Inverted-landing aircraft
An aircraft defining an upright orientation and an inverted orientation, a ground station; and a control system for remotely controlling the flight of the aircraft. The ground station has an auto-land function that causes the aircraft to invert, stall, and controllably land in the inverted orientation to protect a payload and a rudder extending down from the aircraft. In the upright orientation, the ground station depicts the view from a first aircraft camera. When switching to the inverted orientation: (1) the ground station depicts the view from a second aircraft camera, (2) the aircraft switches the colors of red and green wing lights, extends the ailerons to act as inverted flaps, and (3) the control system adapts a ground station controller for the inverted orientation. The aircraft landing gear is an expanded polypropylene pad located above the wing when the aircraft is in the upright orientation.
1. A method of calculating the absolute altitude of an aircraft that is changing altitudes, comprising:
using a ground-camera to repeatedly image a feature of a fixed size on the ground;
calculating an imaged size of the feature;
calculating a rate of change in the imaged size over time;
calculating a rate of descent; and
calculating an estimated absolute altitude using the rate of change of the monitored ground image and the estimated rate of descent.
2. The method of calculating the absolute altitude of an aircraft that is changing altitudes of claim 1 , wherein the rate of decent is established by monitoring the change in the true altitude.
3. The method of calculating the absolute altitude of an aircraft that is changing altitudes of claim 2 , wherein the change in true altitude is measured by monitoring a change in air pressure.
4. The method of claim 1 , wherein the aircraft includes a first camera oriented to view downward and forward while the aircraft is in an upright orientation, and a second camera oriented to view downward and forward while the aircraft is in an inverted orientation, and further comprising the step of using the first camera as the ground-camera while the aircraft is in the upright orientation, and using the second camera as the ground-camera while the aircraft is in the inverted orientation.