Method and system for controlling a flying wing

Method according to any one of the preceding claims, wherein the vertical position and the horizontal position are Cartesian positions or the vertical position and the horizontal position are a vertical angle and a horizontal angle respectively.

Method according to any one of the preceding claims, wherein the heading is obtained from a heading sensor, the pressure is obtained from a pressure sensor, the yaw rate is obtained from a yaw rate sensor and the speed is obtained from a speed sensor.

Method according to any one of the preceding claims, wherein the flying wing (2) is arranged to be attached to said level L by means of a tether (8) attached to a structure (9) positioned at said level L.

Method according to any one of the preceding claims, wherein the flying wing (2) comprises a turbine (5) for generating electrical energy by the movement of the flying wing (2) through the fluid and where the flying wing (2) is submerged.

System (1) comprising a flying wing (2) comprising a wing (3) and at least one control surface (7) for controlling the movement of the flying wing (2) along a predetermined trajectory (12), the flying wing (2) being arranged to move along the predetermined trajectory (12) by means of a fluid stream (10) passing the wing (3), the flying wing (2) being positioned in a reference system where the x-axis is directed horizontally along a level L above which the flying wing (2) moves, the y-axis is perpendicular to the x-axis in a vertical direction and the z-axis is perpendicular to the x-axis along the level L in a direction along the principal direction of the fluid stream (10), characterized in that the system (1) uses measured values of yaw rate, heading and vertical position and a modelled value of horizontal position during an sensor feedback phase of movement along the predetermined trajectory (12), and modelled values of yaw rate, vertical position, horizontal position and heading during a model feedback phase of movement along the predetermined trajectory (12) for control of the flying wing (2), wherein the system (1) uses as measured input values the heading, pressure to obtain measured vertical position, yaw rate and speed.

System (1) according to any one of the preceding claims, wherein the flying wing (2) is arranged to be attached to said level L by means of a tether (8) attached to a structure (9) positioned at said level L.

System (1) according to any one of the preceding claims, wherein the heading is obtained from a heading sensor, the pressure is obtained from a pressure sensor, the yaw rate is obtained from a yaw rate sensor and the speed is obtained from a speed sensor