Control and stabilization of a flight vehicle from a detected perturbation by tilt and rotation

Abstract

A flight vehicle control and stabilization process detects and measures an orientation of a non-fixed portion relative to a fixed frame or portion of a flight vehicle, following a perturbation in the non-fixed portion from one or both of tilt and rotation thereof. A pilot or rider tilts or rotates the non-fixed portion, or both, to intentionally adjust the orientation and effect a change in the flight vehicle's direction. The flight vehicle control and stabilization process calculates a directional adjustment of the rest of the flight vehicle from this perturbation and induces the fixed portion to re-orient itself with the non-fixed portion to effect control and stability of the flight vehicle. The flight vehicle control and stabilization process also detects changes in speed and altitude, and includes stabilization components to adjust flight vehicle operation from unintentional payload movement on the non-fixed portion.

1 . A flight vehicle comprising:
 a fixed portion comprising at least one force-generating device utilizing at least one of lift, propulsion, and thrust; and   at least one non-fixed portion, the least one non-fixed portion mechanically and rigidly connected to the fixed portion with an apparatus comprising one or more hinges or pivot mechanisms so as to enable to at least one of tilt and rotate within a specific and defined range relative to the fixed portion;   wherein the least one non-fixed portion is adapted to hold a rider or payload in a standing, sitting, reclining, or prone position, wherein the second portion is adapted to utilize tilt or rotation to detect a tilt forward or backward, or a rotation including an angular motion of the rider or payload in a direction transverse to a planar axis of the non-fixed portion, a rotation by a left or right motion of the rider along the planar axis of the non-fixed portion, or both   
     
     
         2 . The flight vehicle of  claim 1 , wherein the least one non-fixed portion is adapted to hold a payload or human rider in a standing, sitting, reclining, or prone position in a pilot seat, rider or passenger seat, or medical bed, wherein at least one of a tilt, lean, rotation, center of mass, or change in center of mass is detected and used as an input to at least one of the vehicle system, flight dynamics, and control while the flight vehicle performs autonomous or remote piloted flight. 
     
     
         3 . The flight vehicle of  claim 1 , wherein the least one non-fixed portion is a payload container, payload box, or payload bay, and wherein a floor, sides and a top cover contain a payload. 
     
     
         4 . The flight vehicle of  claim 1 , wherein sensors are embedded within the apparatus that enables at least one of tilt and rotation, wherein the embedded sensors comprise at least one of force sensors, electromagnetic wave based sensors, inertial-measurement-units that detect a change in planar orientation of the least one non-fixed portion relative to the fixed portion, and distance sensors that detect a change in linear distance between two locations within the apparatus that enables at least one of tilt and rotation for a second portion relative to the fixed portion 
     
     
         5 . A flight vehicle comprising:
 a fixed portion comprising at least one force-generating device utilizing lift, propulsion, or thrust; and   at least one non-fixed portion, the least one non-fixed portion comprising at least three embedded force measurement sensors embedded within or arranged across a surface area so as to detect at least one of tilt and rotation of a payload relative to the fixed portion when a payload exerts a different force on at least one of the force measurement sensors when at least one of a tilt shift or rotation occurs;   wherein the least one non-fixed portion is adapted to hold a payload or human rider in a standing, sitting, reclining, or prone position in a pilot seat, rider or passenger seat, or medical bed, or payload area, wherein at least one of a tilt, lean, rotation, center of mass or change in center of mass is detected and may be used as an input to at least one of the vehicle system, flight dynamics, and control while the flight vehicle performs autonomous or remote piloted flight.   
     
     
         6 . The flight vehicle of  claim 5 , wherein the at least one non-fixed portion is adapted to hold a rider in a standing, sitting, reclining, or prone position and further comprises an apparatus adapted to detect a tilt forward, backward, or angular motion of the rider in a direction transverse to a planar axis of the non-fixed portion, to detect a rotation of a left or right motion of the rider along the planar axis of the non-fixed portion, or both. 
     
     
         7 . The flight vehicle of  claim 5 , wherein the at least one non-fixed portion comprises a passenger seat in the flight vehicle. 
     
     
         8 . The flight vehicle of  claim 5 , wherein the at least one non-fixed portion comprises a medical or resting bed or a partially or fully horizontally oriented medical or resting bed. 
     
     
         9 . The flight vehicle of  claim 5 , wherein the at least one non-fixed portion comprises a payload container or payload box or payload bay, wherein a floor, sides and a top cover contain a payload. 
     
     
         10 . The flight vehicle of  claim 5 , wherein sensors are embedded within the apparatus adapted to detect tilt and rotation, where the embedded sensors include at least one of force sensors, electromagnetic wave based sensors, inertial-measurement-units that detect a change in planar orientation of a second portion relative to a fixed portion, distance sensors that detect a change in linear distance between two locations within an apparatus that enables at least one of tilt and rotation for the at least one non-fixed portion relative to the fixed portion. 
     
     
         11 . The flight vehicle of  claim 5 , wherein at least one force sensor is arranged across a surface of the at least one non-fixed portion, wherein the surface is a flat weight supporting surface. 
     
     
         12 . The flight vehicle of  claim 5 , wherein at least one force sensor is arranged across a surface of the at least one non-fixed portion, wherein the surface is a side, wall, or angled portion of the surface of the at least one non-fixed portion. 
     
     
         13 . An apparatus attached to a flight vehicle, the apparatus comprising:
 a coupling mechanism adapted to couple a fixed portion of the flight vehicle and at least one non-fixed portion of the flight vehicle, the coupling mechanism comprising a base-side adapted to be attached to at least a portion of the fixed portion of the flight vehicle, comprising at least one of top, bottom, or side of the flight vehicle and a payload-facing-side adapted to be attached to a non-fixed portion of the flight vehicle, and adapted to be attached to the base-side such that the payload-facing-side is parallel to the base-side and facing an opposite direction from the base-side, such that when the base-side is attached to the flight vehicle, the payload-facing-side is facing away from the flight vehicle; and   a plurality of sensors embedded in the coupling mechanism, wherein the plurality of sensors is adapted to detect and measure a perturbation in at least one of a tilt, shift or rotation of a payload when the payload is on or attached to the payload-facing-side, and wherein the flight vehicle may adjust to the detected and measured perturbation of the payload.   
     
     
         14 . The apparatus of  claim 13 , wherein the payload-facing-side is adapted to hold a rider in a standing, sitting, reclining, or prone position and to be tilted by a forward, backward, or angular motion of the rider in a direction transverse to a planar axis of the non-fixed portion of the flight vehicle, to be rotated by a left or right motion of the rider along the planar axis of the non-fixed portion of the flight vehicle, or both. 
     
     
         15 . The apparatus of  claim 13 , wherein the payload-facing-side is adapted to hold a payload or human rider in a standing, sitting, reclining, or prone position in a pilot seat, rider or passenger seat, or medical bed, wherein at least one of a tilt, lean, rotation, center of mass or change in center of mass is detected and input to at least one of the vehicle system, flight dynamics, and control system while the flight vehicle performs autonomous or remote piloted flight. 
     
     
         16 . The apparatus of  claim 13 , wherein the apparatus further comprises pressure measuring sensors embedded in the apparatus and adapted to detect a movement of a payload when at least one of a tilt, shift or rotation of a payload occurs based on compression of the pressure measuring sensors. 
     
     
         17 . The apparatus of  claim 13 , wherein the apparatus further comprises IUMs embedded in the apparatus and adapted to detect a movement of a payload when at least one of a tilt, shift or rotation of a payload based on a change in orientation between the base-side and the payload-facing-side. 
     
     
         18 . The apparatus of  claim 13 , wherein the apparatus further comprises distance measuring sensors embedded between the base-side and the payload-facing-side and adapted to detect at least one of a tilt, shift or rotation of a payload based on a change in distance between the base-side and the payload-facing-side. 
     
     
         19 . The apparatus of  claim 13 , wherein the base-side and the payload-facing-side are connected using at least one a magnet or electromagnet. 
     
     
         20 . The apparatus of  claim 13 , wherein at least one of hydraulics and actuators are connected to the base-side and the payload-facing-side.