According to a first aspect, it is provided a method for determining control parameters for controlling flight of a formation comprising at least two physically connected UAVs. The method is performed in a controller device and comprising the steps of: determining UAVs forming part of the formation; controlling each one of the UAVs, in sequence, to perform a lift off procedure in which the UAV lifts off ground and lands on ground; acquiring, for each lift off procedure, inertial data from Inertial Measurement Units, IMUs, of each one of the UAVs of the formation; estimating UAV connection parameters for each possible pair of UAVs of the formation based on the inertial data, the UAV connection parameter comprising at least one of relative orientation, absolute orientations and distance between the UAVs of the pair; and determining control parameters for controlling flight of the formation based on the estimated connection parameters.
DETERMINING CONTROL PARAMETERS FOR FORMATION OF MULTIPLE UAVS
2021-08-19
Patent
Electronic Resource
English
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