decision and control module 400 may further estimate or account for disturbances, such wind force, impacts on the SLCS, and relative SLCS and carrier motion.

[0028] The force command to the thruster may be determined from, for example, a voltage and amperage of electrical power, and or an equivalent pulse width modulated signal, sent to a thruster of the SLCS, e.g. by an amplifier or electronic speed controller ("ESC"), and a motor rating of the thruster. The angular acceleration may be obtained from a sensor such as, for example, a gyroscope, including a microelectromechanical ("MEMS") gyroscope, a rotating structure gyroscope, a vibrating structure gyroscope, an optical gyroscope, an accelerometer, such as in an inertial measurement unit ("IMU"), or the like. The sensor may provide an angular rate, from which the angular acceleration may be determined, such as via numerical derivative of a filtered angular rate. If using an accelerometer, it may be necessary to know the distance of the accelerometer to a center of rotation, so, depending on the sensor characteristics, it may be preferable to use a gyroscope.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0029] The hyperparameter may be implemented in the logical and physical components of the SLCS, such as in a control loop. The control loop may determine an error based on a difference between an actual orientation or position and a desired orientation or position and may iteratively seek to reduce this error, e.g. through use of a proportional, integral, or derivative ("PID") controller. For example, the hyperparameter may be used, for example, to limit or saturate at least one of a proportionate response to the error, an integral response to the error, and a derivative response to the error.

[0030] The hyperparameter may therefore represent, encode, or account a state of the SLCS, such as thruster-to-thruster distance, thruster-to-center-of SLCS rotation, fan orientation, thruster output performance, and disturbance forces, without use of information that is "hard-wired" into the SLCS. In contrast, the hyperparameter is autonomously and continuously determined by the SLCS and allows the SLCS to change its behavior to address different operations and to address changing circumstances of a single operation.

[0031] However, operation of the system model, gain adjustment, and determination of the system model with only relative position, location, or orientation information from rotating structure gyroscopes, vibrating structure gyroscopes, and microelectromechanical systems (MEMS) accelerometers produces poor results, due to noise and drift in such sensors. Operation of the system model, gain adjustment, and determination of the system model may be improved if noise and drift from such sensors can be overcome by fusing relative position, location, or orientation information with slower speed absolute position, location, or orientation information, such as from magnetometers, compasses, and GPS or other radiolocation services. However, SLCS 105 may be operating with absolute position, location, or orientation information which is or becomes unreliable. For example, SLCS 105 may be surrounded by metal, including by iron, may be lowered between buildings, may be subject to electromagnetic interference, or the like, when data from absolute position, location, or orientation sensors is or becomes unavailable or latent. Loss of or increased latency of absolute position, location, or orientation information may result in a degradation of the ability of SLCS 105 to control orientation or position of load 115, whether in terms of accuracy of obtaining or maintaining a desired orientation or position,Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct such as target orientation 125, whether in terms of amount of force which can be applied by thrusters to obtain the desired orientation or position, or whether in terms of reduced seeking behavior. Please see, for example, a graph in Figure 12, wherein line 1205 illustrates the heading or orientation of an SLCS when absolute position, location, or orientation information (e.g. from GPS) has become marginal, but is still being accepted and fused with relative position, location, or orientation information from rotating structure gyroscopes, vibrating structure gyroscopes, and microelectromechanical systems (MEMS) accelerometers (but not from a FOG). The performance of line 1205 may be acceptable, as it generally stays within about 1 degree of 0 for 10 minutes; however, it exceeds 1 degree around 11 minutes. Many missions performed by SLCS last longer than 10 minutes; maintaining an orientation within 1 degree or less over the course of many missions may be preferable or required.

[0032] In contrast, performance of the operation to move SLCS 105 and load 115 to target orientation 125 or position may be made better, may dynamically adjust to changing circumstances, may be made less hazardous, may be performed with less training on the part of the operator to address, may be performed more consistently, may be performed more quickly, and or may be performed with lower power use if decision and control module 400 and routines called thereby obtain data from relative position, location, or orientation sensors including a fiber optic gyroscope.

[0033] A fiber optic gyroscope (FOG) senses changes in orientation using the Sagnac effect. A principle of operation of a FOG is based on interference of light which has passed through a fiber optic coil. For example, two beams from a laser may be injected into the same fiber in opposite directions. Due to the Sagnac effect, a beam traveling against the rotation experiences a slightly shorter path delay than a beam traveling with the rotation. A resulting differential phase shift between the beams can be measured through interferometry, thus translating one component of angular velocity into a shift of an interference pattern, where the interference pattern is measured photometrically. A FOG provides precise rotational rate information often with reduced cross-axis sensitivity to vibration, acceleration, and shock. Unlike rotating structure gyroscopes or vibrating structure gyroscopes and MEMS accelerometers, a FOG has reduced or even no movingDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct parts and does not rely on measurement of inertial resistance to movement. However, FOGs are not without drawbacks; a FOG may be more expensive, may require more technical expertise to use, and may require calibration to determine which interference pattern corresponds to zero angular velocity as well as to correct for changes in temperature.

[0034] Gain adjustment module 700 may change one or more parameter (as noted elsewhere, references herein to a singular noun, such as "parameter", may refer to plural such nouns, such as "parameters") of decision and control module 400 to control a gain of a thrust control signal sent to thrusters. For example, decision and control module 400 may comprise a control loop, wherein the control loop is to determine the thrust control signal based at least in part on the last-measured orientation of the load, the target orientation of the load, and the parameter. The control loop may be organized in a cascade control architecture. In an embodiment, the parameter may act upon a difference between the last-measured orientation of the load and the target orientation. This difference may also be referred to as an "error". In an embodiment, the parameter may modify at least one of a proportional-based response to the error, an integral-based response to the error, or a derivative-based response to the error. Decision and control module 400 and or gain adjustment module 700 (as stated, reference to a top-level component may refer to subcomponents within the top-level component) may comprise an open loop, a closed, loop, or a feedforward loop.

[0035] Gain adjustment module 700 may schedule modification of the parameter based on an operating point value. The operating point value may comprise a hyperparameter. The hyperparameter may comprise or be described as a normalized moment of inertia. The hyperparameter may comprise a ratio of a thrust signal to a thruster and a rotational acceleration of the SLCS (which, as noted above, may be secured to a load) as well as a disturbance force on the SLCS. Because the hyperparameter comprises a ratio of force command to the thrusters and rotational acceleration of the SLCS and because it is determined at high speed, e.g. every 10 milliseconds, the hyperparameter captures power output by thrusters, thruster-to-thruster spacing, thruster-to-center-of-rotation,Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct orientation of thrusters, the response of the SLCS thereto, including due to mass, mass distribution, and disturbance forces.

[0036] The operating point value, e.g. the hyperparameter and other parameters, may be obtained from the system model, wherein the system model models state parameters of the apparatus, load, carrier and environmental disturbances. Modification of the parameter based on the operating point value, e.g. based on the hyperparameter, may be referred to as "gain scheduling".

[0037] Decision and control module 400, data fusion and telemetry output module 500, gain adjustment module 700, and determination of the hyperparameter by autonomous state response module 1000 may be sensitive to rotational information such as angular rate or angular acceleration, and thus may be improved with faster and more reliable information from a FOG, notwithstanding that the FOG may be more technically demanding and may require calibration.

[0038] Modification of the parameter based on the operating point value may allow gain adjustment module 700 and or autonomous state response module 1000 to adapt to differing circumstances, such as when an SLCS 105 is accelerating, decelerating, or holding constant, as may be reflected by activity of the control loop during such circumstances. For example, if the control loop comprises a loop, such as a proportional, derivative, and integral closed loop ("PID controller"), then the parameter(s) may act on portions of the control loop, such as to modify at least one of a proportional-based response to the error, an integral-based response to the error, or a derivative-based response to the error. For example, if the control loop comprises a feedforward control loop, for example, a feedforward control loop using the system model and an estimated state therefrom, which may include an estimated future state, such as an angular rate, movement, position, and rotation of SLCS 105 and suspended load 115, a movement, position, and rotation of carrier 110, and thrust output from thruster 905, then the parameter(s), as may be scheduled based on the operating point value, e.g. on the hyperparameter, to modify the thrust control signal to the thrusters.

[0039] By modifying operation of decision and control module 400 with gain adjustment module 700 and or autonomous state response module 1000, and with relative position,Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct location, or orientation information from a FOG, SLCS 105, logical components 201 and operational components 600 of SLCS 105 can reliably control a suspended load and maintain a heading with less than 1 degree of error for a useful period of time, e.g. longer than one to ten minutes, notwithstanding that absolute position, location, or orientation information may be or may have become unreliable. Such an SLCS responds to changing circumstances of operation of SLCS 105, such as changes in the load, changes in disturbance forces, and changes in the thrusters to provide behavior suited to the then- current circumstances, and to allow a target orientation or position to be achieved at a faster rate, with reduced self-induced cyclic motion or reduced seeking behavior, or to allow torque or thrust to be applied with more consistent behavior (from the perspective of an operator).

[0040] With this complex state and disturbance model, with gain adjustment module 700, with autonomous state response module 1000, with absolute position, location, or orientation information from a FOG, and with the hyperparameter which may be described as a normalized moment of inertia, the SLCS is able to control a load by dynamical modification of force output to thrusters to counteract yaw, pendular motion, to translate a load horizontally, such as to avoid an obstacle or to move a load into an offset position relative to a normal lowest-energy hanging position or "fall line" below an attachment point of a suspension cable on a carrier, such as below an arm that holds the suspension cable, and to do so with reduced self-induced cyclic motion, with better behavior (e.g. with behavior dynamically adapted to circumstances), and or to respond to changes in the load, thrusters, or disturbance forces.

[0041] An SLCS may be used to control the fine location and orientation or rotation of a load, independently from the carrier. Telemetry output from an SLCS may be used to provide feedback to a carrier crew or to processes executed by systems in a carrier. For example, the cable length estimated by an SLCS, or a location of an SLCS and load relative to a target or relative to the carrier may be output to a crew which controls a hoist or to a process which controls a hoist or to the hoist directly.

[0042] Without use of an SLCS, control of suspended loads include countermeasures installed on a carrier. For example, some airframes, such as a Skycrane helicopter, mayDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct have a rail system installed beneath a cabin to mitigate sway of a load, though, being remote from the suspended load, such rail system has marginal effect. Some approaches to this problem involve automated countering algorithms in an aircraft's stability augmentation system, though integration with an aircraft's control system is problematic and, again, the effect of such measures is limited. For example, crew chiefs who remain in a helicopter or other carrier during an extraction or operation try to affect a suspended load by pushing or pulling a suspension cable from the helicopter or carrier; such efforts have limited effect and can be hazardous. Crane and helicopter crew, both in the air and on the ground, may move loads at slow rates to minimize undesired motion or may use additional suspension cables or dedicated control cables or "tag lines" between the suspended load and the ground, neighboring structures, or the carrier; these measures increase time required to perform an operation with a suspended load, increase risks to ground and above-ground crew, increase costs, complexity, and risk of failure. All such measures are inadequate and highly problematic.

[0043] Consequently, an SLCS enhances mission safety and improves performance of carrier and suspended load operations as the SLCS dynamically determines and controls fine location and rotation of a suspended load, separate from motion of the carrier, and as the SLCS provides telemetry information which may be used during a suspended load operation. An SLCS with gain adjustment, with use of the hyperparameter, and with absolute position, location, or orientation information from a FOG may further make operation of the SLCS more predictable for human operators, may reduce seeking behavior, may reduce time and power expended during an operation, and or may adapt to changing circumstances of the SLCS and or load, such as when absolute position, location, or orientation information is or becomes unreliable.

[0044] Once deployed and in-use, the SLCS is agnostic with respect to the platform from which the load is suspended (e.g., the characteristics of a helicopter "ownship", or a crane, etc., all of which may be referred to herein as an "ownship" or a "carrier"), because it independently, autonomously, and dynamically determines thrust necessary to stabilize the load or to direct the load in a desired direction, without producing thrust which mightDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct merely destabilize the load. This permits widespread adoption of the system regardless of carrier type, lowering cost and mitigating solution risks.

[0045] An SLCS can provide benefits to, for example, helicopter search and rescue, MEDEVAC, sling load operations, forest fire helicopters, crane operations, construction sling load operations, and civilian firefighting.

[0046] Control of an SLCS may require determining the position, location, orientation, and or motion of an SLCS, of the carrier, and or of a load; such information may be referred to herein as "state data", "state information", or "state parameters". A subset of state information may be reported to another system; when so reported, such subset of state information may be referred to as "telemetry data" or "telemetry information". Control of a carrier and or components in a carrier, such as a winch or hoist which may be used in relation to an SLCS, may also be improved with state or telemetry information related to an SLCS, a load, and or of a carrier.

[0047] An SLCS may be used in contexts in which Global Position System (GPS), magnetic compasses, or other geolocation or radionavigation systems or other position and orientation systems are unavailable, are unreliable, or are subject to latency. Redundancy in state and telemetry information may also be desirable to increase reliability in implementation of control systems and to decrease latency in providing telemetry information to such systems.

[0048] Disclosed herein are one or more apparatuses, systems, and or methods to determine or account for state information, including cable length, mass, position, location, orientation, and or motion information of an SLCS, a carrier, and or of a load and to provide state information as telemetry data to one or more control apparatuses, systems, and or methods which may be remote from the SLCS. These apparatus, systems, and or methods are capable of determining or accounting for state information at or by an SLCS, including in contexts in which radionavigation systems or other absolute and relative position and orientation systems are unavailable, are unreliable, or are subject to latency or error.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0049] As described further herein, the apparatus, systems, and or methods may integrate machine-vision information with other sensor information, such as from an inertial navigation system and from LIDAR (possibly a portmanteau of "light and radar" or an acronym for "light detection and ranging"), to localize an SLCS relative to a carrier or another object. Machine-vision information may be produced through image capture by cameras in an SLCS and object detection of the carrier and or load in such images; when integrated with information from inertial navigation system and LIDAR systems, localized relative state information (including relative orientation and position of the carrier, load and or SLCS, and separate heading vectors of carrier and SLCS within a localized coordinate system) may be developed with low latency and high reliability. When absolute state information is available (also referred to herein as "absolute position, location, or orientation information), such as from GPS or another radionavigation or absolute positioning system, absolute and relative localized state information may be integrated. When absolute position, location, or orientation information is or becomes unreliable, relative position, location, or orientation information from a FOG may allow the SLCS to continue to operate reliably for a useful period of time. The FOG may be calibrated, such as to determine a zero-motion interference pattern and to compensate for change in temperature of the FOG. Integration of machine-vision information with information from inertial navigation, LIDAR, and or absolute position systems may be performed using methods that comprise, for example, an adaptive filter, wherein the adaptive filter comprises at least one of a linear filter, a non-linear filter, an adaptive notch filter (including an adaptive notch filter to account for latency cause by rigging), a recursive least squares filter, a least mean squares filter, a Volterra least mean squares filter, a kernel adaptive filter, a spline adaptive filter, an Unscented Kalman Filter ("U KF"), a Urysohn adaptive filter, or a neural network.

[0050] As discussed, an SLCS and an attached load may rotate and or may have a heading vector which follows a pendular path relative to a carrier's coordinate space. Relative and or absolute state information developed or accounted for according to the disclosure herein may be used to control or to enhance control of an SLCS or may be provided asDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct telemetry to a carrier or a component within a carrier or to an object or persons on the ground or elsewhere.

[0051] Reference is made to the description of the embodiments illustrated in the drawings. While embodiments are described in connection with the drawings and related descriptions, there is no intent to limit the scope to the embodiments disclosed herein. On the contrary, the intent is to cover all alternatives, modifications and equivalents. In alternate embodiments, additional devices, or combinations of illustrated devices, may be added to, or combined, without limiting the scope to the embodiments disclosed herein. For example, the embodiments set forth below are primarily described in the context of crane operations, a helicopter sling load, and or search and rescue operations. However, these embodiments are illustrative examples and in no way limit the disclosed technology to any particular application or platform.

[0052] The phrases "in one embodiment," "in various embodiments," "in some embodiments," and the like are used repeatedly. Such phrases do not necessarily refer to the same embodiment. The terms "comprising," "having," and "including" are synonymous, unless the context dictates otherwise. As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. It should also be noted that the term "or" is generally employed in its sense including "and or" unless the content clearly dictates otherwise.

[0053] Reference numbers herein comprising a letter, e.g. thruster 905A, generally refer to one of a plurality of components, e.g. to thruster 905A and thruster 905B; one of or a plurality of components may be referred to with a corresponding reference number, without the letter; e.g. thruster 905, in which case the reference should be understood to encompass any of the components with the corresponding reference number without the letter. When a top-level component referred to herein comprises a sub-component, e.g. suspended load control system 105 ("SLSCS 105") comprising decision and control module 400 in memory 525 and thruster 905, a reference to the top-level component may refer to one or more of the sub-components performing functions as described further herein; e.g. a reference to SLCS 105 applying thrust to suspended load 115 may also be understood asDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct SLCS 105 and decision and control module 400 in memory 525, executed by processor 220 and implemented by suspended load control system logical components 201 and operational components 600 to activate thrusters 905 to apply thrust to suspended load 115.

[0054] Referring to Figure 1 and Figure 9, Figure 9 illustrates SLCS 105 of Figure 1 from a closer vantage. As illustrated in Figure 9, SLCS 105 may comprise, for example, thruster 905A, thruster 905B, thruster 905C, and thruster 905D. More or fewer thrusters may be utilized. Thrusters may comprise a cowl or shell which protects one or more EDF or other thruster. Flywheels may be used in place of or in addition to fan-based thrusters. The cowl may be hardened, to withstand impact with the environment. The cowl unit may be made of metal, plastics, composite materials, including steel, stainless steel, fiber reinforced resin, and the like. Thrusters may include air intake 935, though which air may be drawn, and outlet 940. Air intake 935 may comprise one or more screens or filters to prevent entry of some objects into the thruster. EDF in a thruster may comprise blades and motor(s), such as electric motor(s). Electric motors within an EDF may be sealed against dust, sand, water, and debris. As noted, in addition to or in replacement of EDF, alternative sources of thrust may be used, such as, for example, compressed air, hydrogen peroxide jets or thrusters, liquid or solid rocket engines, fans driven by combustion engines, such as jet engines, flywheels, reaction wheels, and the like.

[0055] For the sake of convenience in discussing them, thrusters on a first side of an SLCS, such as thrusters 905A and 905B may be discussed as a first thruster group while thrusters on a second side, such as thrusters 905C and 905D, may be discussed as a second thruster group. The thrusters in each thruster group may propel thrust fluid (such as air) in fixed directions, such as fixed directions opposite each other, e.g. offset by 180 degrees. In other embodiments, a fewer or greater number of thrusters may be used in an SLCS. In other embodiments, the thrusters may be aligned other than offset by 180 degrees, e.g., offset by greater or fewer than 180 degrees, with or without offset along other of the axis. A mechanical steering component may be included to dynamically reposition a thruster. In the illustrated example, EDF in thrusters 905 comprise asymmetrical fan blades, which produce more thrust when rotated in a first direction relative to a second direction; in thisDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct example, to produce thrust in opposing directions out of one thruster group, two EDF are contained in each thruster group, facing opposite directions; e.g. EDF in thruster 905A and 905B each rotated in only one direction and produce thrust "outward", out of each thruster, in opposite directions. In alternative embodiments, one symmetrical fan may be contained in a thruster, wherein the one symmetrical fan may be rotated in either direction and produce equivalent thrust in either direction. In alternative embodiments, three or more thrusters may be used, with the thrusters orthogonal to one another or with two of the thrusters parallel to another (as in Figure 9) and a third thruster orthogonal to the first two (not illustrated). In alternative embodiments, four thrusters maybe used, with each to the thrusters 90 degrees to one another.

[0056] In embodiments, thrusters, such a first thruster group, e.g. thruster 905A and 905B may move further from or closer to a second thruster group, e.g. thruster 905C and 905D. This may be accomplished by mounting the thrusters on a different spreader bar, e.g. different than spreader bar 915, or by hardware designed for this purpose, e.g. by a spreader bar designed to expand or contract.

[0057] EDF (or other thrusters) in individual of the thrusters may be activated separately, with different power, to produce thrust vectoring or thrust vector control of an assembly of thrusters. For example, to produce clockwise yaw (relative to looking down on a top of SLCS 105 in Figure 9), an EDF in the first thruster group, such as thruster 905B may be activated by itself or in conjunction with an opposing EDF in the second thruster group, such as thruster 905C. To produce lateral translation of SLCS 105 or to produce lateral force opposing pendular motion, EDF in both thruster groups with a same orientation may be activated, such as thrusters 905B and 905D. Simultaneous lateral force and rotational force may be produced.

[0058] Information regarding orientation and placement of thrusters, such as that thrusters 905B and 905D point in the same direction or that thruster 905A and 905D point in opposite directions, may be accounted for by the hyperparameter discussed herein, such as if the angular acceleration used to determine the hyperparameter comprises a direction.

[0059] When an SLCS comprises fewer than three EDF (or equivalent thrusters), then control over pendular motion may require first rotating the SLCS to a first direction, thenDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct applying a first horizonal thrust vector out of the EDF to cancel a first decomposed component of the pendular motion, and then, if necessary, rotating the SLCS to a second direction, general orthogonal to the first direction (though disturbances or other variation may cause the second direction to not be orthogonal to the first direction), and then applying a second horizontal thrust vector out of the EDF to cancel a second decomposed component of the pendular motion. Use of three or more EDF may allow control over pendular motion without decomposition of the vector components of pendular motion, though may require more parts.

[0060] SLCS 105 may be formed of any suitable material such as metal, plastic, composite materials, such as fiber reinforced resin. A sealed hatch or one or more panels may be removed from an SLSC to allow for maintenance and inspection of enclosed logical components 201 and operational components 600.

[0061] Load 115 in Figure 1 may comprise one or more people, a litter (e.g. litter 1115), a container, an object, or the like. Load 115 is illustrated as being secured to two points on either side of SLCS 105, such as to bottom shackle 925C and 925D, such that load 115 may not easily rotate, independent from SLCS 105, but is more likely to rotate with SLCS 105. A weight of load 115 may change during an operation, such as when all or part of a load is picked up or put down or when a mass falls off of or onto a load. Suspension cable 135 in Figure 1 may be, for example, a braided cable between SLCS 105 and or load 115. A rotational coupling (not numbered), may allow SLCS 105 and load 115 to rotate, without winding up suspension cable 135. Gravitational and other forces from load 115 may be transferred through bottom shackle 925C and 925D, into tensile beam 930A and 930B, to top shackle 925A and 925B, and then to suspension cable(s) 135 (e.g. via a rotational coupling). Tensile beam 930 may be secured to a spreader bar (not numbered) or other beam between thrusters 905.

[0062] SLCS 105 may comprise a cable entry channel (not illustrated), to receive a suspension cable, such as suspension cable 135. Cable entry channel may be angled inward, toward a cable receiving area. Cable receiving area may form a partially enclosed vertical channel between a fixed jaw and a moveable jaw within SLCS 105. SLCS 105 may comprise springs or another force-applying member to apply a compressive force to close aDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct set of jaws on suspension cable 135, within the partially enclosed vertical channel between a fixed jaw and a moveable jaw. Together, the set of jaws may be understood as a "clamp" and may be referred to as a "jaw" or "jaw system". The jaw system may comprise a fixed jaw and a moveable jaw or a set of levers joined at a fulcrum. The jaw system may hold SLCS 105 on suspension cable 135.

[0063] The length of suspension cable 135 may change during an operation, affecting behavior of the suspended load and response required by an SLCS.

[0064] Status indicators (not illustrated) may be mounted on various surfaces of the SLCS to aid in visibility and operation of the SLCS from above and below. For example, the SLCS may have external lighting, including visible and infrared (IR) LEDs, such as around the perimeter, to assist in identification of edges and orientation of the SLCS. This may allow for improved identification in hard viewing situations such as inclement weather and low. IR LEDs may be visible to humans using night vision goggles and or to machine systems that can detect visible or IR electromagnetic radiation. During operation, both on the interactive display and the system body itself, LED display indicators may show that the system is active and may convey useful information. LEDs may also convey status of systems and or components of the SLCS. An example of LED lights are illustrated in Figure 6 as LED status indicators 640.

[0065] SLCS 105 may contain and protect logical components 201 and operational components 600, such as computer hardware, such as a computer processor and memory, a power supply, electronic speed controllers, microcontrollers, sensors, and the like.Examples of such computer hardware are discussed in relation to Figure 6.

[0066] The power supply within SLCS 105 may be a single power brick or an array of battery cells wired in series and or in parallel, such as lithium-polymer (LiPo), nickel-metal hydride (NiMH) cells and the like. The batteries may be removable for inspection and or to swap discharged and charged batteries. Batteries may be charged while installed in the SLCS (i.e., without having to remove them) via nodes or a wireless charging system on or in an SLCS that connects to a power supply or charging dock. Batteries may include auxiliary battery(ies) to supply a steady supply of power to the processor even if thrusters draw a relatively large amount of power from main batteries. In embodiments, a carrier fromDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct which the SLCS is suspended, such as a helicopter or crane, can provide power through a line extending down the suspension cable to the SLCS. In embodiments, the carrier can provide some power to the SLCS, while the SLCS may obtain other power from an on-board power supply. In various embodiments, the SLCS may be powered by a combination of onboard and remote power. In many environments, all power for the SLCS is contained on board the SLCS, allowing fully autonomous operation without dependence on the availability of external power sources or delivery means.

[0067] SLCS 105 may comprise a data link which allows a microcontroller unit or processor to monitor power information including (but not limited to) cell voltage and realtime power dissipation or consumption.

[0068] SLCS 105 may comprise one or more computer processors or central processing units (CPUs), such as embedded computer 605, and one or more microcontroller unit (MCUs). In some embodiments, the CPU and MCUs may be mounted to the same printed circuit board (PCB).

[0069] SLCS 105 may be made of or comprise a rugged plastic, metal, polymer, or combination thereof, protecting the system from environmental and operational factors such as weather and other operational conditions.

[0070] SLCS 105 may contain one or more wireless transceivers, which may comprise separate transmitter(s) and receiver(s), as well as antennas for wireless communication. The transceiver and or wireless antennas may also be mounted to or printed on the same printed circuit board as the processor. The wireless transceivers may comprise access points for Bluetooth, Wi-Fi, microwave, and or radio frequency (RF) transmission and reception. Wireless transceivers may be used to communicate with remote sensors, a remote-control unit, a remote positional unit or target node, a remote interface, and the like, as discussed further herein.

[0071] As discussed herein, SLCS 105 may contain a vector navigation unit, which may include an IMU, also referred to as an orientation measurement system. The IMU provides inertial navigation data to a processor, such as from 3 degree of freedom (3 DoF) accelerometers, gyroscopes, including a fiber optic gyroscope (e.g. FOG 202), magnometerDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct or magnetometer such as a compass, an inclinometer, a directional encoder, a radio frequency relative bearing system, gravitational sensors, and may comprise microelectromechanical systems (MEMS) accelerometers and or gyroscope sensors.Accelerometers or gyroscopes of or in the IMU may provide sensor data, such as linear acceleration, angular acceleration, or a value such as an angular rate which may be convertible into the angular acceleration, used in the hyperparameter. However, as noted, conventional MEMS accelerometers, rotating structure gyroscopes, and vibrating structure gyroscopes (e.g. MEMS gyroscopes), though high speed, low cost and mechanically reliable, are prone to drift and noise. However, as noted, drift and noise in a relative position, location, or orientation sensor may be corrected by fusing the relative position, location, or orientation information with information from absolute position, location, or orientation sensors, if available. However, a noted, an SLCS may be used in contexts in which magnetometers and or compasses are unreliable, such as when iron, other metals, and magnetic fields are near, and when GPS or other geolocation or radionavigation systems or other absolute position, location, and orientation systems are unavailable, are unreliable, or are subject to latency. For example, GPS or other geolocation or radionavigation systems may be unavailable or unreliable when an SLCS operates is subject to electromagnetic interference, as may be produced by equipment such as electrical motors, transmission infrastructure for electricity, from welding equipment, and the like. For example, GPS or other geolocation or radionavigation systems may be unavailable or unreliable when an SLCS operates in a "canyon" which may interfere with receipt of signals used by such absolute position, location, or orientation sensors. Canyons may occur when geography, vegetation, or buildings or other structures obscure or cause reflection of signals. Situations when absolute position, location, or orientation sensors produce a slow or unreliable absolute position, location, or orientation reference may occur frequently and or may occur unexpectedly, particularly in contexts in which SLCS may be asked to operate.

[0072] The IMU may include an integrated processor to provide on-board state estimation that fuses together data from the sensors in the IMU, in which case the IMU may be referred to as an Inertial Navigation System ("INS"). SLCS 105 may comprise or beDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct communicatively coupled to one or more sensors in addition to the IMU. Such additional sensors may comprise, for example, an absolute position measurement system, a proximity sensor, LIDAR sensors and systems (e.g., point, sweeping, rotating, radial, distance, or linear), ultrasonic, and optical sensors such as one or more cameras or infrared (IR) sensors. Proximity sensors may include ground height sensors. The absolute position measurement system may include global positioning system (GPS) sensors. With a processor and memory, the IMU and GPS may also be referred to herein as an INS, such as inertial navigation system 610 of Figure 6.

[0073] Sensors which require a view of a surrounding environment may be placed on or at the surface of SLCS 105. Examples of sensor locations for one or more of the foregoing are illustrated at sensor location 920, 921, and 922 in Figure 9. Similar sensors and or sensor locations may be on a bottom of SLCS 105. Certain of such sensors may be placed a known distance apart, e.g. antennas for GPS antennas or the like. The known distance may be used, for example by data fusion and telemetry output module 500, to determine a received absolute position, location, or orientation information, received at two GPS receivers, and compare this to a known distance between the antennas. As discussed herein, information from sensors can be used by methods, apparatuses, and or systems to determine state information; the raw data and or determined state information or telemetry data may be provided to remote devices, processes, and humans, such as via wireline or wireless data links.

[0074] Additional SLCS sensors may include a strain sensor to gauge load on housings, on EDF(s), on conduits, on an attachment to a suspension cable, or the like. Additional sensors may include a rotational encoder or thruster speed sensor, such as sensory feedback unit 620 in Figure 6, which may be incremental or absolute, and a shutdown pin presence sensor.

[0075] Not illustrated, an arm attached to or part of carrier may be used to deploy, reposition, and or retrieve suspension cable 135 and SLCS 105 (such as when carrier is a helicopter). Such an arm may comprise a winch to lower and hoist suspension cable 135 and SLCS 105. Load 115 and SLCS 105 may be offset from a fall-line beneath such an arm. This offset may be due to wind (whether environmental or from a carrier, such as aDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct helicopter), wave, impacts, or other forces which may act on load 115 and or SLCS 105, change in speed of one or both of load 115 and carrier, and the like.

[0076] As discussed herein, one or more computers, such as embedded computer 605, applies algorithms to received sensor data to estimate state information and output a desired system response. For example, relative position, location, or orientation information (e.g. from an IMU) and absolute position, location, or orientation information (e.g. from GPS) may be fused together through non-linear data fusion methods, such as real-time kinetic algorithms ("RTK"), Kalman filters, transfer functions, or Kalman filtration methods, such as an Unscented Kalman Filter ("UKF"), or through complimentary filters or transfer function models to yield optimal state estimates in all degrees of freedom to characterize the system's location and motion in relative and or absolute coordinate frames, such as an aircraft or crane relative defined frame or in geodetic space.

[0077] Examples of components which may be within SLCS 105 and within remote positional sensors or beacons, remote computational units, or target node transceiver devices are discussed further herein, such as in relation to Figure 2 and Figure 6.

[0078] Carrier 110 in Figure 1 is illustrated as a crane, but represents any carrier.

[0079] SLCS 105 and load 115 may follow an oscillation path, e.g. pendular motion of a load which may be cause by movement of and or interaction among carrier 110, load 115, SLCS 105, wind, impacts, other external forces, and the like. Load 115 and or SLCS 105 may also rotate or yaw about suspension cable 135. As discussed, such yaw and or pendular motion may cause problems for transport and or recovery of load 115 by carrier 110. SLCS 105 may be able to estimate system information, including such motion, disturbance forces, and reduce or eliminate such undesirable motion through activation of thrusters.

[0080] Axes 120 illustrate a coordinate system. The coordinate system may represent, graphically, for the reader of this paper, state information developed by data fusion and telemetry output module 500 or accounted for by autonomous state response module 1000 and the hyperparameter discussed herein.

[0081] As discussed further herein, data fusion and telemetry output module 500 may perform object recognition to identify carrier 110 and an orientation of carrier 110.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Determination of the orientation of carrier 110 may allow data fusion and telemetry output module 500 to determine that carrier 110 has a center around which carrier 110 may rotate.

[0082] As discussed further herein, data fusion and telemetry output module 500 may also determine a height of carrier 110 above SLCS 105. This determination may be based on one or more of LIDAR, object recognition, optical, IR, or microwave range or distance measurement, including from one or more data sources (such as stereo cameras), using signal time-of-flight information, detection of encoded laser light, as well as position, location, and orientation information, and movement derived therefrom, from a UKF system model, or otherwise. As discussed further herein, data fusion and telemetry output module 500 may also determine a relative offset between SLCS and a slung point on carrier.

[0083] Data fusion and telemetry output module 500 may also determine change in the foregoing information over time, allowing data fusion and telemetry output module 500 to determine an oscillation path or pendular motion of SLCS 105 and load 115.

[0084] Data fusion and telemetry output module 500 may determine local relative position, orientation, movement over time, change in movement over time of SLCS 105 and carrier 110, mass of SLCS 105 and load 115, distance below carrier (or a slung point on carrier), all from data obtained locally by SLCS 105. Similar local relative state information of load 115 may be developed with information from sensors oriented toward load 115. Some of such information may also be referred to herein as an "operating point value".

[0085] As discussed herein, data fusion and telemetry output module 500 or another module may integrate this local relative state information with absolute position, location, or orientation information, such as from a GPS or other geolocation or radionavigation systems. In this way, data fusion and telemetry output module 500 may develop critical local and absolute state information of an SLCS, a load, and or a carrier.

[0086] As discussed herein, autonomous state response module 1000 may determine the hyperparameter discussed herein, wherein the hyperparameter accounts for state information such as, for example, wherein an orientation of the thruster, a thrust output ofDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct the thruster, a mass of the load, a distance between the thruster and a second thruster, a distance between the thruster and a center of rotation of the load, and a disturbance force on the SLCS.

[0087] As discussed herein, communication systems, such as communication 230 module within SLCS logical components 201, may communicate local and or absolute telemetry information to an interactive display or remote interface of an SLCS or to other systems, such as a control system for a hoist in or coupled to an arm.

[0088] Figure 2 schematically illustrates logical components of SLCS 200 including SLCS logical components 201 and remote interface 250 in accordance with one embodiment.

[0089] Referring to Figure 2, interactive display or remote interface 250 may be a computational unit that can be self-powered or hardwired into an airframe or other carrier or which may be carried by an operator, such as on the ground. Display or remote interface 250 receives data, such as telemetry data, from an SLCS, e.g., wirelessly. The data from the SLCS may be parsed and converted to visual cues or visual information and displayed on display 261.

[0090] An example of an embodiment of a user interface (Ul) of interactive display or remote interface 250 may represent a location of an SLCS and a load, height or distance of the SLCS below the carrier. As discussed further herein, the length of suspension cable below the carrier may be calculated by, for example, data fusion and telemetry output module 500, based solely on sensor information generated at the SLCS, such as SLCS 105. Such a display or remote interface 250 may further communicate the height or distance of the SLCS and or load above the ground and or may further communicate the absolute position of the carrier and or of the SLCS and or load, such as "LAT : 44.244167 LON:7.76944".

[0091] The interactive display may also communicate an operator's desired command states to an SLCS. Desired command states may be communicated verbally, by touching (including repeated or sustained touch) the interactive display, by dragging objects on the interactive display, by pushing buttons, whether graphical buttons on a touchscreen or physical buttons, by entry of text commands, through a keyboard, and the like.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0092] The interactive display or remote interface 250 is in communication with SLCS logical components 201 via communication systems 270, which may be wireless 271 or wired 272. Output 260 from remote interface 250 may include information displayed on a screen 261, and audio cues 262. Input 265 to remote interface 250 to control the SLCS may include commands conveyed through a touchscreen 266, a joystick 267, a microphone, a camera, button, or the like. In various embodiments, remote interface 250 may comprise one or more physical and or logical devices that collectively provide the functions described herein. Another example of an embodiment of remote interface 250 is illustrated and discussed in Figure 8.

[0093] As illustrated in the embodiment illustrated in Figure 2, within SLCS logical components 201 are sensor suite 205, which may include position sensors 206, orientation sensors 207, inertial sensors 208, which may further include FOG 502, proximity sensors 209, reference location sensors 210, and thrust sensors 211. Examples of embodiments of such sensors are discussed further herein, such as in relation to IMU, absolute position measurement systems, and as discussed in relation to Figure 6, such as inertial navigation system 610, cameras 655, LIDARS 650, DC contactors, peripherals, etc. 645, and sensory feedback unit 620. FOG 502 sensor is discussed in relation to data fusion and telemetry output module 500. FOG 502 sensor may measure, for example, three perpendicular angles of rotation.

[0094] SLCS processor 220 may include one or more processor and or microcontrollers. An example of a processor and or microcontroller is embedded computer 605 of Figure 6.

[0095] SLCS memory 225 may generally comprise a random-access memory ("RAM"), a read only memory ("ROM"), and a permanent non-transitory mass storage device, such as a disk drive or SDRAM (synchronous dynamic random-access memory).

[0096] SLCS memory 225 may store program code for modules and or software routines, such as, for example, navigation system 226, operational module 300, decision and control module 400, data fusion and telemetry output module 500, gain adjustment module 700, and autonomous state response module 1000 as well as data or information used by modules and or software routines, such as, for example, target data 227, and mode or command state information 228.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0097] Memory 225 may also store an operating system or the like. These software components may be loaded from a non-transient computer readable storage medium into memory 225 using a drive mechanism associated with a non-transient computer readable storage medium, such as a floppy disc, tape, DVD / CD-ROM drive, memory card, or other like storage medium. In some embodiments, software components may also or instead be loaded via a mechanism other than a drive mechanism and computer readable storage medium (e.g., via a network interface).

[0098] Memory 225 may also comprise a kernel, kernel space, user space, user protected address space, and a datastore.

[0099] Memory 225 may store one or more process (i.e., executing software application(s)). Process may be stored in user space. A process may include one or more other process. One or more process may execute generally in parallel, i.e., as a plurality of processes and or a plurality of threads.

[0100] Memory 225 may further store an operating system and or kernel. The operating system and or kernel may be stored in kernel space. In some embodiments, the operating system may include a kernel. The operating system and or kernel may attempt to protect kernel space and prevent access by certain of the processes.

[0101] The kernel may be configured to provide an interface between user processes and circuitry associated with embedded computer 605. In other words, the kernel may be configured to manage access to embedded computer 605, a chipset, I / O ports and peripheral devices by processes. The kernel may include one or more drivers configured to manage and or communicate with elements of operational components of SLCS 200 and 600 (i.e., embedded computer 605, chipset, I / O ports and peripheral devices).

[0102] Processor 220 may also comprise or communicate via a bus and or a network interface with memory 225 or another datastore. In various embodiments, such a bus may comprise a high-speed serial bus, and a network interface may be coupled to a storage area network ("SAN"), a high speed wired or wireless network, and or via other suitable communication technology.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0103] SLCS logical components 201 may, in some embodiments, include many more components than as illustrated. However, it is not necessary that all components be shown in order to disclose an illustrative embodiment.

[0104] The data groups used by modules or routines in memory 225 may be represented by a cell in a column or a value separated from other values in a defined structure in a digital document or file. Though referred to herein as individual records or entries, the records may comprise more than one database entry. The database entries may be, represent, or encode numbers, numerical operators, binary values, logical values, text, string operators, references to other database entries, joins, conditional logic, tests, and similar.

[0105] Communication system(s) 230 may include wireless system(s) 231 such as the wireless transceiver, and wired system(s) 232. SLCS output 215 includes thrust control 216 via thruster controllers. Power managing systems 240 regulate and distribute the power supply from, e.g., the batteries or remote power supply. One or more data connectors, data buses, and or network interfaces may connect the various internal systems and logical components of the SLCS. Examples of data connectors and or data bus are illustrated in Figure 6, at data connector elements 665 to 696.

[0106] Aspects of the system can be embodied in a specialized or special purpose computing device or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein. Aspects of the system can also be practiced in distributed computing environments where tasks or modules are performed by remote processing devices that are linked through a communications network, such as a local area network (LAN), wide area network (WAN), the Internet, or any radio frequency communication technology. Data from an SLCS may be of very low bandwidth and may not be restricted to a frequency or communication protocol. In a distributed computing environment, modules can be located in both local and remote memory storage devices. As schematically illustrated in Figure 2, SLCS logical components 201 and remote display interface 250 may be connected by wired or wireless networks.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0107] An SLCS may work with a remote positional unit or target node of a suspended load control system in accordance with one embodiment. The remote positional unit or target node may comprise an external sensor suite or beacon configured to communicate, such as wirelessly, with the SLCS as a positional reference. If the SLCS is considered the primary sensor suite, a secondary sensor suite location can be the platform or carrier from which the cable is suspended, and a tertiary sensor suite location can be a location of interest for the load (e.g., for positioning to obtain or deliver the load).

[0108] A remote positional unit can include a positional transceiver configured to communicate with the SLCS via its wireless transceiver and provide a positional reference. For example, a remote positional unit can be attached to a helicopter ownship or crane below which a load may be suspended.

[0109] In some embodiments, the remote positional unit or target node may be made of durable polymer or plastic, large enough to fit into a hand. The remote positional unit or target node may have an external antenna. The remote positional unit or target node may be attached to, e.g., the crane or helicopter by magnets, bolts, or any other attachment mechanism. The remote positional unit or target node may be dropped to a location on the ground or attached to, e.g., a life preserver or other flotational device, a rescuer, a load to be picked up, a location for a load to be delivered, or an operational specific location.

[0110] Aspects of the system can be embodied in a specialized or special purpose computing device or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein, such as embedded computer 605. Aspects of the system can also be practiced in distributed computing environments where tasks or modules are performed by remote processing devices that are linked through a communications network, such as a local area network (LAN), wide area network (WAN), or the Internet. In a distributed computing environment, modules can be located in both local and remote memory storage devices. As schematically illustrated in Figure 2, SLCS logical components 201 and remote display interface 250 are connected by a wired or wireless network.

[0111] Figure 3 illustrates an operational module 300 of a suspended load control system ("SLCS") including multiple modes or command states in accordance with oneDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct embodiment. Instructions of, or which embody, operational module 300 may be stored in, for example, memory 225, and may be executed or performed by, for example, processor 220, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which operational module 300 may interact. In embodiments, computer processors and memory to perform some or all of operational module 300 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0112] In block 305, the SLCS apparatus may be installed onto a load and or cable from which the load and or SLCS will be suspended. The SLCS apparatus need not be powered for installation.

[0113] In block 310, the SLCS in the apparatus may be started up and operational module 300 activated, if it is not already operating. In some embodiments, operational module 300 may be initialized by the press of a button or turn of a key located on the SLCS. Near the accessible external button or key which may initialize operational module 300, another button may be present that allows for immediate system shut down when pressed or activated. In addition to the initialization interface, operational module 300 may be initialized by an operator not directly next to the system. One or more external operators, including but not limited to an operator on the ground or at the end of the cable, may initialize operational module 300 by pressing a button on one or more interactive displays 250 linked wirelessly to operational module 300.

[0114] One or more modules or components of a complete SLCS, such as physically separated control unit, thruster, and the like, may be started up in block 310 and may be paired to function together. During block 310, operational module 300 may determine a response of the SLCS to thruster output in terms of movement, as measured by inertial, orientation, and / or position sensors. This determination may be based on information which comprises information from a FOG sensor. This determination may be used in, for example, block 445, with respect to thruster mapping and determination of an actuator mix.

[0115] In block 315, operational module 300 is activated in and or receives a functional mode or command state, e.g. one selected by an operator.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0116] In block 320 and in a functional mode or command state, operational module 300 may perform or call suspended load control decision and control module 400 as a subroutine or submodule, to implement a functional mode or command state. The functional modes or command states of the system may be and may perform the following:

[0117] Idle mode 321: all internal systems of the SLCS are operating (e.g., operational module 300 observes motion of the SLCS and calculates corrective action), but thrusters are shut off or maintain an idle speed only, without action to affect the motion of the load.

[0118] Maintain relative position relative to ownship mode 322: stabilizes the SLCS with respect to a slung origin point. For example, when the SLCS is suspended with a load below an arm of a helicopter or a trolly on a crane, the SLCS will stay directly below the arm or trolly. Maintain relative position relative to ownship mode 322 localizes the ownship motion and performs the corrective actions necessary to critically damp any other suspended load motion. If the ownship is traveling at a low speed, maintain relative position relative to ownship mode 322 will couple the velocity so the two entities move in unison. Upon a disturbance to the load, maintain relative position relative to ownship mode 322 provides thrust in the direction of the disturbance to counteract the disturbance, eliminating the swing.

[0119] Move to / stop at position mode 323: will stabilize an SLCS to a fixed position, counteracting the influence of the weather or small movements of the helicopter or other carrier. This mode has the effect of trying to eliminate all motion. The operator may send a desired target position to the SLCS via the remote interface 250. This may be accomplished in at least two ways:

[0120] Target node position 324: The operator may place an SLCS remote positional unit or target node 250 (which may be recorded in memory as "reference 210") at a desired target location and or position. The target node 250 will communicate wirelessly with the SLCS to indicate the desired target location and or position, and the SLCS responds by maneuvering to the desired target location and or position. The remote interface 250 Ul may receive and display the location and position information of one or both entities.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0121] User-designated position 325: The operator may use remote interface 250 Ul to send a designated location and or position (e.g., latitude and longitude coordinates, an orientation, a selection in an image) as a commanded location to the SLCS. The system will then steadily direct the suspended load toward the desired position, location, or orientation. The system will simultaneously send feedback to the remote interface 250 Ul regarding position and distance information.

[0122] Hold Position mode 326: will resist all motion of an SLCS and maintain current position and or orientation independent of the ownship's motion. This mode has the effect of attempting to eliminate or dampen all motion. This mode has conditional responses respectively to ownship speed, safety factors, and physical constraints.

[0123] Direct control mode 327: Joystick or other direct operation of the SLCS in all available degrees of freedom. Though operational module 300 is entirely closed-loop and does not require external control during operation, there may be an option for user control. The operator may be able to directly control position, location, orientation, and thruster output level.

[0124] Obstacle avoidance module 328 module: receives and processes sensor information such as to i) to equalize the distance between sensor locations, such as at thrusters and objects, such as obstacles, sensed in the environment or ii) to measure or receive geometry of a load, measure geometry of obstacles sensed in the environment, determine or receive the position, location, orientation, and motion of the load, and negotiate the load relative to the obstacle.

[0125] In block 330, the operator may complete the operation and retrieve the SLCS apparatus.

[0126] In d one block 335, operational module 300 may be shut down, such as by an interrupt condition, such as by pushing a button on the interactive display or by pressing a button on the center module itself. At done block 335, operational module 300 may exit or return to another process which may have called it.

[0127] At block 340, if the SLCS apparatus includes collapsible propulsion arms or the like, they can be folded up. The load may be detached from a load hook or bottom shackle 925CDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct or 925D and the SLCS apparatus may be removed from the suspension cable, such as by being detached from hoist ring or top shackle 925B or 925A. The SLCS may then be connected to a charger, stowed, or the like.

[0128] Figure 4 illustrates decision and control module 400 of an SLCS in accordance with one embodiment. Instructions of, or which embody, decision and control module 400 may be stored in, for example, memory 225, and may be executed or performed by, for example, processor 220, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which decision and control module 400 may interact. In embodiments, computer processors and memory to perform some or all of decision and control module 400 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0129] Decision and control module 400 may operate in a loop to develop relative and absolute telemetry information, send this data to remote locations, perform a set of calculations to determine a desired response, then send the desired response to the thrusters, for example, to mitigate pendular motion or swing of the cable and suspended load, rotation of the SLCS and suspended load, to drive a load to or towards a position, location, or orientation , or otherwise to control a suspended load during operations. This process may operate in a continuous loop as long as the system is powered on and a suitable command state is active. This process may operate with data received only from sensors in an SLCS, such as SLCS 105.

[0130] In block 405, an SLCS has been deployed, such as onto a suspension cable, has been activated, and decision and control module 400 begins an active control state, such as upon being powered on, initialized, or otherwise commanded, either by a user or another process, such as operational module 300. At block 410, if newly activated, decision and control module 400 may initialize state estimation systems.

[0131] Begin loop block 415 to closing loop block 455 iterate over a command state, such as one selected in block 320 of operational module 300.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0132] In block 420, decision and control module 400 may flush actuator values, e.g. values sent to actuators, such as EDFs. This may ensure that old values do not contaminate a then-current process loop.

[0133] At block 500, decision and control module 400 may call or enter data fusion and telemetry output module 500, discussed further in relation to Figure 5. In overview, data fusion and telemetry output module 500 fuses relative and absolute sensor information to create a deterministic state estimation of state data of the SLCS and carrier coordinate frame. In overview, data fusion and telemetry output module 500 is updated with most recent values from the sensor suite onboard the SLCS, e.g. from sensors 205, including from FOG 202. These values may be obtained in a separate process thread, separate from data fusion and telemetry output module 500. One or more of such state estimates may also be referred to as an, "operating point value". The state estimates are passed to state estimation algorithms and to gain adjustment module 700, in which data fusion and linear and or non-linear state estimation is implemented. In an embodiment, data fusion and telemetry output module 500 calls or performs logic of autonomous state response module 1000 and determines the hyperparameter discussed herein. The hyperparameter discussed herein may be an, "operating point value".

[0134] At block 435, decision and control module 400 may output updated frame states, as may have been received from block 515 and 525 of data fusion and telemetry output module 500. The updated frame states may be logged.

[0135] At block 700, decision and control module 400 may call or enter gain adjustment module 700 and pass the updated frame states of block 435 to multi-input multi-output ("MIMO") control laws and gain adjustment module 700. The MIMO control laws may determine an optimal, quantified, correction force based on weighting of severity of current states, and decides how the SLCS should move or exert force to achieve the determined thrust and orientation of the SLCS set by the functional mode or command state. For example, weighted control laws may include proportional integral derivative ("PI D") controllers with respect to location, orientation, and motion. Among these, severity of motion may dominate relative to location and orientation. Control methods weighingDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct cost in terms of energy use may also be considered, as well as additional feedback from past output control to actuators.

[0136] Gain adjustment module 700 may adjust a gain of a thrust control signal, to thereby dynamically adapt control of torque or lateral thrust to adapt to changing circumstances, such as a change in the mass or rotational inertia of a load, changes in disturbance forces, to allow an operator to control an SLCS and a load under changing circumstances, to reduce self-induced cyclic motion, to decrease time required to obtain a target orientation, to reduce energy used to obtain or maintain the target orientation, and the like. Gain adjustment module 700 may call autonomous state response module 1000, which may determine the hyperparameter discussed herein.

[0137] As discussed herein, operation of decision and control module 400 may be sensitive to quality and rate of rotational information such as angular rate or angular acceleration, and thus may be improved with faster and more reliable information from a FOG. In addition, and as discussed herein, the operation of this module may be improved with relative position, location, or orientation information from a FOG, rather than from relative position, location, or orientation sensors such as rotating structure gyroscopes, vibrating structure gyroscopes, and microelectromechanical systems (MEMS) accelerometers, notwithstanding that the FOG may be more technically demanding, e.g. in terms of calibration.

[0138] At block 445, determination of actuator mix may be performed, e.g. which thruster to activate and how much. This may be determined according to a matrix which receives vectors from the MIMO control laws and determines corresponding actuator values. Net thrust output may be mapped in real-time through encoders and load cells. The actuator mix may be informed by the hyperparameter which, if the angular acceleration includes direction, may be used to identify which thrusters point in which directions, such that when a user or command state desires a rotation or thrust in a particular direction, the system knows which thrusters to activate to achieve the desired rotation or direction.

[0139] At block 450, decision and control module 400 may output instructions to the actuators to activate them according to the actuator mix determined in block 445. TheDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct result may implement a dynamic response in the form of thrust counteracting unwanted motion or thrust to achieve a desired location, orientation, or motion.

[0140] In closing loop block 455, decision and control module 400 may return to opening loop block 715 to continue iterating over the then-current command state until an exit condition occurs. Exit conditions may include, for example, achieving an objective, such as obtaining or becoming proximate to a location, obtaining a location for a period of time, obtaining a location and receiving an acknowledgment signal, occurrence of an error, or receiving an instruction to exit.

[0141] At end block 499, decision and control module 400 may exit or return to another process. The process may be unmanned and automated aside from the high-level operator- selected functional control modes. The net output is a force to control or stabilize a suspended load.

[0142] Figure 5 illustrates data fusion and telemetry output module 500, in accordance with one embodiment. Instructions of, or which embody, data fusion and telemetry output module 500 may be stored in, for example, memory 225, and may be executed or performed by, for example, processor 220, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which data fusion and telemetry output module 500 may interact. In embodiments, computer processors and memory to perform some or all of data fusion and telemetry output module 500 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0143] In data fusion and telemetry output module 500, information from local relative sensors ("relative", relative to an inertial frame) and absolute sensors ("absolute", relative to a coordinate frame) is fused to create a deterministic state estimation in a coordinate frame of an SLCS and carrier. An example of a data fusion and disturbance estimation algorithm is an adaptive filter. The adaptive filter may comprise at least one of a linear filter, a non-linear filter, an adaptive notch filter, a recursive least squares filter, a least mean squares filter, a Volterra least mean squares filter, a kernel adaptive filter, a spline adaptive filter, an Unscented Kalman Filter, a Urysohn adaptive filter, or a neural network. The adaptive filter fuses data sources from multiple measurement devices with a numerical model to yield a representative state of the coordinate frame of SLCS and carrier. One orDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct more values of the representative state may also be referred to herein as an "operating point value". In an embodiment, data fusion and telemetry output module 500 may perform some or all of logic of autonomous state response module 1000, e.g. to determine the hyperparameter.

[0144] As discussed herein, data fusion and telemetry output module 500 may be sensitive to quality and rate of rotational information such as angular rate or angular acceleration, and thus may be improved with faster and more reliable information from a FOG. In addition, and as discussed herein, the operation of this module may be improved with relative position, location, or orientation information from a FOG, rather than from relative position, location, or orientation sensors such as rotating structure gyroscopes, vibrating structure gyroscopes, and microelectromechanical systems (MEMS) accelerometers, notwithstanding that the FOG may be more technically demanding, e.g. in terms of calibration.

[0145] When performed over time, integrals of representative states may be used to identify rotational and pendular motion, such as rotation of an SLCS about a suspension cable and an oscillation path of an SLCS.

[0146] Kalman filters produce a predicted future state based a past state and a joint probability distribution of a series of measured values in a timespan; the values often contain statistical noise and other inaccuracies. Past values may be discarded and the predicted state then compared to new measured values to produce a new predicted future state. However, Kalman filters may be limited to linear systems. For nonlinear systems, in which non-linearity occurs in either or both the process model or observation model, a Kalman filter may provide poor performance when covariance is propagated through linearization of the underlying non-linear model(s). To address this, an adaptive model may be used, such as an Unscented Kalman Filters ("UKF"), UKF use a deterministic sampling technique, unscented transformation, to pick a minimal set of sample points, which may be referred to as sigma points, around a mean. The sigma points are then propagated through the non-linear functions, from which a new mean and covariance estimate is formed.

[0147] An adaptive system model, such as a UKF, may then recursively estimate varying parameters of the then-current system model, including mass of SLCS and load, cableDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct length, rotational inertia of SLCS and load, movement, position, and rotation of the SLCS and load, and movement, position, and rotation of the carrier. Inertial based measurements are sent to disturbance estimator matrices of a filter, from which wind force and relative SLCS and helicopter motion may be estimated.

[0148] These state parameters of the adaptive system model may not be "hard-wired" into data fusion and telemetry output module 500 but may be dynamically determined by data fusion and telemetry output module 500. For example, when a load comprises only an empty litter weighing thirty-five pounds, the estimated mass of SLCS and load is much less than when the litter is holding a person who weighs two-hundred pounds. The behavior of an SLCS in activating fans or other thrusters to deal with the dynamic behavior of the lighter load is very different than the behavior of the SLCS to deal with the heavier load and, generally, involves lighter fan or thruster actuation. If it did not, and if the SLCS were not able to dynamically determine the mass of the SLCS and load and the other state parameters, the SCLS would not be able to control the lighter load, but may "overdrive" it and make control of the suspended load less likely. If the SLCS were not able to dynamically determine the hyperparameter and or the mass of the SLCS and load, the other state parameters, and the disturbances, the SLCS would not be able to transition from controlling an unweighted litter to controlling a litter containing a person, as occurs during use of an SLCS. A similar phenomenon occurs with respect to controlling an SLCS beneath a crane, wherein the SLCS may not be attached to or may be attached to another load, wherein this condition may change during the course of an operation. Similarly, the estimated length of the cable and or of inertia has a large effect on pendular motion and how to control it. Systems addressed to control of autonomous vehicles are not known to include system models as described herein, which include continuous and dynamic determination of the hype rpara meter or parameters such as mass of SLCS and load, cable length, rotational inertia of SLCS and load, movement, position, location, orientation, and rotation SLCS, movement, position, location, orientation, and rotation of the carrier, and estimates of disturbance forces, such as wind force, impacts, and relative SLCS and helicopter motion.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0149] Other closed-loop control methods include fuzzy-tuned proportional, integral, and derivative feedback controllers with bidirectional communication and control methods including deep learning neural nets.

[0150] As noted, in an embodiment, data fusion and telemetry output module 500 may call or perform all or some logic of autonomous state response module 1000, to determine the hyperparameter or normalized moment of inertia. The hyperparameter may account for various elements of the system model and a state of the SLCS, such as, for example, an orientation of thrusters, thrust output of the thrusters, a mass of the load, a distance between the thrusters, a distance between the thrusters and a center of rotation of the load, movement of the SLCS in response to thrust output, and disturbance forces on the SLCS.

[0151] At opening loop block 501 through closing loop block 530, data fusion and telemetry output module 500 estimates a state of a coordinate system based on measured sensor values, iteratively determines a new estimated future state based on new measured values, and performs an integral of successive state values to identify rotation and pendular motion.

[0152] At block 502, data fusion and telemetry output module 500 may determine whether the SLCS is at rest, e.g. is not moving. Such a determination may be made based on review of sensor data, including image data, and the like, based on human input, based on placing the SLCS on the ground, or the like. This determination may be required to calibrate a FOG sensor.

[0153] If affirmative or equivalent at block 502, which indicates that the SLCS is not moving, at block 503 data fusion and telemetry output module 500 may determine a zero angular acceleration interference pattern, phase shift, or the like for the FOG in the relative position, location, or orientation sensors. The zero angular acceleration interference pattern or phase shift may be used as a reference, relative to an interference pattern, phase shift, or the like obtained at a later time when the SLCS is moving or had moved, to determine an amount and direction of movement between the measurement at the reference time (when the SLCS is not moving) and subsequent measurements.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Determining the zero angular acceleration interference pattern or phase shift may be referred to as "calibrating" or "calibration" of the FOG.

[0154] At block 504, data fusion and telemetry output module 500 obtains sensor data, such as image data, accelerometer data, gyroscope data, FOG data, including FOG interference, phase shift, or orientation data and FOG temperature data (such as from FOG 202), magnetometer data, LIDAR data, and, if available, absolute position, location, or orientation information, e.g. GPS data. Image data may comprise object detection, such as detection of a helicopter or other carrier, as well as components of such an object, such as identification of a cabin and tail. Image data and object detection may also comprise identification of optical flow of such images or pixels in successive frames. Accelerometer data, including FOG data, may comprise one or more 3-degree of freedom ("3 DoF") acceleration data in a sensor coordinate frame. As discussed herein, acceleration information may be obtained from FOG data may be determined using the Sagnac effect, for example, interference of two beams of light which pass through a coil of optical fiber, wherein a first beam traveling against rotation is measured as following a slightly shorter path than a second beam traveling with rotation, due to movement of the emission and measurement locations between the times when the beams were emitted and received. An interference pattern between the two beams indicates a differential phase shift and rotation of the FOG. Unlike a spinning mass gyroscope or resonant mechanical gyroscopes, a FOG does not have moving parts and does not rely on inertial resistance to movement; FOGs, however, require calibration to determine an interference pattern which corresponds to zero angular velocity as well as calibration to adjust for changes in temperature. Absolute position, orientation, or location information, e.g. GPS data, may be obtained from two or more sensor locations, such as two or more GPS antennas which are a known distance apart and have a known geometric relationship. Gyroscope data may comprise 3 DoF angular acceleration data in the sensor coordinate frame. Magnetometer data may comprise 3 Degree of Freedom ("DoF") magnetic field data in the sensor coordinate frame. LIDAR data may comprise point, sweep, rotating, radial, distance, and or linear data which measures distance and or angle relative to objects, the ground, and or water.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0155] At block 505, data fusion and telemetry output module 500 may calibrate the FOG for temperature, such as based on a temperature reading of the FOG and based on a lookup table, or the like, which may provide a temperature adjustment for FOG information, for example, to the zero angular acceleration interference pattern, phase shift, or the like of block 503, which may have been determined at an earlier loop.

[0156] At block 506 data fusion and telemetry output module 500 may compare a known distance between sensors of absolute position, location, or orientation information to a received absolute position, location, or orientation information of such sensors. For example, it may be possible to calculate a calculated distance between the sensors based on the received absolute position, location, or orientation information for each sensor and comparing the calculated distance to the known distance between the sensors. For example, the calculated distance between the sensors may be two meters, when the known distance between the sensors may be one meter. Such a difference may indicate values of absolute position, location, or orientation information outside of an expected range.

[0157] At block 507, data fusion and telemetry output module 500 may determine whether absolute position, location, or orientation information is unreliable. Such a determination may be based on whether a GPS or the like signal(s) is missing, if a value is outside of an expected range, e.g. as discussed herein, if a value is provided after a delay, if the signal has a signal-to-noise ratio outside of an error correction redundancy, or the like. For example, more than one receiver may be used to receive GPS or other radio-navigation signals; the more one receiver may be a known distance apart and have a known geometric relationship to one another in an SLCS; location values produced by individual receivers in the more than one receivers may be compared to determine a distance between the receivers, based on the GPS or other radio-navigation signals. If the determined distance is different than the known distance apart, data fusion and telemetry output module 500 may determine that the absolute position, location, or orientation information is outside of an expected range. Another technique to determine that the absolute position, location, or orientation information is outside of an expected range may be to compare changes over time in the absolute position, location, or orientation information to an expected speed ofDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct the SLCS and or carrier, in which case a speed of the SLCS based on the absolute position, location, or orientation information may be determined to be impossible or unlikely. For example, GPS or other radio-navigation signals may identify individual transmitters, e.g. satellites. If the number of transmitters falls below a desired threshold, data fusion and telemetry output module 500 may determine that the absolute position, location, or orientation information is unreliable. For example, data from absolute position, location, or orientation sensors may be provided at a relatively low rate or low speed compared to data from relative position, location, or orientation sensors. For example, an SLCS may be used in contexts in which magnetometers and or compasses are unreliable, such as when iron and other metals are near, and when GPS or other geolocation or radionavigation systems or other position and orientation systems are unavailable, are unreliable, or are subject to additional latency. For example, GPS or other geolocation or radionavigation systems may be unavailable or unreliable when an SLCS is subject to electromagnetic interference, as may be produced by equipment such as electrical motors, transmission infrastructure for electricity, from welding equipment, and the like. For example, GPS or other geolocation or radionavigation systems may be unavailable or unreliable when an SLCS operates in a "canyon" which may interfere with receipt of signals used by such absolute position, location, or orientation sensors; canyons may occur when geography, vegetation, water, or buildings or other structures obscure or cause reflection of signals. Situations when absolute position, location, or orientation sensors produce a slow or unreliable absolute position, location, or orientation reference may occur frequently and or may occur unexpectedly, particularly in contexts in which SLCS are asked to operate.

[0158] If affirmative or equivalent at block 507, at block 508 data fusion and telemetry output module 500 may reject absolute position, location, or orientation information. This may result in an output of estimated state in block 525 which does not rely on, or which relies less on, absolute position, location, or orientation information and which may be less reliable, unless FOG data can compensate, at least to some extent, for the unreliable absolute position, location, or orientation information.

[0159] At block 510, data fusion and telemetry output module 500 may filter the sensor data, such as to eliminate values which are errors or outside of an allowed range in bothDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct time and frequency domains. For example, values not consistent with a sample time range or not consistent with relevant frequencies may be filtered out. For example, suspension cables may be subject to oscillatory and vibratory frequencies; some of such frequencies may be longer than a plausible length of the suspension cable, may be present in sensor data, and may be filtered out.

[0160] In an embodiment, data fusion and telemetry output module 500 may call or perform logic of autonomous state response module 1000, for example, to determine the hyperparameter. As discussed herein, in an embodiment, the hyperparameter may account for one or more elements of the estimated state, e.g. an orientation of thrusters, thrust output of thrusters, a mass of the load, a distance between thrusters, a distance between thrusters and a center of rotation of the load, and a disturbance force on the SLCS.Elements of the estimated state accounted for by the hyperparameter may not need to be determined by the system model.

[0161] At block 515, data fusion and telemetry output module 500 may feed the system model and its past estimated or initialization state to the data fusion disturbance estimate model, such as into a system model, to be fused with then-current sensor data. As noted, the system model may include, and may therefore determine as an estimated state, one or more of the hyperparameter, a mass of load and SLCS, a cable length, a rotational inertia of load and SLCS, a fan and actuation force of the SLCS, rotational motion of the SLCS, pendular motion of the SLCS, and movement of a carrier and or of a load over time through an absolute coordinate space.

[0162] At block 520, data fusion and telemetry output module 500 may determine a new then-current estimated state, based on the system model, last estimated state, and the then-current sensor data. Inertial based measurements are sent to disturbance estimator matrices of a filter, from which disturbances forces, such as wind force and relative SLCS and carrier motion, may be estimated. As noted, the hyperparameter may account for disturbance forces and may reduce, eliminate, or change the method of calculation of data fusion disturbance estimation in block 520.

[0163] At block 525, data fusion and telemetry output module 500 may output the then- current estimated state. This may be output to, for example, a record accessed by blockDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct 435 of decision and control module 400 and or to a record accessed by block 515 to be fed into the next iteration, if any, of the data fusion disturbance estimate model.

[0164] At block 528, data fusion and telemetry output module 500 may determine characteristics of state conditions over time, such as rotation or pendular motion of SLCS, movement of a carrier over time through an absolute coordinate space, and the like. Such characteristics may be determined by determining integrals of or performing other calculus on such state conditions overtime.

[0165] At closing loop block 530, data fusion and telemetry output module 500 may return to opening loop block 501, unless or until an exit condition occurs.

[0166] At end block 599, data fusion and telemetry output module 500 may exit or return to another process.

[0167] Figure 6 schematically illustrates electronic computer, hardware, and network connections among operational components 600 of a suspended load control system, according with one embodiment. Operational components 600 may be understood as implementing SLCS logical components 201.

[0168] Embedded computer 605 may be a computer processor or central processing unit (CPU). The processor may be an embedded system including a signal board computer and one or more microcontroller units ("MCUs"). The CPU and MCUs may be contained within a housing in which data link and electrical connections may be made, such as connections 660 through 694. Embedded computer 605 may comprise computer memory, such as SLCS memory 225.

[0169] Connection 670, which may be a serial data connection, may connect embedded computer 605 with inertial navigation system 610. Inertial navigation system 610 may comprise the INS, absolute position, location, or orientation sensors, and FOG 502, as discussed herein.

[0170] Connection 675, which may be a gigabit ethernet data connection, may connect embedded computer 605 with one or more optical sensors 655, such as visible light, IR, and other cameras, as discussed herein.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0171] Connection 680, which may be a UDP over gigabit ethernet data connection, may connect embedded computer 605 with one or more LIDAR 650 systems, as discussed herein.

[0172] Connection 685, which may be a general purpose, input-output connection, may connect embedded computer 605 with one or more DC contactors, peripherals 645, and the like.

[0173] Connection 690, which may be a pulse width modulated electrical connection, may connect embedded computer 605 with one or more LED status indicators 640.

[0174] Connection 694, which may be WiFi or wired ethernet UDP / TCP data connection, may connect embedded computer 605 with one or more user control devices 635, such as interactive display or remote interface 250.

[0175] Connection 696, which may be an HDMI data connection, may connect embedded computer 605 with one or more HDMI output display devices 630.

[0176] Connection 660, which may be a USB data and electrical connection, may connect embedded computer 605 with one or more USB devices 625.

[0177] Connections 665, which may form a CAN data bus, may connect embedded computer 605 with one or more electronic speed controllers 615 and one or more sensory feedback units 620. ESC 615 may be a thruster controller to allow embedded computer 605 to control the speed, power draw, and thrust of thrusters in the EDF. An ESC may have the following connections: to the power supply, to a thruster, and to the processor, such as embedded computer 605, to a microcontroller, and or to sensory feedback units 620. ESC pulls power from the power supply and allocates it to the thrusters to control the amount of thrust produced by EDF.

[0178] Figure 7 illustrates gain adjustment module 700 of an SLCS in accordance with one embodiment. Instructions of, or which embody, gain adjustment module 700 may be stored in, for example, memory 225, and may be executed or performed by, for example, processor 220, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which gain adjustment module 700 may interact. In embodiments,Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct computer processors and memory to perform some or all of gain adjustment module 700 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0179] At block 1000, gain adjustment module 700 may call or enter autonomous state response module 1000. In overview, autonomous state response module 1000 may determine the hyperparameter of, for example, a normalized moment of inertia, such as according to a ration of a force command to a thruster and an angular acceleration of the SLCS. The hyperparameter may be considered or referred to as a normalized moment of inertia. The hyperparameter may comprise a ratio of a force command to a thruster and a resulting angular acceleration of the SLCS.

[0180] At block 720, gain adjustment module 700 may determine a heading error. The heading error may be a difference between a current orientation and a target orientation. The difference between the current orientation and the target orientation may also be referred to as an error or a heading error.

[0181] Opening loop block 725 to closing loop block 750 may iterate over each of several controllers in a control loop of gain adjustment module 700. For example, if the control loop comprises a closed loop, including a PID loop, including a PID loop organized in a cascade control architecture, then the PID loop may comprise a proportional-based response to the error, an integral-based response to the error, and a derivative-based response to the error; each of the proportional-based response to the error, the integralbased response to the error, and the derivative-based response to the error may be referred to as a "controller" and may be referred to by opening loop block 725 to closing loop block 750. A proportionate controller may control an actuator in proportion to the error. An integral controller may control the actuator according the amount of time the error has been at or near a value. A derivative controller may control an actuator according to a rate of change of the error over time. In a closed PID loop, output of each of the controllers may be summed to produce one output.

[0182] However, due to problems such as changing circumstances and seeking behavior, operation of the controllers may be adjusted by gain adjustment module 700 or a similar module. In the example illustrated in gain adjustment module 700, at block 730 gain adjustment module 700 may obtain test points or values of scheduling variables, whichDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct may also be referred to as operating point values. For example, at differing test points (or differing values of scheduling variables) which may obtain at differing times during operation (such as when first starting toward a target orientation, when nearing a target orientation, when keeping a target orientation), gain adjustment module 700 may adjust resulting operation of a controller.

[0183] At block 735, gain adjustment module 700 may smooth the test points or operating point values, e.g. through linear interpolation or the like.

[0184] At block 740, gain adjustment module 700 may limit the then-current controller based on the test points. For example, an operating point value may be the hyperparameter. For example, gain adjustment module 700 may saturate the proportionate heading error in the proportionate controller according to the hyperparameter. For example, gain adjustment module 700 may saturate the proportionate heading error in the proportionate controller according to angular velocity multiplied by Kd / Kp.

[0185] At block 745, gain adjustment module 700 may output the controller value determined at block 745.

[0186] At closing loop block 750, gain adjustment module 700 may return to opening loop block 725 to iterate over the controllers and over future instances in time.

[0187] At block 755, gain adjustment module 700 may adjust the controller process based on the smoothed, limited, scheduling test point variable. For example, in the case of a PID controller, gain adjustment module 700 may sum the output of the controller values.

[0188] This may cause each of the controller processes to produce an increased, decreased, or the same output value that the controller process would have output, without operation of gain adjustment module 700. The change, based on the test point and with input of the hyperparameter from autonomous state response module 1000, may thereby produce changes or adjustments to gain of a thrust control signal, in response to then-current and dynamic circumstances, changes in the load, disturbance forces, and the like.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0189] At block 760, gain adjustment module 700 may output or return the adjusted net controller value to, for example, to block 700 in decision and control module 400.

[0190] As discussed herein, gain adjustment module 700 may be sensitive to rotational information such as angular rate or angular acceleration, and thus may be improved with faster and more reliable information from a FOG, notwithstanding that the FOG may be more technically demanding and may require calibration.

[0191] Figure 8 illustrates an embodiment of a remote interface or remote pendant 800. Remote pendant 800 may comprise, for example, an on / off switch, state selector, and manual / rotational control. The on / off switch may be used to turn on remote pendant 800. State selector may be used to select a command state of operational module 300, as may be discussed in relation to Figure 3. An activation controller may be used to activate or deactivate an SLCS in or relative to a selected command state. The manual / rotational control may be used to manually activate fans to rotate or translate a load when, for example, state selector has been used to select, for example, direct control mode 327. A joystick may be incorporated into remote pendant 800, such as in replacement of or in addition to manual control.

[0192] Figure 10 illustrates autonomous state response module 1000 of an SLCS in accordance with one embodiment. Instructions of, or which embody, autonomous state response module 1000 may be stored in, for example, memory 225, and may be executed or performed by, for example, processor 220, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which autonomous state response module 1000 may interact. In embodiments, computer processors and memory to perform some or all of autonomous state response module 1000 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0193] At block 1005, autonomous state response module 1000 may obtain a force command to thrusters of an SLCS. The force command may comprise at least one of a newton, a voltage, or an amperage. Autonomous state response module 1000 may determine the newton based on at least one of the voltage or the amperage and a motor rating of the thruster. The force command may further identify which thruster(s) are sent the force command.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0194] At block 1010, autonomous state response module 1000 may obtain an angular acceleration of the SLCS. The angular acceleration may be obtained from, for example, at least one of a gyroscope or an accelerometer of the SLCS, such as a gyroscope or an accelerometer of an I MU of the SLCS, including from an FOG. In the International System of Units, the angular acceleration may be radians per second squared. The sensor may provide a value convertible into the angular acceleration, such as an angular rate. If the sensor provides angular rate, angular rate may be converted into the angular acceleration by determining a numerical derivative of a filtered angular rate. The angular acceleration may comprise a direction, e.g. the value may be positive if the angular speed increases counterclockwise or decreases clockwise and may be negative if the angular speed increases clockwise or decreases counterclockwise.

[0195] At block 1015, from a ration of the force command and the angular acceleration autonomous state response module 1000 may determine a hyperparameter, e.g. force command over angular acceleration. The hyperparameter may be understood as a normalized moment of inertia or ratio of moment-of-inertia over fan-to-center of rotation ("OR").

[0196] At block 1020, autonomous state response module 1000 may determine a relative thruster orientation, based on which thruster(s) were sent the force command and the direction of the angular acceleration.

[0197] At block 1025, autonomous state response module 1000 may output the hyperparameter to, for example, gain adjustment module 700 and may output the thruster orientation to, for example, thruster mapping. The thruster orientation and thruster mapping may be used, for example, at block 445 of decision and control module 400 to determine the actuator mix.

[0198] At done block 1099, autonomous state response module 1000 may exit or return to another process which may have called it.

[0199] As discussed herein, autonomous state response module 1000 may be sensitive to rotational information such as angular rate or angular acceleration, and thus may beDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct improved with faster and more reliable information from a FOG, notwithstanding that the FOG may be more technically demanding and may require calibration.

[0200] Figure 11 illustrates an oblique parallel projection view of SLCS 1605 secured to litter 1115. As discussed herein, SLCS 1105 comprises thruster group 1110A and 1110B secured to litter 1115 with brackets 1120. Thruster group 1110A and 1110B and brackets 1120 may slide along grooves in plate 1125A and 1125B, allowing thruster group 1110A and 1110B to be further or closer together. Changing a distance between the thrusters, and changing this relative to a center of rotation, changes the torque output by the thrusters. Furthermore, during a mission, a rescuer may intermittently come into contact with litter 1115 and a rescuee may or may not be present in litter 1115. Without the hyperparameter discussed herein, such changes might require hard-coded input, modifications to and testing of the gain control system, or might require that the system model estimate state conditions such as thruster-to-thruster distance and center of rotation, through the use of other sensor data which may be more complex, which may not update so quickly, which may be less reliable, and the like, compared to use of the hyperparameter as disclosed herein regarding autonomous state response module 1000, gain adjustment module 700, data fusion and telemetry output module 500, and decision and control module 400.

[0201] As discussed herein, reliable control of a suspended load, e.g. maintaining a desired orientation within 1 degree of a desired heading, for a useful period of time, e.g. more than one to ten minutes, requires that noise and drift from relative position, location, and orientation sensors is overcome by fusing relative position, location, or orientation information with slower speed absolute position, location, or orientation information, such as from magnetometers, compasses, and GPS or other radiolocation services. However, when an SLCS operates with absolute position, location, or orientation information which is or becomes unreliable, fusion of the relative and absolute position, location, and orientation information may still produce results which could be improved. Referring to Figure 12, a heading of 0 degrees is the desired orientation of an SLCS which is being tested. Line 1205 illustrates the heading or orientation of then SLCS when absolute position, location, or orientation information (e.g. from GPS) is acceptable, though perhapsDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct on a margin, and is still being fused with relative position, location, or orientation information from rotating structure gyroscopes, vibrating structure gyroscopes, and microelectromechanical systems (MEMS) accelerometers (but not from a FOG). The performance of line 1205 may be acceptable, as it generally stays within about 1 degree of 0 until about 10 minutes; however, it exceeds 1 degree around 11 minutes and swings significantly between minute 10 and minute 15. This performance may be less than desirable. As noted, many missions performed by SLCS last longer than 10 minutes and even for missions less than 10 minutes, the period between minute 10 and minute 15 indicates noticeable instability. Maintaining an orientation within 1 degree or less may be preferable. In contrast to line 1205, line 1210 illustrates that maintenance of the desired heading (of 0 degrees, in the graph of Figure 12) is improved if decision and control module 400 and routines called thereby obtain data from relative position, location, or orientation sensors which comprise a FOG. Unlike rotating structure gyroscopes or vibrating structure gyroscopes and MEMS accelerometers, the FOG has reduced or even no moving parts and does not rely on measurement of inertial resistance to movement, but rather uses the Sagnac effect. In addition, the test reflected by line 1210 was performed with a stricter determination of when absolute position, location, and orientation information became unreliable, so that the unreliable information was rejected and not fused with the relative position, location, and orientation information from the FOG. The stricter determination of unreliable absolute position, location, and orientation information included a determination that GPS information provided a calculated distance between GPS receivers of the SLCS which was unacceptably different from a known distance between GPS receivers of the SLCS. As noted, there are alternative ways to determine when the absolute position, location, and orientation information becomes unreliable. However, to use the FOG, calibration was required to determine which interference pattern corresponds to zero angular velocity as well as to correct for changes in temperature. It should be noted that an SLCS, itself, produces significant heat which can change the temperature of the FOG, and that the environment of the SLCS may also cause changes in temperature of the FOG, e.g. from changes in elevation, changes in exposure to sunlight, rain, snow, wind, movement into a colder or a warmer location, and the like.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0202] Although specific embodiments have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that alternate and or equivalent implementations may be substituted for the specific embodiments shown and described without departing from the scope of the present disclosure. For example, although various embodiments are described above in terms of a helicopter ownship, in other embodiments an SLCS may be employed under a construction crane or gantry. This application is intended to cover any adaptations or variations of the embodiments discussed herein.

[0203] Embodiments of the operations described herein may be implemented in a computer- readable storage device having stored thereon instructions that when executed by one or more processors perform the methods. The processor may include, for example, a processing unit and or programmable circuitry. The storage device may include a machine readable storage device including any type of tangible, non-transitory storage device, for example, any type of disk including floppy disks, optical disks, compact disk read-only memories (CD-ROMs), compact disk rewritables (CD-RWs), and magneto-optical disks, semiconductor devices such as read-only memories (ROMs), random access memories (RAMs) such as dynamic and static RAMs, erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), flash memories, magnetic or optical cards, or any type of storage devices suitable for storing electronic instructions. USB (Universal serial bus) may comply or be compatible with Universal Serial Bus Specification, Revision 2.0, published by the Universal Serial Bus organization, April 27, 2000, and or later versions of this specification, for example, Universal Serial Bus Specification, Revision 3.1, published July 26, 2013 . PCIe may comply or be compatible with PCI Express 3.0 Base specification, Revision 3.0, published by Peripheral Component Interconnect Special Interest Group (PCI-SIG), November 2010, and or later and or related versions of this specification.

[0204] As used in any embodiment herein, the term "logic" may refer to the logic of the instructions of an app, software, and or firmware, and or the logic embodied into a programmable circuitry by a configuration bit stream, to perform any of the aforementioned operations. Software may be embodied as a software package, code, instructions, instruction sets and or data recorded on non-transitory computer readableDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct storage medium. Firmware may be embodied as code, instructions or instruction sets and or data that are hard-coded (e.g., nonvolatile) in memory devices. Flow charts for logic or software may be illustrated herein as part of one module or as separate from one another in separate modules or otherwise as having a logical arrangement; many different logical arrangements are functionally equivalent.

[0205] "Circuitry", as used in any embodiment herein, may comprise, for example, singly or in any combination, hardwired circuitry, programmable circuitry such as FPGA. The logic may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc.

[0206] In some embodiments, a hardware description language (HDL) may be used to specify circuit and or logic implementation(s) for the various logic and or circuitry described herein. For example, in one embodiment the hardware description language may comply or be compatible with a very high speed integrated circuits (VHSIC) hardware description language (VHDL) that may enable semiconductor fabrication of one or more circuits and or logic described herein. The VHDL may comply or be compatible with IEEE Standard 1076-1987, IEEE Standard 1076.2, IEEE1076.1, IEEE Draft 3.0 of VHDL-2006, IEEE Draft 4.0 of VHDL-2008 and or other versions of the IEEE VHDL standards and or other hardware description standards.

[0207] As used herein, the term "module" (or "logic") may refer to, be part of, or include an Application Specific Integrated Circuit (ASIC), a System on a Chip (SoC), an electronic circuit, a programmed programmable circuit (such as, Field Programmable Gate Array (FPGA)), a processor (shared, dedicated, or group) and or memory (shared, dedicated, or group) or in another computer hardware component or device that execute one or more software or firmware programs having executable machine instructions (generated from an assembler and or a compiler) or a combination, a combinational logic circuit, and or other suitable components with logic that provide the described functionality. Modules may be distinct and independent components integrated by sharing or passing data, or the modules may be subcomponents of a single module, or be split among several modules.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct The components may be processes running on, or implemented on, a single compute node or distributed among a plurality of compute nodes running in parallel, concurrently, sequentially or a combination, as described more fully in conjunction with the flow diagrams in the figures.

[0208] As used herein, a process corresponds to an instance of a program, e.g., an application program, executing on a processor and a thread corresponds to a portion of the process. A processor may include one or more execution core(s). The processor may be configured as one or more socket(s) that may each include one or more execution core(s).

[0209] Following are non-limiting examples:

[0210] Example 1. An apparatus to rotate, laterally move, or control a suspended load, comprising: a thruster, a thrust controller, a sensor suite; and a computer processor and a memory, wherein the memory comprises a decision and control module; wherein the sensor suite comprises a relative position, location, or orientation sensor and an absolute position, location, or orientation sensor; wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope; wherein the fiber optic gyroscope is to produce a relative position, location, or orientation information; wherein the absolute position, location, or orientation sensor is to produce an absolute position, location, or orientation information; wherein the computer processor is to execute the decision and control module and thereby is to obtain the relative position, location, or orientation information and the absolute position, location, or orientation information, fuse the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the apparatus, and determine a thrust control signal to output to the thruster; wherein at least the suspended load, the apparatus, and the thruster are suspended on a suspension cable beneath a carrier.

[0211] Example 2. The apparatus according to Example 1, wherein the computer process is further to execute the decision and control module and is to thereby determine that the absolute position, location, or orientation information is unreliable.

[0212] Example 3. The apparatus according to Example 2, wherein the computer processor is further to execute the decision and control module and is to determine thatDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signa l-to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.

[0213] Example 4. The apparatus according to Example 3, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart in the apparatus, wherein the first absolute position, location, or orientation sensor is to produce a first absolute position, location, or orientation information and the second absolute position, location, or orientation sensor is to produce a second absolute position, location, or orientation information, wherein the computer processor is to execute the decision and control module, is to determine a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information and wherein, when executed by the computer processor, the decision and control module is further to determine that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart in the apparatus.

[0214] Example 5. The apparatus according to Example 2, wherein the decision and control module is further to execute the decision and control module and is to reject the absolute position, location, or orientation information determined to be unreliable.

[0215] Example 6. The apparatus according to Example 1, wherein the computer processor is further to execute the decision and control module and is thereby to calibrate the fiber optic gyroscope.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0216] Example 7. The apparatus according to Example 6, wherein to calibrate the fiber optic gyroscope comprises to at least one of determine that the fiber optic gyroscope is not moving and determine a zero movement output of the fiber optic gyroscope or to determine a temperature of the fiber optic gyroscope and is to adjust the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.

[0217] Example 8. The apparatus according to Example 1, wherein the relative position, location, or orientation information from the fiber optic gyroscope is to allow the decision and control module to determine the thrust control signal without the absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.

[0218] Example 9. The apparatus according to Example 1, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, or a terrestrial radio navigation system.

[0219] Example 10. The apparatus according to Example 1, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a micro-electromechanical system.

[0220] Example 11. A method to rotate, laterally move, or control a suspended load with a thruster, comprising: obtaining a relative position, location, or orientation information of the thruster and the suspended load from a relative position, location, or orientation sensor, wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope; obtaining an absolute position, location, or orientation information of the thruster and the suspended load from an absolute position, location, or orientation sensor; fusing the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the thruster and suspended load; and determining a thrust control signal to output to the thruster; wherein at least the suspended load and the thruster are suspended on a suspension cable beneath a carrier.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0221] Example 12. The method according to Example 11, further comprising determining that the absolute position, location, or orientation information is unreliable.

[0222] Example 13. The method according to Example 12, further comprising determining that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signal-to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.

[0223] Example 14. The method according to Example 13, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart relative to one another and are secured to the thruster and the suspended load, producing the first absolute position, location, or orientation information with the first absolute position, location, or orientation sensor, producing the second absolute position, location, or orientation information with a second absolute position, location, or orientation sensor, determining a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information, and determining that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart.

[0224] Example 15. The method according to Example 12, further comprising rejecting the absolute position, location, or orientation information determined to be unreliable.

[0225] Example 16. The method according to Example 11, further comprising calibrating the fiber optic gyroscope.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0226] Example 17. The method according to Example 16, wherein calibrating the fiber optic gyroscope comprises to at least one of determining that the fiber optic gyroscope is not moving and determining a zero movement output of the fiber optic gyroscope to be used as a reference for when the fiber optic gyroscope is moving or to determining a temperature of the fiber optic gyroscope and adjusting the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.

[0227] Example 18. The method according to Example 11, wherein the position, location, or orientation information from the fiber optic gyroscope allows determining the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.

[0228] Example 19. The method according to Example 11, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.

[0229] Example 20. The method according to Example 11, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a micro-electromechanical system.

[0230] Example 21. A computer apparatus to rotate, laterally move, or control a suspended load with a thruster, comprising: means to obtain a relative position, location, or orientation information of the thruster and the suspended load from a relative position, location, or orientation sensor, wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope; means to obtain an absolute position, location, or orientation information of the thruster and the suspended load from an absolute position, location, or orientation sensor; means to fuse the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the thruster and suspended load; and means to determine a thrust control signal to output to the thruster; wherein at least the suspended load and the thruster are suspended on a suspension cable beneath a carrier.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0231] Example 22. The apparatus according to Example 21, further comprising means to determine that the absolute position, location, or orientation information is unreliable.

[0232] Example 23. The apparatus according to Example 22, further comprising means to determine that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signal-to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.

[0233] Example 24. The apparatus according to Example 23, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart relative to one another and are secured to the thruster and the suspended load, and wherein the apparatus further comprises means to produce the first absolute position, location, or orientation information with the first absolute position, location, or orientation sensor, means to produce the second absolute position, location, or orientation information with a second absolute position, location, or orientation sensor, means to determine a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information, and means to determine that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0234] Example 25. The apparatus according to Example 22, further comprising means to reject the absolute position, location, or orientation information determined to be unreliable.

[0235] Example 26. The apparatus according to Example 21, further comprising means to calibrate the fiber optic gyroscope.

[0236] Example 27. The apparatus according to Example 26, wherein the means to calibrate the fiber optic gyroscope comprises at least one of means to determine that the fiber optic gyroscope is not moving and means to determine a zero movement output of the fiber optic gyroscope to be used as a reference for when the fiber optic gyroscope is moving or means to determine a temperature of the fiber optic gyroscope and means to adjust the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.

[0237] Example 28. The apparatus according to Example 21, wherein the position, location, or orientation information from the fiber optic gyroscope allows the means to determine the thrust control signal to determine the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.

[0238] Example 29. The apparatus according to Example 21, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.

[0239] Example 30. The apparatus according to Example 21, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a micro-electromechanical system.

[0240] Example 31. One or more computer-readable media comprising instructions that cause a suspended load control apparatus, in response to execution of the instructions by a processor of the suspended load control apparatus, to: obtain a relative position, location, or orientation information of a thruster and a suspended load from a relative position, location, or orientation sensor, wherein the relative position, location, orDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct orientation sensor comprises a fiber optic gyroscope; obtain an absolute position, location, or orientation information of the thruster and the suspended load from an absolute position, location, or orientation sensor; fuse the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the thruster and the suspended load; and determine a thrust control signal to output to the thruster to rotate, laterally move, or control the suspended load with the thruster; wherein at least the suspended load and the thruster are suspended on a suspension cable beneath a carrier.

[0241] Example 32. The computer-readable media according to Example 31, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to determine that the absolute position, location, or orientation information is unreliable.

[0242] Example 33. The computer-readable media according to Example 32, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to determine that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signal-to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.

[0243] Example 34. The computer-readable media according to Example 33, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart relative to one another in the suspended load control apparatus, and wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to obtain the first absolute position, location, orDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct orientation information from the first absolute position, location, or orientation sensor, to obtain the second absolute position, location, or orientation information from a second absolute position, location, or orientation sensor, to determine a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information, and to determine that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart.

[0244] Example 35. The computer-readable media according to Example 32, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to reject the absolute position, location, or orientation information determined to be unreliable.

[0245] Example 36. The computer-readable media according to Example 31, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to calibrate the fiber optic gyroscope.

[0246] Example 37. The computer-readable media according to Example 36, wherein to calibrate the fiber optic gyroscope comprises at least one of to determine that the fiber optic gyroscope is not moving and to determine a zero movement output of the fiber optic gyroscope to be used as a reference for when the fiber optic gyroscope is moving or to determine a temperature of the fiber optic gyroscope and to adjust the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.

[0247] Example 38. The computer-readable media according to Example 31, wherein the position, location, or orientation information from the fiber optic gyroscope allows determining the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct

[0248] Example 39. The computer-readable media according to Example 31, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.

[0249] Example 40. The computer-readable media according to Example 31, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a micro-electromechanical system.

Claims

Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct CLAIMSClaim 1. An apparatus to rotate, laterally move, or control a suspended load, comprising:a thruster, a thrust controller, a sensor suite; anda computer processor and a memory, wherein the memory comprises a decision and control module;wherein the sensor suite comprises a relative position, location, or orientation sensor and an absolute position, location, or orientation sensor;wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope;wherein the fiber optic gyroscope is to produce a relative position, location, or orientation information;wherein the absolute position, location, or orientation sensor is to produce an absolute position, location, or orientation information;wherein the computer processor is to execute the decision and control module and thereby is to obtain the relative position, location, or orientation information and the absolute position, location, or orientation information, fuse the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the apparatus, and determine a thrust control signal to output to the thruster; wherein at least the suspended load, the apparatus, and the thruster are suspended on a suspension cable beneath a carrier.Claim 2. The apparatus according to Claim 1, wherein the computer process is further to execute the decision and control module and is to thereby determine that the absolute position, location, or orientation information is unreliable.Claim 3. The apparatus according to Claim 2, wherein the computer processor is further to execute the decision and control module and is to determine that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, orDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct orientation information is provided by fewer than a reliable number of sources, or that a signa I- to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.Claim 4. The apparatus according to Claim 3, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart in the apparatus, wherein the first absolute position, location, or orientation sensor is to produce a first absolute position, location, or orientation information and the second absolute position, location, or orientation sensor is to produce a second absolute position, location, or orientation information, wherein the computer processor is to execute the decision and control module, is to determine a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information and wherein, when executed by the computer processor, the decision and control module is further to determine that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart in the apparatus.Claim 5. The apparatus according to Claim 2, wherein the decision and control module is further to execute the decision and control module and is to reject the absolute position, location, or orientation information determined to be unreliable.Claim 6. The apparatus according to Claim 1, wherein the computer processor is further to execute the decision and control module and is thereby to calibrate the fiber optic gyroscope.Claim 7. The apparatus according to Claim 6, wherein to calibrate the fiber optic gyroscope comprises to at least one of determine that the fiber optic gyroscope is not moving and determine a zero movement output of the fiber optic gyroscope or to determine a temperature of the fiber optic gyroscope and is to adjust the relative position, location, or orientationDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.Claim 8.The apparatus according to Claim 1, wherein the position, location, or orientation information from the fiber optic gyroscope is to allow the decision and control module to determine the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.Claim 9. The apparatus according to Claim 1, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.Claim 10. The apparatus according to Claim 1, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a microelectromechanical system.Claim 11, A method to rotate, laterally move, or control a suspended load with a thruster, comprising:obtaining a relative position, location, or orientation information of the thruster and the suspended load from a relative position, location, or orientation sensor, wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope;obtaining an absolute position, location, or orientation information of the thruster and the suspended load from an absolute position, location, or orientation sensor;fusing the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the thruster and suspended load; anddetermining a thrust control signal to output to the thruster; wherein at least the suspended load and the thruster are suspended on a suspension cable beneath a carrier.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Claim 12. The method according to Claim 11, further comprising determining that the absolute position, location, or orientation information is unreliable.Claim 13. The method according to Claim 12, further comprising determining that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signa I- to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.Claim 14. The method according to Claim 13, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart relative to one another and are secured to the thruster and the suspended load, producing the first absolute position, location, or orientation information with the first absolute position, location, or orientation sensor, producing the second absolute position, location, or orientation information with a second absolute position, location, or orientation sensor, determining a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information, and determining that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart.Claim 15. The method according to Claim 12, further comprising rejecting the absolute position, location, or orientation information determined to be unreliable.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Claim 16. The method according to Claim 11, further comprising calibrating the fiber optic gyroscope.Claim 17. The method according to Claim 16, wherein calibrating the fiber optic gyroscope comprises to at least one of determining that the fiber optic gyroscope is not moving and determining a zero movement output of the fiber optic gyroscope to be used as a reference for when the fiber optic gyroscope is moving or to determining a temperature of the fiber optic gyroscope and adjusting the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.Claim 18. The method according to Claim 11, wherein the position, location, or orientation information from the fiber optic gyroscope allows determining the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.Claim 19. The method according to Claim 11, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.Claim 20. The method according to Claim 11, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a microelectromechanical system.Claim 21. A computer apparatus to rotate, laterally move, or control a suspended load with a thruster, comprising:means to obtain a relative position, location, or orientation information of the thruster and the suspended load from a relative position, location, or orientation sensor, wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope;means to obtain an absolute position, location, or orientation information of the thruster and the suspended load from an absolute position, location, or orientation sensor;Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct means to fuse the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the thruster and suspended load; andmeans to determine a thrust control signal to output to the thruster; wherein at least the suspended load and the thruster are suspended on a suspension cable beneath a carrier.Claim 22. The apparatus according to Claim 21, further comprising means to determine that the absolute position, location, or orientation information is unreliable.Claim 23. The apparatus according to Claim 22, further comprising means to determine that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signal-to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.Claim 24. The apparatus according to Claim 23, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart relative to one another and are secured to the thruster and the suspended load, and wherein the apparatus further comprises means to produce the first absolute position, location, or orientation information with the first absolute position, location, or orientation sensor, means to produce the second absolute position, location, or orientation information with a second absolute position, location, or orientation sensor, means to determine a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information, and means to determine that at least the first absolute position, location, or orientation information or the second absolute position, location, orDerek SIKORA et al. Attorney Docket No.: VIIN-2024072pct orientation information is unreliable because the calculated distance is different than the known distance apart.Claim 25. The apparatus according to Claim 22, further comprising means to reject the absolute position, location, or orientation information determined to be unreliable.Claim 26. The apparatus according to Claim 21, further comprising means to calibrate the fiber optic gyroscope.Claim 27. The apparatus according to Claim 26, wherein the means to calibrate the fiber optic gyroscope comprises at least one of means to determine that the fiber optic gyroscope is not moving and means to determine a zero movement output of the fiber optic gyroscope to be used as a reference for when the fiber optic gyroscope is moving or means to determine a temperature of the fiber optic gyroscope and means to adjust the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.Claim 28. The apparatus according to Claim 21, wherein the position, location, or orientation information from the fiber optic gyroscope allows the means to determine the thrust control signal to determine the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.Claim 29. The apparatus according to Claim 21, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.Claim 30. The apparatus according to Claim 21, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a microelectromechanical system.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Claim 31. One or more computer-readable media comprising instructions that cause a suspended load control apparatus, in response to execution of the instructions by a processor of the suspended load control apparatus, to:obtain a relative position, location, or orientation information of a thruster and a suspended load from a relative position, location, or orientation sensor, wherein the relative position, location, or orientation sensor comprises a fiber optic gyroscope;obtain an absolute position, location, or orientation information of the thruster and the suspended load from an absolute position, location, or orientation sensor;fuse the relative position, location, or orientation information and the absolute position, location, or orientation information into an estimated state of the thruster and the suspended load; anddetermine a thrust control signal to output to the thruster to rotate, laterally move, or control the suspended load with the thruster;wherein at least the suspended load and the thruster are suspended on a suspension cable beneath a carrier.Claim 32. The computer-readable media according to Claim 31, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to determine that the absolute position, location, or orientation information is unreliable.Claim 33. The computer-readable media according to Claim 32, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to determine that the absolute position, location, or orientation information is unreliable based at least in part on at least one of that the absolute position, location, or orientation information is missing, that the absolute position, location, or orientation information is outside of an expected range, that the absolute position, location, or orientation information is delayed, that the absolute position, location, or orientation information is provided by fewer than a reliable number of sources, or that a signal-to-noise ratio of the absolute position, location, or orientation information is outside of an error correction redundancy.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Claim 34. The computer-readable media according to Claim 33, wherein the absolute position, location, or orientation sensor comprises a first absolute position, location, or orientation sensor and a second absolute position, location, or orientation sensor, wherein the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor are a known distance apart relative to one another in the suspended load control apparatus, and wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to obtain the first absolute position, location, or orientation information from the first absolute position, location, or orientation sensor, to obtain the second absolute position, location, or orientation information from a second absolute position, location, or orientation sensor, to determine a calculated distance between the first absolute position, location, or orientation sensor and the second absolute position, location, or orientation sensor based on the first absolute position, location, or orientation information and the second absolute position, location, or orientation information, and to determine that at least the first absolute position, location, or orientation information or the second absolute position, location, or orientation information is unreliable because the calculated distance is different than the known distance apart.Claim 35. The computer-readable media according to Claim 32, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to reject the absolute position, location, or orientation information determined to be unreliable.Claim 36. The computer-readable media according to Claim 31, wherein execution of the instructions by the processor of the suspended load control apparatus further causes the suspended load control apparatus to calibrate the fiber optic gyroscope.Claim 37. The computer-readable media according to Claim 36, wherein to calibrate the fiber optic gyroscope comprises at least one of to determine that the fiber optic gyroscope is not moving and to determine a zero movement output of the fiber optic gyroscope to be used as a reference for when the fiber optic gyroscope is moving or to determine a temperature of the fiber optic gyroscope and to adjust the relative position, location, or orientation information from the fiber optic gyroscope based on the temperature of the fiber optic gyroscope.Derek SIKORA et al. Attorney Docket No.: VIIN-2024072pct Claim 38. The computer-readable media according to Claim 31, wherein the position, location, or orientation information from the fiber optic gyroscope allows determining the thrust control signal without an absolute position, location, or orientation information or with reduced reliance on the absolute position, location, or orientation information.Claim 39. The computer-readable media according to Claim 31, wherein the absolute position, location, or orientation sensor comprises at least one of a global positioning system, a satellite navigation system, a terrestrial radio navigation system.Claim 40. The computer-readable media according to Claim 31, wherein the relative position, location, or orientation sensor further comprises at least one of a rotating structure gyroscope, a vibrating structure gyroscope, or an accelerometer, wherein the accelerometer comprises a micro-electromechanical system.

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