DEVICE AND METHOD FOR OPTIMIZING AIRCRAFT TRAJECTORY Russian patent published in 2023 - IPC G01C21/34 G01C23/00 G05D1/10 

FIELD: aircraft (AC).

SUBSTANCE: device and a method for optimizing the trajectory of an aircraft (AC). Device contains a mapping module, a distance estimation module, a global planning module, a local planning module, and a proportional-differentiating (PD) controller. To optimize the trajectory of the AC, a map of environmental objects is built based on a three-dimensional (3D) cloud of points obtained from the 3D point cloud generation module contained in the AC, the distance from the AC to surrounding objects is estimated based on the map of environmental objects and AC location data, received from navigation module contained in the AC, an updated trajectory of the AC movement around obstacles is formed based on the reference trajectory, a map of environmental objects and data on the distance from the AC to surrounding objects is formed, the optimal trajectory and optimal control signals for the AC are formed, PD controller is used to generate adjusted control signals for the AC, transmit control signals to the flight controller to control the actuators of the AC.

EFFECT: increased accuracy of following the initial trajectory of the aircraft in presence of obstacles, improved smoothness of movement and increased flight safety.

7 cl, 4 dwg