Method for the intuitive piloting of a drone by means of a remote control

A method for piloting, by means of a remote control apparatus, a rotary wing drone with multiple rotors driven by respective motors that can be controlled in a differentiated manner to pilot the drone attitude-wise and speed-wise, comprising the following steps:

• by the apparatus (16):
• inclination of the apparatus according to the pitch (32) and roll (34) axes of this apparatus, and production of corresponding inclination signals (θI, φI);
• and
• transformation of these inclination signals of the apparatus into piloting commands and sending of these commands to the drone, and
• by the drone (10):
• reception of the piloting commands and generation from these commands of setpoint values (θd, φd) for a drone motor control loop, these setpoint values being suitable for controlling the attitude of the drone according to the pitch (22) and roll (24) axes of the drone,
• wherein this method comprises the following additional steps:
• acquisition of first orientation data (ψiP) of a local reference frame linked to the apparatus (XlYlZl) in relation to an absolute reference frame linked to the ground (XNEDYNEDZNED);
• acquisition of second orientation data (ψdrone) of a local reference frame linked to the drone (XbYbZb) in relation to said absolute reference frame (XNEDYNEDZNED);
• computation of a relative angular orientation datum (Δψ) of the drone in relation to the apparatus, from said first and second orientation data;
• and
• realignment of the reference frame of the apparatus on the reference frame of the drone, by application to the piloting commands of a rotation that is a function of said relative angular orientation datum,
• so as to thus produce realigned setpoint values according to the pitch and roll axes of the drone which are a function of the inclinations, applied to the apparatus by the user according to the pitch and roll axes thereof, considered in the local reference frame linked to the apparatus and no longer in that linked to the drone.