US Patent 9211959 UAV launching from moving platform

A system for launching an unmanned aerial vehicle (UAV) from a moving platform, the system including: a platform configured to carry the UAV; one or more sensors configured to measure forces acting between the platform and the UAV in one or more directions; a mooring mechanism configured to moor the UAV to the platform; and a controller configured to: transmit at least one trimming command to the UAV based on measurements of the one or more sensors, and cause the mooring mechanism to release the UAV from the platform following the transmitting of the at least one trimming command, when the measurements of the one or more sensors indicate that a lift force is sufficiently close to a weight of the UAV.