CN100444069C - Double measurement and control system in use for coaxial dual rotors of unmanned helicopter - Google Patents
Double measurement and control system in use for coaxial dual rotors of unmanned helicopter Download PDFInfo
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- CN100444069C CN100444069C CNB2007100629047A CN200710062904A CN100444069C CN 100444069 C CN100444069 C CN 100444069C CN B2007100629047 A CNB2007100629047 A CN B2007100629047A CN 200710062904 A CN200710062904 A CN 200710062904A CN 100444069 C CN100444069 C CN 100444069C
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Abstract
A dumachine control system of coaxial pilotless heligyro comprises two sets of ground units and one set of heligyro unit. It is featured as forming said ground unit by control machine platform, flying control table , remote control coder, remote detection decoder, ground control computer, control emitter/receiver and control antenna; forming heligyro unit by control antenna, control emitter/receiver, control video processing combination and low speed signal regulator.
Description
One, technical field
The present invention is a kind of TT﹠C system, is meant a kind of TT﹠C system that is used for axle-shared double-rotary wing pilotless helicopter especially, belongs to the observation and control technology field.
Two, background technology
Pilotless helicopter is a kind of helicopter that utilizes wireless remote control control flight, compare with fixed wing aircraft, the poor stability of pilotless helicopter flight, state of flight change rapidly, ground controlling control is complicated more, therefore, pilotless helicopter is had higher requirement to radio telemetry control system.And the performance quality of TT﹠C system, reliably whether, for guaranteeing the pilotless helicopter safe flight, finishing the work and have great significance smoothly.
A kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter of the present invention, this system is to be CN1358650 at publication number, name is called " a kind of telechirics that is used for axle-shared double-rotary wing pilotless helicopter " and publication number is CN1358984, is called a kind of improvement on the basis of the related TT﹠C system of " a kind of telemetry system that is used for axle-shared double-rotary wing pilotless helicopter " these two Chinese invention patents.Above-mentioned existed system is a kind of man-to-man TT﹠C system, promptly an observing and controlling car carries out observing and controlling to a unmanned plane, though existed system also has the auxiliary remote control equipment of a cover, but it can only play a role in unmanned plane is in operator visual field visible range, operating distance is very limited, and main observing and controlling link in most cases all is to break down under the situation of (outside the field range) far away at unmanned plane and observing and controlling spacing, in case and failure condition occurs, this moment, auxiliary remote control equipment can't play a role fully.At this defective that existed system exists, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter of the present invention, this is a kind of two pairs one TT﹠C system, is promptly worked simultaneously to finish the observing and controlling to a unmanned plane by two observing and controlling cars.System of the present invention possesses very big dirigibility, can be configured to two pairs one working methods, also can be configured to working method one to one, under two pairs one working methods, two observing and controlling cars are finished by airborne measurement and control system and ground observing and controlling system and driver's Shared Decision Making the control of unmanned plane, land station not only can monitor every sensor parameters of unmanned plane itself by airborne telemetering system, can also monitor the communication link situation of this observing and controlling car and another observing and controlling car and unmanned plane, when breaking down for one in two links, can take over the observing and controlling of unmanned plane by another, this has just improved system reliability greatly, can also increase the observing and controlling distance to unmanned plane simultaneously to a certain extent.In addition, assist the remote control equipment effect very limited in the existed system, and increased the complicacy of system, system of the present invention has cancelled this equipment, thereby makes that design is more terse.
Advantage of the present invention is that design is terse, reliability is high, operating distance is far away.
Three, summary of the invention
A kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter of the present invention, its fundamental purpose is to improve the reliability of observing and controlling, and can increase the operating distance of unmanned plane under the situation that two cover ground observing and controlling systems are worked simultaneously.
A kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter of the present invention, it is made up of two cover ground observing and controlling systems and a cover airborne measurement and control system.
Two cover ground observing and controlling systems are formed by observing and controlling car platform, flight control platform, remote control coder, remote measurement demoder, ground monitoring computing machine, observing and controlling receiver/transmitter and observing and controlling antenna.Wherein the flight control platform connects remote control coder; Remote control coder all links to each other with the observing and controlling receiver/transmitter with the ground monitoring computing machine with the remote measurement demoder; The observing and controlling receiver/transmitter connects the observing and controlling antenna; More than these equipment be installed on the observing and controlling car platform.
Wherein, compare with existed system, the present invention has cancelled auxiliary remote control equipment and interface thereof, has cancelled the change-over switch of master/auxiliary remote control on the flight control platform, has increased the remote control change-over switch at primary/secondary station simultaneously; Increase by one cover voice communication facilities is used for the communication between two cars.
Wherein, remote control frame format in the remote control coder of the present invention and the telemetry frame form in the remote measurement demoder, it requires as follows: the remote control frame format as shown in Figure 8, bit rate 9600bps wherein, frame length is 60 bytes, frame rate 20Hz; The switching controls switch is used to switch current observing and controlling car and is in control mode or monitoring mode; Frame number, proportional command, switch order and existed system same meaning; Check byte is used for these frame data are carried out parity checking, with further raising reliability.The telemetry frame form increases the status information (representing with the effective remote control number of frames that the airborne telechirics of per second receives) of another road telecommand passback and two-way remote-control channel on the existed system basis.
The monitoring software that moves on remote control coder, remote measurement demoder and the ground monitoring computing machine is all done corresponding modify at frame format.
Airborne measurement and control system is made up of observing and controlling antenna 1, observing and controlling antenna 2, observing and controlling receiver/transmitter 1, observing and controlling receiver/transmitter 2, the combination of observing and controlling Video processing and low speed signal conditioner.Observing and controlling antenna 1 is connected on the observing and controlling receiver/transmitter 1, and forms a communication link; Observing and controlling antenna 2 is connected on the observing and controlling receiver/transmitter 2, and forms a communication link; Observing and controlling receiver/transmitter 1 all links to each other with the combination of observing and controlling Video processing with observing and controlling receiver/transmitter 2; The combination of observing and controlling Video processing links to each other with the low speed signal conditioner by the CAN bus.
Wherein, observing and controlling working method of the present invention both can use the two cover ground observing and controlling systems work that backup each other also can single work simultaneously; Backup each other under the working condition at two cover ground observing and controlling systems, the control of unmanned plane is finished by airborne measurement and control system and ground observing and controlling system and driver's Shared Decision Making.
Wherein, two communication links of the present invention, synchronous and Error Control passage, under two cover ground observing and controlling systems while working conditions, two cover ground observing and controlling systems use one of them communication link respectively.
This airborne measurement and control system of the present invention is by A, B two-way remote control microprocessor in the remote control disposable plates, the count value of per second is sent to the voltage transformation microprocessor, and then return to the remote measurement disposable plates by telecommand by the voltage transformation microprocessor, by the remote measurement disposable plates this information is beamed back surface telemetry system at last, and then the accuracy of each passage telecommand added up, and, will reflect that simultaneously the statistics of each remote-control channel state directly is presented on the supervision screen of two car ground monitoring computing machines by the airborne measurement and control system passback.
Of the present invention pair of car TT﹠C system state is divided into " control ", " monitoring " and " seizure " three kinds of states.
Wherein, observing and controlling Video processing combination of the present invention is made up of airborne observing and controlling video combination box, remote control disposable plates, remote measurement disposable plates, airborne remote circuit plate A, airborne remote circuit plate B and airborne remote-control romote-sensing backboard; Wherein, remote control disposable plates, remote measurement disposable plates, airborne remote circuit plate A, airborne remote circuit plate B link to each other with airborne remote-control romote-sensing plate respectively, and all these equipment all are installed among the airborne observing and controlling video combination box.
Wherein, remote control disposable plates of the present invention is made up of A road remote control microprocessor, B road remote control microprocessor, voltage transformation microprocessor, 12 bit parallel D/A and 8 multi-path serial D/A; Wherein, A road remote control microprocessor, B road remote control microprocessor, 12 bit parallel D/A, 8 multi-path serial D/A link to each other with the voltage transformation microprocessor respectively.
Observing and controlling Video processing combination of the present invention, observing and controlling receiver/transmitter 1 and observing and controlling receiver/transmitter 2, its power supply all adopts Redundancy Design, promptly by two DC-DC power module cooperatings, each block power supply module all connects a schottky diode (as RB051L) at output terminal, when causing not exporting as a block power supply module damage, then another piece still can continue normal output.
Wherein, low speed signal conditioner of the present invention is made up of low speed signal conditioner casing, low speed signal conditioning plate, tachometric survey and data interface board, power panel A, power panel B and backboard; Wherein, low speed signal conditioning plate, tachometric survey and data interface board, power panel A, power panel B link to each other with backboard respectively, and all these equipment all are installed among the low speed signal conditioner casing.
Power panel of the present invention all adopts unified design, is used interchangeably.
Wherein, power panel of the present invention all adopts redundant design, for remote control disposable plates and remote measurement disposable plates provide reliable and stable direct supply, as wherein damage, do not influence the operate as normal of system, backboard is used to connect each piece disposable plates and and external interface.
The low speed signal conditioner is used to gather the sensing data that changes slowly, as temperature, pressure, oil mass, supply voltage.The data of gathering send to remote measurement disposable plates in the combination of observing and controlling Video processing through compiling behind the frame by the CAN bus.
Takeoff point observing and controlling car is called main website, is called extension station near impact point observing and controlling car.Its requirement comprises:
1. guaranteeing that major-minor station is seamless seamlessly transits;
2. the control hand-over is clear, guarantees not cause confusion;
3. land station can know that know is who is in state of a control actually;
4. the ground decision-maker can know the validity of knowing two ground station control from telemetry;
5. it is simple as far as possible to handle control procedure.
Advantage of the present invention is that design is terse, reliability is high, operating distance is far away.
Four, description of drawings
Below in conjunction with the accompanying drawings and the specific embodiments the present invention is described in further detail.
Fig. 1 is that total system of the present invention is formed synoptic diagram.
Fig. 2 is the composition frame chart of ground observing and controlling system of the present invention.
Fig. 3 is the composition frame chart of airborne measurement and control system of the present invention.
Fig. 4 is the structured flowchart of the airborne observing and controlling video combination of the present invention.
Fig. 5 is the structured flowchart of remote control disposable plates in the airborne observing and controlling video combination of the present invention.
Fig. 6 is the workflow diagram of A road remote control microprocessor and B road remote control microprocessor in the remote control disposable plates of the present invention.
Fig. 7 is the workflow diagram of voltage transformation microprocessor in the remote control disposable plates of the present invention.
Fig. 8 is a remote control frame format block diagram of the present invention.
Fig. 9 is the implementation block diagram of power supply redundancy design of the present invention.
Figure 10 is an of the present invention pair of car observing and controlling state and to the decision logic diagram of unmanned aerial vehicle (UAV) control power.
Figure 11 is a low speed signal conditioner structured flowchart of the present invention
Five, embodiment
A kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter of the present invention.As shown in Figure 1, the present invention is made up of two cover ground observing and controlling systems and a cover airborne measurement and control system, and two cars can be monitored unmanned plane simultaneously, and by a car wherein unmanned plane are controlled.Two cars are finished by airborne measurement and control system and ground observing and controlling system and driver's Shared Decision Making the control of unmanned plane.
As shown in Figure 2, ground observing and controlling system is made up of observing and controlling car platform, flight control platform, remote control coder, remote measurement demoder, ground monitoring computing machine, observing and controlling receiver/transmitter and observing and controlling antenna.The flight control platform connects remote control coder, and remote control coder all links to each other with the observing and controlling receiver/transmitter with the ground monitoring computing machine with the remote measurement demoder, and the observing and controlling receiver/transmitter connects the observing and controlling antenna, more than these equipment be installed on the observing and controlling car platform.
The flight control platform sends telecommand, this instruction is sent to remote control coder, finish the remote control framing by remote control coder, this remote control framing is sent to the observing and controlling receiver/transmitter on the one hand and goes out via the observing and controlling antenna transmission, is sent to the ground monitoring computing machine simultaneously and is shown.And finish decoding through the observing and controlling receiver/transmitter by the remote measurement demoder from the telesignalisation that the observing and controlling antenna receives, deliver to the ground monitoring computing machine and show.The observing and controlling receiver/transmitter of two observing and controlling cars uses different frequencies to realize the unified observing and controlling to unmanned plane.
As shown in Figure 3, airborne measurement and control system is made up of observing and controlling antenna 1, observing and controlling antenna 2, observing and controlling receiver/transmitter 1, observing and controlling receiver/transmitter 2, the combination of observing and controlling Video processing and low speed signal conditioner.Observing and controlling antenna 1 is connected on the observing and controlling receiver/transmitter 1, and forms a communication link; Observing and controlling antenna 2 is connected on the observing and controlling receiver/transmitter 2, and forms a communication link; Observing and controlling receiver/transmitter 1 all links to each other with the combination of observing and controlling Video processing with observing and controlling receiver/transmitter 2; The combination of observing and controlling Video processing links to each other with the low speed signal conditioner by the CAN bus.
Observing and controlling antenna 1 and 2 is received the telecommand of sending from the observing and controlling car, this instruction is delivered to the combination of observing and controlling Video processing via observing and controlling receiver/ transmitter 1 and 2 respectively, and this two-way telecommand is carried out synchronous processing by the remote control disposable plates in the observing and controlling Video processing combination, decision-making, give the remote measurement disposable plates to be converted into corresponding remote signal and to return telecommand, gather the telemetry that all need by the remote measurement disposable plates again, data are packed, last mode with the PCM data stream sends the observing and controlling receiver/transmitter to and sends by downlink, thereby finishes the control to unmanned plane.
Wherein, remote control disposable plates (see figure 5) mainly finish the two-way remote signal synchronously, handle and decision-making, correct telecommand is converted into corresponding signal form (switching value and analog quantity) finishing the control to unmanned plane, and passes through I
2C bus passback telecommand is given the remote measurement disposable plates.Wherein little processing recommends to adopt the mega series A VR single-chip microcomputer of Atmel company.12 bit parallel DA are used to export high-precision simulation controlled quentity controlled variable, and 8 multi-path serial DA are used to export the simulation controlled quentity controlled variable of multichannel general precision.The course of work of A road remote control microprocessor and B road remote control microprocessor is basic identical, mainly finish the reception of remote-control data, and the state that this road remote-control channel is set according to the validity and the continuity of the remote-control data that receives, effective telecommand that will receive then sends to voltage transformation microprocessor (idiographic flow is seen Fig. 6) by UART.The voltage transformation microprocessor makes a policy according to the remote-control channel status information that A, B two-way remote control microprocessor provide, and the telecommand of the remote-control channel selected is converted into corresponding signal form to finish the control of unmanned plane, passes through I simultaneously
2C bus passback telecommand is given remote measurement disposable plates (its workflow is seen Fig. 7).
The remote measurement disposable plates is used to gather the telemetry of all needs, and data are packed, and last mode with the PCM data stream sends the observing and controlling receiver/transmitter to and sends by downlink.
The remote control decision scheme mainly solves two observing and controlling cars, and who obtains problem to the control of aircraft.One tunnel telecommand is finished the control to unmanned plane in two communication links; Frame is gathered, compiled to the various sensor status information of unmanned plane and the telecommand that receives by combination of observing and controlling Video processing and low speed signal conditioner, and gone out by the observing and controlling antenna transmission through the observing and controlling receiver/transmitter.
In use, two car land station TT﹠C system can be under following five kinds of states:
1. control
2. monitoring
3. can survey
4. controlled
5. lost efficacy
Control in real time is the content output controlled quentity controlled variable of airborne remote control equipment according to this land station's upstream data to aircraft in " control " expression land station;
" monitoring " expression current land station telemetry and telecommand equipment and Link State are good, have the ability to take over the control of aircraft, but do not obtain the control of aircraft, are in readiness;
It is in good condition " can to survey " the current land station of expression telemetry, but distant control chain circuit unusual (mainly being reflected on the instruction packet loss), land station can be by the remote control situation of remote measurement observation airplane and another land station of understanding;
The current land station of " controlled " expression distant control chain circuit is normal, but remote measurement was lost efficacy; In this state, whether land station can't learn oneself from telemetry " controlled ", " controlled " (can also understand the other side with voice communication certainly and control situation) of whether also not knowing another land station
" inefficacy " expression current land station remote control and remote measurement all are in abnormality;
Generally speaking, " can survey " and " controlled " two states under all can't implement effectively control to aircraft; Because " can survey " is known uncontrollable, and " controlled " state is owing to be (airborne equipment is known, knows under the other side's remote measurement normal condition) that can't learn from land station's telemetry.Therefore from land station's observation angle, " can survey " and " controlled " should be considered as engineering noise in the ordinary course of things; More special situation is: the aircraft current location is relatively near land station, and is highly lower, can visual control, and understood by observation or another land station and own aircraft to be had control ability; When this situation, can do special emergency processing.
Therefore, when carrying out state analysis, can be divided into the TT﹠C system state: three kinds of states of " control ", " monitoring " and " seizure " are analyzed.Wherein the implication of " seizure " state is: under visual effectively operating condition, land station is because one of remote measurement, remote control or lost efficacy simultaneously and can't control effectively to aircraft.
The decision logic process in the remote control source of choosing of conversion between the various states and airborne equipment is seen Figure 10.
Blue end box indicating TT﹠C system state of living in, the implication that state changes is: when certain is worse off overshoot time (for example recovery does not think that change has taken place state after the short out temporary fluctuation of Quality Initiative) time; The rhombus representative of the yellow end need be according to the aircraft situation and fixed decision-making; Circular reason and the corresponding operation of representing state variation in the yellow end.
It is pointed out that lower left corner state is of short duration special state.Because airborne logic guarantees that main website is preferential, so this state can't influence the airborne equipment arbitration.The condition that this state may occur is: when a certain land station is in master control, and another land station is when in the monitoring state, owing to the other side more helps controlling in the process that aircraft exchanges control.
The reason of each state variation and corresponding operation among the figure:
1. the main website state of a control worsen to surpass T second-main website and abandons control-enter the automatically state of taking home;
2. the deterioration of main website state of a control is abandoned control-remote measurement prompting, catcher-extension station of verbal announcement extension station acquire the right of control-speech answering above T second-main website;
3. the extension station state of a control worsen to surpass T second-extension station and abandons control-enter the automatically state of taking home;
4. take home under the state, main website catches again and condition helps the acquire the right of control of control-main website of main website;
5. take home under the state, extension station catches again and condition helps the acquire the right of control of control-extension station of extension station;
6. main website state of a control, simultaneously extension station in good condition-extension station more helps control (landing as other subsystem fault needs)-catcher-extension station of catcher-extension station of verbal announcement extension station speech answering nearby, remote measurement prompting-main website abandons control;
7. extension station state of a control, simultaneously main website in good condition-main website more helps requirement catcher-extension station of control (landing as other subsystem fault needs)-verbal announcement extension station of main website speech answering-catcher-main website of main website verbal announcement nearby, remote measurement prompting-extension station abandons control and speech answering;
8. taking home, all catch again at the major-minor station of state and in the monitoring state-condition helps control-main website of main website acquire the right of control-verbal announcement extension station, and remote measurement prompting-extension station is replied;
9. taking home, all catch again at the major-minor station of state and in the monitoring state-condition helps answer agreement-extension station of requirement control-main website of verbal announcement main website of control-extension station of extension station catcher-speech answering, remote measurement prompting.
But the of the present invention pair of car TT﹠C system both can have been used the also bicycle work of work that backups each other of two cars simultaneously, under the situation that two turners are done, two cars are finished by mobile system and ground system and driver's Shared Decision Making the control of unmanned plane, this system can improve the reliability of observing and controlling greatly, and can increase the operating distance of unmanned plane under the situation that two cars are worked simultaneously.
Claims (8)
1, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter, this pair car TT﹠C system, both can two the cover ground observing and controlling systems backup each other simultaneously to use and also can singlely use, this pair car TT﹠C system is finished by airborne measurement and control system and ground observing and controlling system and driver's Shared Decision Making the control of unmanned plane, and it is characterized in that: this pair car TT﹠C system is made up of two cover ground observing and controlling systems and a cover airborne measurement and control system; Every cover ground observing and controlling system is made up of observing and controlling car platform, flight control platform, remote control coder, remote measurement demoder, ground monitoring computing machine, observing and controlling receiver/transmitter and observing and controlling antenna; Wherein the flight control platform connects remote control coder, and remote control coder all links to each other with the observing and controlling receiver/transmitter with the ground monitoring computing machine with the remote measurement demoder, and the observing and controlling receiver/transmitter connects the observing and controlling antenna, and all these equipment all are installed on the observing and controlling car platform; This airborne measurement and control system is made up of observing and controlling antenna 1, observing and controlling antenna 2, observing and controlling receiver/transmitter 1, observing and controlling receiver/transmitter 2, the combination of observing and controlling Video processing and low speed signal conditioner; Wherein observing and controlling antenna 1 is connected on the observing and controlling receiver/transmitter 1; Observing and controlling antenna 2 is connected on the observing and controlling receiver/transmitter 2, and observing and controlling receiver/transmitter 1 all links to each other with the combination of observing and controlling Video processing with observing and controlling receiver/transmitter 2; The low speed signal conditioner links to each other with the combination of observing and controlling Video processing.
2, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: this pair car TT﹠C system state is divided into " control ", " monitoring " and " seizure " three kinds of states.
3, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 1 is characterized in that: this observing and controlling Video processing combination is made up of airborne observing and controlling video combination box, remote control disposable plates, remote measurement disposable plates, airborne remote circuit plate A, airborne remote circuit plate B and airborne remote-control romote-sensing backboard; Wherein remote control disposable plates, remote measurement disposable plates, airborne remote circuit plate A, airborne remote circuit plate B link to each other with airborne remote-control romote-sensing plate respectively, and all these equipment all are installed among the airborne observing and controlling video combination box.
4, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 3, it is characterized in that: this remote control disposable plates is made up of A road remote control microprocessor and B road remote control microprocessor, voltage transformation microprocessor, 12 bit parallel D/A and 8 multi-path serial D/A; Wherein, A road remote control microprocessor, B road remote control microprocessor, 12 bit parallel D/A, 8 multi-path serial D/A link to each other with the voltage transformation microprocessor respectively.
5, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: this low speed signal conditioner is made up of low speed signal conditioner casing, low speed signal conditioning plate, tachometric survey and data interface board, power panel A, power panel B and backboard; Wherein, low speed signal conditioning plate, tachometric survey and data interface board, power panel A, power panel B link to each other with backboard respectively, and all these equipment all are installed among the low speed signal conditioner casing.
6, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: the power supply of this observing and controlling Video processing combination, observing and controlling receiver/transmitter 1 and observing and controlling receiver/transmitter 2 all adopts Redundancy Design, promptly by two DC-DC power module cooperatings, each block power supply module all connects a schottky diode at output terminal.
7, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: this airborne measurement and control system has two independently communication link, synchronous and Error Control passages, under the two cover ground observing and controlling systems situations of working simultaneously, two cover ground observing and controlling systems use wherein one the tunnel respectively; This airborne measurement and control system can be added up the accuracy of each passage telecommand, and by the airborne measurement and control system passback, will reflect that simultaneously the statistics of each remote-control channel state directly is presented on the supervision screen of two car ground monitoring computing machines.
8, a kind of two car TT﹠C system that are used for axle-shared double-rotary wing pilotless helicopter according to claim 1 is characterized in that: the voice communication apparatus that this ground observing and controlling system is provided with primary/secondary station remote control change-over switch and is used for communicating by letter between two cars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100629047A CN100444069C (en) | 2007-01-19 | 2007-01-19 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100629047A CN100444069C (en) | 2007-01-19 | 2007-01-19 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
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| CN101004607A CN101004607A (en) | 2007-07-25 |
| CN100444069C true CN100444069C (en) | 2008-12-17 |
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