CN105947241B - A kind of quick delivery system in disaster relief unmanned plane space-based whole world - Google Patents
A kind of quick delivery system in disaster relief unmanned plane space-based whole world Download PDFInfo
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- CN105947241B CN105947241B CN201610438600.5A CN201610438600A CN105947241B CN 105947241 B CN105947241 B CN 105947241B CN 201610438600 A CN201610438600 A CN 201610438600A CN 105947241 B CN105947241 B CN 105947241B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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Abstract
A kind of quick delivery system in disaster relief unmanned plane space-based whole world, it is characterised in that including：Delivery relay transmission spacecraft (1), autonomous reenter deliver cabin (2) and unmanned plane (3)；Delivery relay transmission spacecraft (1) is operated on satellite orbit, is independently reentered delivery cabin (2) and is connected with delivery relay transmission spacecraft (1), is independently reentered and is delivered cabin (2) carrying unmanned plane (3)；The characteristics of fully utilizing the in-orbit fast scooter in the spacecraft whole world can go deep into the characteristics of disaster nucleus closely gathers information with unmanned plane, unmanned aviation aircraft is loaded into in-orbit flight in spacecraft by the present invention, utilize its Global coverage characteristic, breach conventional lighter-than-air vehicles voyage and speed of a ship or plane limitation, improve disaster emergency response speed, unmanned aviation aircraft is delivered into devastated overhead using the means that reenter to carry out approaching prospecting, the problem of overcoming satellite imagery lack of resolution, improve the efficiency of disaster emergency response.
Description
Technical field
The present invention relates to a kind of unmanned plane delivery system.
Background technology
Generation air crash, shipwreck, cruelly warring conflicts, the probably accident such as attack, natural calamity, go to live place in rescue personnel
, it is necessary to be reconnoitred to the site of the accident before putting, to formulate rational rescue plan, means are reconnoitred in existing search and rescue mainly to be included
Dispatch personnel is carried out the inspection of the scene of a crime, using aircraft or unmanned plane etc. approach and reconnoitre, reconnoitred using satellite progress remotely sensed image.
But the existing search and rescue means of reconnoitring have some limitations, and the situation of disaster occurs especially for off-lying sea, remote districts, can
Rescue opportunity can be caused to be delayed.Concrete analysis is as follows：
Dispatch personnel carries out the inspection of the scene of a crime, relies primarily on professional rescue worker on foot, or take the instruments such as vehicle, ship
Go deep into disaster scene, field condition is examined on the spot, searches for survival personnel and offer timely services, but by landform, sea
The influence of condition, means of transport performance, the sphere of action of personnel is extremely limited, and before spot concrete condition is fully understood by, trade
Right dispatch personnel may cause secondary accident to occur.
Carry out approaching search and rescue using aviation aircrafts such as aircraft or unmanned planes and reconnoitre, the feelings on disaster innerland can not goed deep into
Under condition, scene is closely reconnoitred, searches for survival personnel, and implement to rescue by launching the modes such as goods and materials.Aircraft speed
It hurry up, maneuverability is strong, devastated can be generally investigated and be approached on a large scale detailed survey, but by aviation aircraft voyage and flight speed
Degree is limited, when disaster occurs for the area such as high sea, island, foreign manor, Desert Area, even if with the high subsonics currently generally equipped
Fast aircraft, it is also desirable to which time a few hours reaches the spot operation, and needs to make a return voyage before running out of gas, although work may be selected in unmanned plane
It is dropped to running out of gas, but is limited by the influence of remote control distance, can not also implements operation to remote areas.
Remotely sensed image is carried out using satellite to reconnoitre, and refers mainly to utilize Optical Imaging Satellite, top is crossed to disaster place in satellite
Period, scene is imaged, and view data is transmitted to ground system, rescue worker and obtained by analyzing satellite image
The information of disaster scene.The advantage of satellite remote sensing is to realize global arbitrary region fast by way of constellation networking
Speed revisits, and no geographical conditions restrict, and the imaging response time can foreshorten to hour level even minute level, but it is limited in that imaging
Resolution ratio is influenceed by satellite orbital altitude, only up to reach meter level at present to decimeter grade, the small scaled target such as personnel is identified
Scarce capacity, and influenceed seriously by weather conditions such as cloud layers, rainy weather can not implement operation.
The content of the invention
The technology of the present invention solves problem：Overcome prior art insufficient, the invention provides a kind of disaster relief unmanned plane day
The quick delivery system in the base whole world, in-orbit flight in spacecraft is loaded into by unmanned aviation aircraft, using its Global coverage characteristic,
Conventional lighter-than-air vehicles voyage and speed of a ship or plane limitation are breached, disaster emergency response speed is improved, is flown unmanned aviation using the means that reenter
Row device is delivered to devastated overhead and carries out approaching prospecting, the problem of overcoming satellite imagery lack of resolution, improves disaster
The efficiency of emergency response.
The present invention technical solution be：A kind of quick delivery system in disaster relief unmanned plane space-based whole world, including：In delivery
Cabin and unmanned plane are delivered after transmission spacecraft, autonomous reenter；Delivery relay transmission spacecraft is operated on satellite orbit, in delivery
After transmission spacecraft by star communication link receive the outside incident position sent, delivery time, unmanned plane during flying height,
Flight path information, determine independently to reenter according to incident position, delivery time, unmanned plane during flying height, flight path information
Deliver cabin flight attitude, autonomous reenter delivers cabin release time, independently reenters and deliver the cabin propulsion unit start moment, independently reenter
Deliver cabin igniting duration, unmanned plane release altitude and velocity information；Delivery relay transmission spacecraft flies the autonomous delivery cabin that reenters
Row posture, independently reenter and deliver cabin release time, independently reenter and deliver the cabin propulsion unit start moment, independently reenter and deliver cabin point
Fiery duration, unmanned plane release altitude and velocity information are transferred to autonomous reenter and deliver cabin and by unmanned plane during flying height, flight road
Footpath information transmission is to unmanned plane；Delivery relay transmission spacecraft is connected with the autonomous delivery cabin that reenters；
Autonomous reenter delivers cabin carrying unmanned plane；It is autonomous reenter deliver cabin according to it is predetermined it is autonomous reenter deliver cabin release when
Between with delivery relay transmission spacecraft separate；Autonomous reenter delivers the flight attitude that cabin is sent according to delivery relay transmission spacecraft
Information adjusts itself posture, and delivers the cabin propulsion unit start moment and autonomous reenter delivers cabin igniting duration according to autonomous reenter
Information control deceleration pulse enters the reentry corridor up to target area overhead；Autonomous reenter delivers cabin in height and speed arrival
Unmanned plane is discharged when specifying unmanned plane release altitude and speed；
Unmanned plane is after the disengaging of delivery cabin is independently reentered, according to the unmanned plane during flying height of delivery relay transmission spacecraft transmission
Degree, flight path information, into flight at controls state, the signal of communication of search delivery relay transmission spacecraft transmission, take
Build the communication link that unmanned plane arrives command terminal to delivery relay transmission spacecraft again；Unmanned plane sends unmanned plane to command terminal
Position, speed, attitude information, while unmanned plane obtains the flight control instruction that command terminal is sent and is used to change flying for unmanned plane
Walking along the street footpath；Unmanned plane during flying height, flight path information or the commander that unmanned plane is sent according to delivery relay transmission spacecraft are whole
The flight control instruction sent is held, target area is found and carries out tour flight, target area information is gathered or launches goods and materials, and
Image, the image data to command terminal collected by communication link passback.
The delivery relay transmission spacecraft carries communication relay data transmission subsystem, unmanned plane re-entry module operation subsystem；
Unmanned plane re-entry module operation subsystem autonomous will reenter deliver cabin flight attitude, it is autonomous reenter deliver cabin release time, it is autonomous again
Enter to deliver the cabin propulsion unit start moment, autonomous reenter delivers cabin igniting duration, unmanned plane release altitude and velocity information transmission
Fly control unit to independently reentering to deliver cabin and send unmanned plane during flying height, flight path information to unmanned plane；Communication relay
The signal of communication that data transmission subsystem is sent builds communication link to unmanned plane.
The autonomous delivery cabin that reenters includes control unit, energy unit, propulsion unit, unmanned plane release；Control is single
Member carries the posture determination that posture sensitive equipment is used to independently reenter input cabin, and carries attitude coutrol mechanism and be used to independently reenter
Deliver cabin pose adjustment, attitude coutrol mechanism include thruster, flywheel, control unit carry altimeter measurement oneself height,
Accelerometer and gyroscope calculate autonomous reenter and deliver cabin speed；Propulsion unit starts according to the propulsion unit start moment, according to
Autonomous reenter of setting delivers cabin igniting duration control deceleration pulse.
UAV flight's star machine communication system, payload, wherein payload include airborne imaging equipment, thing
Money；The signal of communication that communication relay data transmission subsystem in star machine communication system search delivery relay transmission spacecraft is sent, and
Transmit airborne imaging equipment collection target area video or audio-frequency information to command terminal.
The delivery relay transmission spacecraft orbits round the earth in LEO, and it is all to the whole world to form constellation networking
Area carries out regular covering.
The present invention compared with prior art the advantages of be：
(1) present invention reenters delivery cabin by delivery relay transmission spacecraft, independently and unmanned plane is formed, by flying around the earth
The autonomous mode for delivering cabin that reenters of capable delivery relay transmission spacecraft release carries out disaster and showed to disaster area delivery unmanned plane
Field is reconnoitred, relatively conventional Aerial Reconnaissance means, and the present invention is fast with the response time, accessibility excellent to global arbitrary region
Gesture；With respect to space remote sensing investigation way, it is flexible that image/video of the present invention obtains angle, using the teaching of the invention it is possible to provide what satellite photo was unable to reach
Definition, and do not influenceed by weather such as cloud layers.
(2) UAV flight's star machine communication system in the present invention, for establishing unmanned plane-delivery relay transmission space flight
The communication link of device-command terminal, compared to existing unmanned plane using direct reception command terminal signal by the way of, the present invention
The limitation of unmanned plane voyage and existing remote signal transmission range is much larger than to the operating distance of unmanned plane, can be achieved to unmanned plane
Very-long-range operation is carried out, for completing to reconnoitre task transoceanically, across intercontinental disaster.
(3) autonomous reenter with autonomous expansion release function in the air is proposed in the present invention and delivers cabin, can be according to certainly
Height degree and speed, voluntarily deploy, and discharge unmanned plane in the air, and unmanned plane can be directly entered state of flight whereby, remove from and take off
Deng action, tasks carrying efficiency is improved.
Brief description of the drawings
Fig. 1 is the aircraft composition figure of the present invention；
Fig. 2 is present invention delivery relay transmission spacecraft Organization Chart；
Fig. 3 delivers bay composition for autonomous reenter of the present invention；
Fig. 4 is operation unmanned plane Organization Chart of the present invention；
Fig. 5 is disaster relief unmanned plane space-based rapid system schematic diagram of the present invention；
Fig. 6 is that disaster of the present invention responds mission flow diagram；
The space-based unmanned plane that Fig. 7 is the present invention is delivered and operating system construction and service chart.
Embodiment
As shown in figure 1, a kind of quick delivery system in disaster relief unmanned plane space-based whole world, including delivery relay transmission spacecraft 1,
Autonomous reenter delivers cabin 2 and unmanned plane 3.
Relay transmission spacecraft 1 is delivered, as shown in Fig. 2 being that space-based unmanned plane is delivered and long-term in-orbit fortune in operating system
Capable part, have general satellite platform includes whole subsystems such as Star Service, structure, power supply, control, thermal control, meanwhile, carry
Communication relay data transmission subsystem and unmanned plane re-entry module operation subsystem, including the machinery/energy/information of connection re-entry module connect
Mouthful, for realizing the emergency disaster relief task-cycle being related in the present invention.The major function of delivery relay transmission spacecraft 1 is divided into two
Aspect, on the one hand, deliver the offer transmitting of cabin 2 and the carrying platform of operation phase on duty for autonomous reenter equipped with unmanned plane 3, together
When ensure it is autonomous reenter deliver cabin 2 and UAS the energy meets in orbit during the needs of, and in the task of delivery reality
Shi Qianwei, which is independently reentered, delivers cabin 2 and the loading primary data of unmanned plane 3；On the other hand, after the release of unmanned plane 3, communication is passed through
Data transmission subsystem is relayed, the communication connection of unmanned plane 3- delivery relay transmission spacecraft 1- command terminals is established, ensures that the disaster relief refers to
Wave and unmanned plane 3 is reached under the operational order of system, while the information transfer such as image/video that obtains of unmanned plane 3 is to director.
Autonomous reenter delivers cabin 2, as shown in figure 3, be the main carriers delivered for the atmospheric reentry of unmanned plane 3, its point
For two sub- bay sections, the energy, control and propulsion unit are wherein loaded with service module, can be in delivery relay transmission spacecraft 1
After it is bound primary data and discharged, attitude and orbit control is independently carried out, enters atmosphere, nothing according to certain flight path
Man-machine release is used to load unmanned plane 3, and can by instruction repertorie when reaching designated state Automatic-expanding, discharge inside it
Unmanned plane 3.Meanwhile independently reenter delivery cabin 2 and be equipped with protective casing, outer surface uses thermal-protect ablation material, can ensure
There is provided the thermal environment during the ablated configuration of unmanned plane 3 on the basis of certain flight characteristics, while also to provide unmanned plane 3 in-orbit for housing
Space environment safeguard function during long-term flight.Autonomous reenter delivers cabin 2 as disposable equipment, after reentering release unmanned plane 3,
The autonomous delivery cabin 2 that reenters abandons, and a delivery relay transmission spacecraft 1 can carry more pieces of autonomous reenter simultaneously and deliver cabin 2.
Unmanned plane 3, as shown in figure 4, being disaster to occur area to implement to approach the main body of prospecting, utilize Foldable wing type rolling machine
Body provides lift, the energy unit configured on machine, flies control unit and controlling organization for providing sustained maneuver flight performance, star machine
Communication system independently tracking satellite and can establish unmanned plane 3 and deliver the communication link between relay transmission spacecraft 1, pass through
The link receives instruction or sends data, in addition, the payload carried on unmanned plane 3 includes shooting, photographing device is used for calamity
Hardly possible prospecting, missile, Radio Beacon etc. can be also carried if necessary and is used to rescue.Unmanned plane 3 falls within disposable apparatus, energy depletion
Afterwards, aircraft can Autonomous landing or discarding.
As shown in figure 5, delivering the schematic diagram with operating system for space-based unmanned plane, system is in a manner of constellation networking, profit
Autonomous reenter is carried with more delivery relay transmission spacecrafts 1 to deliver cabin 2 and cruise around the whole earth, sudden disaster from far-off regions
Afterwards, spacecraft receives assignment instructions, control parameter is sent into re-entry module and unmanned plane 3 according to instruction, and release in predetermined instant
Put re-entry module, by it is autonomous reenter to deliver cabin and carry unmanned plane 3 enter atmosphere, up to after specified release altitude, unmanned plane 3 is from again
Enter in cabin and separate, independently into state of flight, and established and communicated with command system by way of spacecraft relaying, carried out and make
Industry.
As shown in fig. 6, deliver the specific workflow with operating system for space-based unmanned plane.First, in disaster response portion
Door is connected to after emergency response information, it is necessary to which the information such as clear and definite incident position, needs space-based unmanned plane delivery system to provide really
During support, with reference to current time each delivery relay transmission spacecraft 1, state, planning determine that a certain spacecraft performs in orbit
Delivery task, by dependent instruction, communication links extremely deliver relay transmission spacecraft 1 by star.
Deliver relay transmission spacecraft 1 and carry communication relay data transmission subsystem, unmanned plane re-entry module operation subsystem；Receive
Incident position, delivery time, the flying height of unmanned plane 3, the flight path information of outside transmission, according to above- mentioned information, it is determined that
It is autonomous reenter deliver the flight attitude of cabin 2, autonomous reenter delivers the release time of cabin 2, autonomous reentered when delivering the start of the propulsion unit of cabin 2
Carve, autonomous delivery cabin 2 igniting duration, the release altitude of unmanned plane 3 and velocity information, the specific method of reentering is：According to delivery time,
With reference to the delivery current flight state of relay transmission spacecraft 1, calculate and deliver what moment delivery relay transmission spacecraft 1 will reach
Locus and speed, then using classical reentry body kinetic model, with reference to incident position, the high number of degrees of unmanned plane during flying
According to calculating one is autonomous to reenter the ablated configuration track for delivering cabin 2, and the starting point of the track delivers relay transmission positioned at the moment is delivered
The locus that spacecraft 1 will reach, terminal are located at the position where the prearranged altitude of spot overhead unmanned plane 3.And
It is autonomous to reenter flying speed corresponding to the ablated configuration track initial point for delivering cabin 2 with delivering moment delivery relay transmission spacecraft
The difference of 1 velocity, as independently reenter deliver cabin 2 carry out become trailer move required velocity pulse vector, the velocity pulse
The direction vector of vector determines that autonomous reenters delivers the flight attitude after cabin 2 discharges, i.e. precise tracking thrust direction should be with
Velocity pulse vector direction vector is consistent, and velocity pulse size combination precise tracking thrust, delivery time, is sent out according to classics
Motivation thrust formula, calculate the autonomous propulsion unit start moment for reentering delivery cabin 2 and igniting duration.Unmanned plane re-entry module operates
Subsystem autonomous will reenter deliver the flight attitude of cabin 2, it is autonomous reenter deliver the release time of cabin 2, autonomous reenter delivers cabin 2 and promotes list
Member start moment, autonomous delivery cabin 2 igniting duration, the release altitude of unmanned plane 3 and the velocity information of reentering are transferred to and independently reenter throwing
Send cabin 2 and send the flying height of unmanned plane 3, flight path information to unmanned plane 3 and fly control unit；Deliver relay transmission spacecraft
1, according to the predetermined autonomous release time for reentering delivery cabin 2, makes connection delivery relay transmission spacecraft 1 and independently reenters delivery
The interface in cabin 2 disengages, and independently reenters delivery cabin 2 and is separated with delivery relay transmission spacecraft 1, into autonomous flight state.
The autonomous delivery cabin 2 that reenters includes control unit, energy unit, propulsion unit, unmanned plane release；Independently reenter throwing
Send cabin 2 to carry out posture determination using the posture sensitive equipment of control unit, sent according to unmanned plane re-entry module operation subsystem
Flight attitude information, itself posture is adjusted using attitude coutrol mechanism thruster, the flywheel in control unit, then according to propulsion
The unit start moment starts propulsion unit, controls the deceleration pulse of thrust unit offer by the igniting duration of setting, makes autonomous
Reenter delivery cabin 2 and enter the reentry corridor up to target area overhead.After deceleration, independently reenter and deliver the further adjustment in cabin 2 certainly
Figure state, with thermal protection struc ture head towards heading, prevent Aerodynamic Heating effect from causing to damage to nacelle, it is pneumatic using itself
Dimensional stability itself posture, by blackout range and after reducing speed, using the altimeter in control unit measure oneself height plus
Speedometer and gyroscope calculate itself speed, specify unmanned plane release high when the height and speed that independently reenter delivery cabin 2 reach
When degree and speed, ignite priming system and independently to reenter delivery cabin 2 expansion release unmanned plane 3, unmanned plane 3 is released into sky immediately
In, the unfolded wing, start aero-engine and enter state of flight, and independently reenter delivery cabin 2 and be then dropped.
Unmanned plane 3 can voluntarily start engine, expansion wing, empennage, according to fortune after the disengaging of delivery cabin 2 is independently reentered
Unmanned plane during flying height, the flight path information that relay transmission spacecraft 1 is sent are carried, into flight at controls state, is started
Star machine communication system, search deliver the signal of communication that the communication relay data transmission subsystem in relay transmission spacecraft 1 is sent, built
Unmanned plane 3 arrives the communication link of command terminal to delivery relay transmission spacecraft 1 again.After the UNICOM for completing communication link, nobody
Machine 3 sends unmanned plane during flying status information (position, speed, attitude information) to command terminal, while command terminal can also lead to
Cross and send the flight path of flight control instruction change unmanned plane 3 to unmanned plane 3 so that unmanned plane 3 enters semi-autonomous or has control to fly
Row mode.Unmanned plane during flying height, flight path information or the commander that unmanned plane 3 is sent according to delivery relay transmission spacecraft 1
The flight control instruction that terminal is sent, find target area and carry out tour flight, while it is effective to start airborne imaging equipment etc.
Load, closely multi-angle information gathering, while image, the image collected using communication link passback are carried out to disaster scene
Data are to command terminal.If being equipped with delivery device on unmanned plane 3, the rescue thing such as beacon is launched to appointed place on demand
Product.On unmanned plane 3 when energy resource consumption totally, unmanned plane 3 independently force-lands, and starts its own beacon machine and waits rescue worker to pick up back
Receive, or directly abandon, complete whole task mission.
After one wheel launches task-cycle, if being still unsatisfactory for the demand that disaster scene is reconnoitred, new delivery can be also planned again
Strategy, repeat said process.
As shown in fig. 7, delivering the big system Construction flow with operating system for space-based unmanned plane 3, system is established initial stage, profit
With carrier rockets, some delivery relay transmission spacecrafts 1 are sent into LEO and orbited round the earth, and formed constellation networking with
Complete to cover the regularity of global all regions；After the completion of networking, system enters the operation phase on duty, in this stage, delivery
On the one hand the system of relay transmission spacecraft 1 keeps armed state to the disaster response message from ground, on the other hand, fully sharp
With the communication on star/relay transmission equipment, data, services are provided for ground；System is after disaster response instruction is connected to, you can holds
Flow of task shown in row Fig. 6, and consume entrained autonomous reenter and deliver cabin 2 and unmanned plane 3, deliver relay transmission at certain
All autonomous reenter that spacecraft 1 carries deliver cabin 2 all after release, can enter no-load running state, and now spacecraft can be after
Continue and provide communication/relay transmission service for ground.For the spacecraft of no-load running, the needs of task can be responded according to disaster,
New delivery relay transmission spacecraft 1 is re-emitted, net mending is carried out to system constellation, ensures covering performance over the ground, can also pass through
The mode of in-orbit assembling, cabin 2 is delivered for autonomous reenter of spacecraft supplement, it is reentered running status on duty.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (5)
- A kind of 1. quick delivery system in disaster relief unmanned plane space-based whole world, it is characterised in that including：Deliver relay transmission spacecraft (1), autonomous reenter delivers cabin (2) and unmanned plane (3)；Delivery relay transmission spacecraft (1) is operated on satellite orbit, in delivery Fly after the outside incident position sent of transmission spacecraft (1) communication link reception, delivery time, unmanned plane (3) by star Row height, flight path information, it is true according to incident position, delivery time, unmanned plane (3) flying height, flight path information It is fixed independently to reenter delivery cabin (2) flight attitude, independently reenter and deliver cabin (2) release time, independently reenter and deliver cabin (2) propulsion list Member start moment, autonomous reenter deliver cabin (2) igniting duration, unmanned plane (3) release altitude and velocity information；Deliver relay transmission Spacecraft (1) will independently reenter and deliver cabin (2) flight attitude, autonomous reenter delivers cabin (2) release time, independently reenters delivery cabin (2) propulsion unit start moment, autonomous reenter deliver cabin (2) igniting duration, unmanned plane (3) release altitude and velocity information transmission Deliver cabin (2) to autonomous reenter and send unmanned plane (3) flying height, flight path information to unmanned plane (3)；Delivery relaying Transmission spacecraft (1) is connected with independently reentering delivery cabin (2)；Autonomous reenter delivers cabin (2) carrying unmanned plane (3)；Independently reenter delivery cabin (2) and deliver cabin according to predetermined autonomous reenter (2) release time separates with delivery relay transmission spacecraft (1)；Autonomous reenter delivers cabin (2) according to delivery relay transmission space flight The flight attitude information that device (1) is sent adjusts itself posture, and according to it is autonomous reenter deliver cabin (2) propulsion unit start moment and Autonomous delivery cabin (2) the igniting duration information control deceleration pulse that reenters enters the reentry corridor up to target area overhead；Independently Reenter delivery cabin (2) release unmanned plane (3) when height and speed reach and specify unmanned plane (3) release altitude and speed；Unmanned plane (3) is after delivery cabin (2) disengaging is independently reentered, according to the unmanned plane of delivery relay transmission spacecraft (1) transmission (3) flying height, flight path information, into flight at controls state, search delivers what relay transmission spacecraft (1) was sent Signal of communication, build the communication link that unmanned plane (3) arrives command terminal to delivery relay transmission spacecraft (1) again；Unmanned plane (3) Unmanned plane position, speed, attitude information, while the flight control that unmanned plane (3) acquisition command terminal is sent are sent to command terminal System instruction is used for the flight path for changing unmanned plane (3)；The nothing that unmanned plane (3) is sent according to delivery relay transmission spacecraft (1) The flight control instruction that man-machine flying height, flight path information or command terminal are sent, find target area and maked an inspection tour Flight, gather target area information or launch goods and materials, and the image, the image data that are collected by communication link passback are extremely commanded Terminal.
- A kind of 2. quick delivery system in disaster relief unmanned plane space-based whole world according to claim 1, it is characterised in that：The fortune Carry relay transmission spacecraft (1) and carry communication relay data transmission subsystem, unmanned plane re-entry module operation subsystem；Unmanned plane re-entry module Operate subsystem and autonomous will reenter delivery cabin flight attitude, independently reenter and deliver cabin release time, independently reenter and deliver cabin propulsion Unit start moment, autonomous delivery cabin igniting duration, unmanned plane release altitude and the velocity information of reentering are transferred to and independently reenter throwing Send cabin (2) and send unmanned plane during flying height, flight path information to unmanned plane and fly control unit；Communication relay data transmission subsystem Signal of communication is sent to unmanned plane (3), builds communication link.
- A kind of 3. quick delivery system in disaster relief unmanned plane space-based whole world according to claim 1 or 2, it is characterised in that：Institute Autonomous reenter is stated to deliver cabin (2) and include control unit, energy unit, propulsion unit, unmanned plane release；Control unit carries appearance State sensitive equipment is used for the autonomous posture determination for reentering and delivering cabin (2), and carries attitude coutrol mechanism and be used to independently reenter delivery The pose adjustment in cabin (2), attitude coutrol mechanism include thruster, flywheel, and control unit is carried altimeter measurement oneself height, added Speedometer and gyroscope calculate autonomous reenter and deliver cabin (2) speed；Propulsion unit starts according to the propulsion unit start moment, according to Autonomous reenter of setting delivers cabin (2) igniting duration control deceleration pulse.
- A kind of 4. quick delivery system in disaster relief unmanned plane space-based whole world according to claim 3, it is characterised in that：The nothing Man-machine (3) Process of Piggyback Satellite machine communication system, payload, wherein payload include airborne imaging equipment, goods and materials；Star machine communication system The signal of communication that communication relay data transmission subsystem in system search delivery relay transmission spacecraft (1) is sent, and transmit it is airborne into The target area video or audio-frequency information gathered as equipment is to command terminal.
- A kind of 5. quick delivery system in disaster relief unmanned plane space-based whole world according to claim 1 or 2, it is characterised in that：Institute State delivery relay transmission spacecraft (1) to orbit round the earth in LEO, and form constellation networking and global all regions are entered The regular covering of row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610438600.5A CN105947241B (en) | 2016-06-17 | 2016-06-17 | A kind of quick delivery system in disaster relief unmanned plane space-based whole world |
Applications Claiming Priority (1)
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| PT3717356T (en) * | 2017-12-01 | 2023-11-23 | D Orbit Spa | Method of releasing artificial satellites in earth's orbit |
| CN108082438B (en) * | 2017-12-12 | 2021-04-13 | 中国科学院工程热物理研究所 | Method and device for acquiring initial speed of unmanned aerial vehicle during release |
| CN108045543B (en) * | 2017-12-12 | 2021-08-24 | 中国科学院工程热物理研究所 | Unmanned aerial vehicle's dispensing system |
| GB2569789A (en) * | 2017-12-21 | 2019-07-03 | Av8Or Ip Ltd | Autonomous unmanned aerial vehicle and method of control thereof |
| CN110248157B (en) * | 2019-05-25 | 2021-02-05 | 亮风台（上海）信息科技有限公司 | Method and equipment for scheduling on duty |
| CN110244754B (en) * | 2019-06-28 | 2021-12-10 | 上海工程技术大学 | Control system and method for fixed-point air parking of stratosphere aerostat |
| CN111516851A (en) * | 2020-04-29 | 2020-08-11 | 中国科学院空天信息创新研究院 | Unmanned aerial vehicle long-time application system and method |
| CN111935729B (en) * | 2020-07-15 | 2022-09-27 | 中国人民解放军空军工程大学 | Seamless and efficient unmanned aerial vehicle network k-coverage algorithm |
| CN112929072B (en) * | 2021-01-21 | 2022-12-02 | 北京京东乾石科技有限公司 | Relay system, method, device, medium and electronic device for unmanned aerial vehicle communication |
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