US Patent 10228245 Altitude estimator for a drone

A drone including a barometric sensor adapted to deliver a drone altitude signal; a sensor for measuring the attitude of said drone, adapted to estimate at least one angle of attitude of the drone, and altitude determination means adapted to deliver a drone altitude value, expressed in an absolute terrestrial reference system. The drone includes a relative wind speed sensor adapted to measure the relative wind speed and the altitude determination means includes a device for memorizing predetermined altitude compensation data, an altitude estimator receiving as an input the signals delivered by the attitude measurement sensor and by the relative wind speed sensor and by the barometric sensor and combining these signals with the altitude compensation data memorized in the memorized device to output the estimated drone altitude value.