Method of piloting a multiple rotor rotary-wing drone to follow a curvilinear turn

[0060]There follows a description of an implementation of the invention.

[0061]In FIG. 1, reference 10 is a general reference for a drone, which drone may for example be a quadricopter such as the model AR Drone from Parrot SA, Paris, France, as described in the above-mentioned WO 2010 / 061099 A2 and also in WO 2009 / 109711 A2 (which describes an example of an automatic stabilizer system operating on the basis of information supplied by an altimeter and a forward-looking camera) and FR 2 915 565 A1 (which describes in particular a gyro and accelerometer control system used by the drone).

[0062]The drone 10 has four coplanar rotors 12 driven by motors that are controlled independently by an integrated navigation and attitude control system. It is provided with a forward-looking, first camera 14 for obtaining an image of the scene towards which the drone is heading, e.g. a wide-angle CMOS sensor camera of VGA resolution (640×480 pixels) with a video stream refresh frequency of 15 frames