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1. (WO2018022350) MAINTAINING A STABLE PHASE DIFFERENCE BETWEEN MULTIPLE TETHERED VEHICLES LIFTING A PAYLOAD

Pub. No.:    WO/2018/022350    International Application No.:    PCT/US2017/042543
Publication Date: Fri Feb 02 00:59:59 CET 2018 International Filing Date: Wed Jul 19 01:59:59 CEST 2017
IPC: B64C 37/02
B64D 1/22
G05D 1/00
G05D 1/04
G05D 1/08
G05D 1/10
Applicants: KITTY HAWK CORPORATION
Inventors: VANDER LIND, Damon
HORN, Gregory, Mainland
Title: MAINTAINING A STABLE PHASE DIFFERENCE BETWEEN MULTIPLE TETHERED VEHICLES LIFTING A PAYLOAD
Abstract:
A system to maintain a phase difference is disclosed. Two or more aircraft fly in a continuous periodic trajectory. The system maintains a phase difference between the two or more aircraft. Telemetry information for a reference aircraft moving in a first periodic trajectory is received. A phase difference between a primary aircraft and the reference aircraft with respect to the first periodic trajectory is determined. A variance in the phase difference between the primary aircraft and the reference aircraft from the target phase difference is determined. A new trajectory for the primary aircraft that decreases the variance in the phase difference with respect to the new periodic trajectory is determined, and the primary aircraft is maneuvered to follow the new trajectory.