CN106125765B - A kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter - Google Patents
A kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a kind of vehicle-mounted landing simulation systems of boat-carrying unmanned helicopter, the simulation system includes the boat-carrying unmanned helicopter for being equipped with wireless digital broadcasting station, simulation boat-carrying TT&C system, vehicle-mounted landing platform and carrier landing guidance simulation system, wherein, relative position and elevation information between carrier landing guidance simulation system real-time measurement boat-carrying unmanned helicopter and vehicle-mounted landing platform, boat-carrying TT&C system is simulated according to metrical information, boat-carrying unmanned helicopter is automatically controlled and realizes with landing；The system can effectively avoid the problems such as high cost of boat-carrying landing test bring, long period, high risk, a series of boat-carrying unmanned helicopter carrier landing guidance and the verifying of autonomous landing flight control technology and Optimum Experiment can be carried out by this system, greatly reduce unmanned helicopter boat-carrying landing empirical risk.
Description
Technical field
The present invention relates to a kind of boat-carrying unmanned helicopter boat-carrying landing control technology simplation verification system, specifically one
The simulation experiment system platform of kind verifying and optimization boat-carrying unmanned helicopter carrier landing guidance, boat-carrying landing flight control technology.
Background technique
Boat-carrying unmanned helicopter can be used for destroyer, escort vessel, amphibious assault ship, complete intelligence reconnaissance, battlefield surveillance, sky
Middle electronics compacting and interference, the outer active decoy of warship, anti-radiation attack, Target indication, attack guidance, the assessment of war damage and communication relay
Equal Polynomial Operations, are the force multipliers of naval's battleship, have urgent need；Boat-carrying landing flight control technology is it
One of key technology bottleneck；Currently, the domestic boat-carrying landing flight control technology for boat-carrying unmanned helicopter has been carried out extensively
Theoretical research, also achieve certain theoretical research result, however these theoretical research results are to being finally applied to engineering
There are also very big distances for practice, and a large amount of simulation test is needed to be verified and optimized, domestic research base at this level
This is in space state, this process is that final successfully realization boat-carrying depopulated helicopter independent landing is essential again.
This system passes through to boat-carrying unmanned helicopter, simulation boat-carrying TT&C system, vehicle-mounted landing platform and carrier landing guidance mould
Combination between quasi- system, forms a kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter, carries out one by the simulation system
The carrier landing guidance of series, simulation boat-carrying landing test, verify and optimize carrier landing guidance and boat-carrying landing flight control technology, for most
Whole unmanned helicopter realizes that guiding and boat-carrying landing provide strong support on true naval vessel.
Summary of the invention
The technical problem to be solved by the present invention is to, the guiding of boat-carrying unmanned helicopter and autonomous landing control technology are developed,
A series of technical identifications and Optimum Experiment need to be carried out, milder metocean conditions are complicated, carry out above-mentioned test on true naval vessel, need
Overcome a series of safety and cost problem, this to the development of test bring very big difficulty and risk, especially continental rise nobody
Risk is bigger before going on board for the first time after helicopter remodeling；The present invention overcomes the shortcomings that prior art, provide a kind of boat-carrying nobody go straight up to
Locomotive carries landing simulation system, which can effectively avoid the above problem, can carry out a series of ship by the system
Unmanned helicopter carrier landing guidance and the verifying of autonomous landing flight control technology and Optimum Experiment are carried, nobody is greatly reduced and goes straight up to
Motor vessel carries landing empirical risk.
In order to solve the above technical problems, the present invention provides a kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter, it should
Simulation system includes the boat-carrying unmanned helicopter for being equipped with wireless digital broadcasting station, simulation boat-carrying TT&C system, vehicle-mounted landing platform
With carrier landing guidance simulation system, simulating boat-carrying that boat-carrying TT&C system goes out according to carrier landing guidance simulation system real-time measurement, nobody is straight
Relative position difference and difference in height between machine and vehicle-mounted landing platform are risen to control the landing of boat-carrying unmanned helicopter, in which:
Simulation boat-carrying TT&C system is mounted on observing and controlling vehicle, vehicle-mounted landing platform by large platform trailer, vehicle-mounted simulate
It drops deck and protecting wall composition, large platform trailer is set in front of the side of observing and controlling vehicle, vehicle-mounted simulation landing deck setting exists
On large platform trailer, vehicle-mounted simulation landing deck is spliced by five pieces of chain-wales, and protecting wall is fixed by protecting wall pedestal
Measurement antenna is additionally provided on the side of large platform trailer headstock, protecting wall on large platform trailer；
Carrier landing guidance simulation system includes boat-carrying carrier landing guidance simulation system and airborne carrier landing guidance simulation system, boat-carrying
The extension set cabinet of warship guiding simulation system is fixed on protecting wall pedestal by angle steel, and airborne carrier landing guidance simulation system is set to ship
It carries in unmanned helicopter, boat-carrying carrier landing guidance simulation system emits position and the fortune on vehicle-mounted simulation landing deck by radio station
Dynamic status information gives airborne carrier landing guidance simulation system, and airborne carrier landing guidance simulation system receives boat-carrying by wireless digital broadcasting station
The information of carrier landing guidance simulation system simultaneously carries out Difference Solution calculation, show that boat-carrying unmanned helicopter and vehicle-mounted simulation landing deck are accurate
Relative position and difference in height information, as boat-carrying unmanned helicopter carrier landing guidance flight and autonomous landing flight guiding letter
Breath.
The technical solution that the present invention further limits is:
Further, in the vehicle-mounted landing simulation system of aforementioned boat-carrying unmanned helicopter, ups power mould is installed on observing and controlling vehicle
Block, the TT&C antenna on observing and controlling vehicle are fastenedly connected on observing and controlling vehicle using clip mode.
In the aforementioned vehicle-mounted landing simulation system of boat-carrying unmanned helicopter, antislip paint is sprayed on chain-wales, chain-wales are by frame
It is welded with checkered steel plate, angle steel, and angle steel are welded in four angles of each chain-wales and the corresponding position of large platform trailer
Corresponding position opens waist through hole.
Technical effect: angle steel, and angle steel pair are welded in four angles of each chain-wales and the corresponding position of large platform trailer
It answers position to open waist through hole, is just needed for being bolted, when on-site assembly to welding at even.
In the aforementioned vehicle-mounted landing simulation system of boat-carrying unmanned helicopter, protecting wall is welded by square tube and steel plate, protection
Four angles of wall and large platform trailer answer position that angle steel is respectively welded, and angle steel corresponding position opens waist through hole.
In the aforementioned vehicle-mounted landing simulation system of boat-carrying unmanned helicopter, be bolted between each chain-wales, chain-wales with
It is bolted between large platform trailer, is bolted between protecting wall and large platform trailer.
Technical effect: being connected by screw bolts mode, easy to disassemble, vehicle-mounted landing platform and protecting wall is easy to disassemble, size
Meet highway, railway transportation requirement.
The beneficial effects of the present invention are:
TT&C antenna in the present invention on observing and controlling vehicle is connected by the way of clip, and the mode of this reinforcing prevents observing and controlling vehicle
Antenna, which is not connected firmly, in motion process leads to jitter, and this connection type ensures the normal operation of work, protection
Wall setting is in large platform trailer headstock side, to protect trailer driver's cabin safe.
The significant efficiency of research and development for improving carrier landing guidance and boat-carrying landing flight control technique, shortens the R&D cycle, Control experiment
Risk and development cost.
Detailed description of the invention
Fig. 1 is the schematic diagram of system of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of vehicle-mounted simulation landing deck and protecting wall in the embodiment of the present invention；
Fig. 3 is that boat-carrying of the embodiment of the present invention independently takes off control flow chart；
Fig. 4 is boat-carrying of embodiment of the present invention Autonomous landing control flow chart；
In figure: 1- boat-carrying unmanned helicopter, 2- observing and controlling vehicle, 3- large platform trailer, the vehicle-mounted simulation landing deck 4-, 41-
Chain-wales, 5- protecting wall, 6- measure antenna.
Specific embodiment
Embodiment 1
The vehicle-mounted landing simulation system of a kind of boat-carrying unmanned helicopter provided in this embodiment, structure is as shown in Figs. 1-2, the mould
Quasi- system include the boat-carrying unmanned helicopter 1 for being equipped with wireless digital broadcasting station, simulation boat-carrying TT&C system, vehicle-mounted landing platform and
Carrier landing guidance simulation system, simulation boat-carrying TT&C system according to carrier landing guidance simulation system real-time measurement go out boat-carrying nobody go straight up to
Relative position difference and difference in height between machine 1 and vehicle-mounted landing platform control the landing of boat-carrying unmanned helicopter 1, in which:
Simulation boat-carrying TT&C system is mounted on observing and controlling vehicle 2, is equipped with ups power module on observing and controlling vehicle 2, on observing and controlling vehicle 2
TT&C antenna be fastenedly connected on observing and controlling vehicle 2 using clip mode, vehicle-mounted landing platform is by large platform trailer 3, vehicle-mounted mould
Quasi- landing deck 4 and protecting wall 5 form, and large platform trailer 3 is set in front of the side of observing and controlling vehicle 2, vehicle-mounted simulation landing first
Plate 4 is arranged on large platform trailer 3, and vehicle-mounted simulation landing deck 4 is spliced by five pieces of chain-wales 41, is sprayed on chain-wales 41
Antislip paint is applied, chain-wales 41 are welded by frame and checkered steel plate, four angles of each chain-wales 41 and large platform trailer 3
Corresponding position weld angle steel, and angle steel corresponding position opens waist through hole, and protecting wall 5 is fixed on large-scale put down by protecting wall pedestal
Be additionally provided with measurement antenna 6 close to the side of 3 headstock of large platform trailer on plate trailer 3, on protecting wall 5, protecting wall 5 by square tube and
Steel plate is welded, and it is square tube that middle cross beam and feet, which are square tube, vertical beam and diagonal brace, the welding steel in frame, protecting wall 5 four
Angle steel is respectively welded in a angle and 3 corresponding position of large platform trailer, and angle steel corresponding position opens waist through hole；
Carrier landing guidance simulation system includes boat-carrying carrier landing guidance simulation system and airborne carrier landing guidance simulation system, boat-carrying
The extension set cabinet of warship guiding simulation system is fixed on protecting wall pedestal by angle steel, and airborne carrier landing guidance simulation system is set to ship
Carry unmanned helicopter 1 in, boat-carrying carrier landing guidance simulation system by radio station emit it is vehicle-mounted simulate landing deck 4 position and
Movement state information gives airborne carrier landing guidance simulation system, and airborne carrier landing guidance simulation system receives ship by wireless digital broadcasting station
It carries the information of warship guiding simulation system and carries out Difference Solution calculation, obtain boat-carrying unmanned helicopter 1 and vehicle-mounted simulation landing deck 4
Accurate relative position and difference in height information, what carrier landing guidance flight and autonomous landing as boat-carrying unmanned helicopter 1 were flown
Guidance information.
In the present embodiment: being bolted between chain-wales 41, bolt connects between chain-wales 41 and large platform trailer 3
It connects, is bolted between protecting wall 5 and large platform trailer 3.
The specific building of the vehicle-mounted landing simulation system of boat-carrying unmanned helicopter is as follows:
When implementing system connection, boat-carrying unmanned helicopter is surveyed using unmanned helicopter material object of going on board, simulation boat-carrying is prepared
System reform boat-carrying landing function is controlled, wireless digital broadcasting station is installed to receive vehicle-mounted landing position of platform information.
Simulation boat-carrying TT&C system still uses the chain-circuit system of boat-carrying unmanned helicopter, it is only necessary to install additional on observing and controlling vehicle
The output of the power module is accessed the UPS input port of original observing and controlling vehicle, TT&C antenna and vehicle by high power UPS power module
Top antenna base is fastenedly connected using clip mode.
Vehicle-mounted landing platform needs when assembling by following steps:
It (1) is carrier repacking with 17.5 meters of low large platform trailers 3, by total 5 pieces of chain-wales 41 shown in Fig. 2 by hanging
Vehicle successively hangs 3 top of large platform trailer, is arranged successively neatly, and each chain-wales 41 are connected to become whole flat by blending bolt
Platform, then angle steel will be used to be welded to connect between platform and large platform trailer 3, bolt fastening is finally used, it is complete through the above steps
At the installation of vehicle-mounted landing platform；
(2) 5 entirety of protecting wall is hung on 3 front of large platform trailer using crane, respectively at four of protecting wall 5
The angle steel of kidney slot is opened in angle and the welding of the corresponding position of large platform trailer 3, using bolt by protecting wall and Bolted angle connection.
Carrier landing guidance simulation system boat-carrying part, that is, boat-carrying carrier landing guidance simulation system needs to be mounted on large platform trailer 3
On headstock front, angle steel at two, carrier landing guidance simulation system boat-carrying part are welded between the pedestal and chain-wales 41 of protecting wall 5
Cabinet is fixed on the pedestal of protecting wall 5 entirely through angle steel, and measurement antenna 6 is mounted on protecting wall 5, and which ensures that antennas to connect
It is unobstructed to receive satellite-signal.
Through the above steps, the installment work of the vehicle-mounted landing simulation system of boat-carrying unmanned helicopter is completed.
Embodiment 2
The vehicle-mounted landing simulation system of a kind of boat-carrying unmanned helicopter provided in this embodiment, the system simulate carrier landing guidance examination
It tests specific as follows:
1 carrier landing guidance flight function of this verification experimental verification boat-carrying unmanned helicopter executes task in boat-carrying unmanned helicopter 1
Afterwards, to the vehicle-mounted process for simulating 4 top of landing deck is moved, test procedure is as follows for homing guidance:
(1) observing and controlling vehicle 2 rests in vehicle-mounted 4 side rear of simulation landing deck, and boat-carrying unmanned helicopter 1 places runway observing and controlling vehicle
2 rears, head are directed toward 2 opposite direction of observing and controlling vehicle；
(2) instruction of taking off is sent under internal control state, is risen and is sent hovering-oceangoing voyage instruction after flying to certain altitude, until boat-carrying
Distance other than 1 kilometer of 1 distance of unmanned helicopter sends carrier landing guidance flight directive at this time；
(3) start observing and controlling vehicle 2 and large platform trailer 3, the two drives at a constant speed, and keeps relative distance constant；
(4) boat-carrying unmanned helicopter 1 is above from distant place homing guidance to trailer landing platform, with movement trailer landing platform
It keeps with state of flight, boat-carrying unmanned helicopter 1 keeps relative position static in platform landing overlying regions at this time, completes to lead
Draw flight test, as shown in Figure 3.
Embodiment 3
The vehicle-mounted landing simulation system of a kind of boat-carrying unmanned helicopter provided in this embodiment, system simulation boat-carrying independently rise
Drop test is specific as follows:
It independently takes off under this verification experimental verification Ship Motion state and landing function, test procedure is as follows:
(1) observing and controlling vehicle 2 rests in vehicle-mounted landing platform side rear, and boat-carrying unmanned helicopter 1 is parked in vehicle-mounted landing platform
On, head is directed toward vehicle-mounted landing platform central axes, starts large platform trailer 3 and accelerates to after certain speed the row that remains a constant speed
It sails, observing and controlling vehicle 2 is followed at the same rate at the about twenty or thirty rice of 3 rear of large platform trailer；
(2) automatic takeoff: instruction of taking off is sent, boat-carrying unmanned helicopter 1 automatically keeps present speed and vehicle-mounted landing is flat
Platform is opposing stationary to go as course with taking off, vertically flies away from landing platform, with hovering above vehicle-mounted landing platform；
(3) land I automatically: automatic landing instruction is sent under with floating state, boat-carrying unmanned helicopter 1 is kept and fortune
Dynamic 3 position of large platform trailer is opposing stationary, is lowered vertically into above vehicle-mounted landing platform, apart from vehicle-mounted landing platform close to 2
Meter Gao Du is with hovering；
(4) land II automatically: waiting the vehicle-mounted movement of simulation landing deck 4 breath with floating state Imitating in 2 meters of height
The quiet phase arrives, once judge that move vehicle-mounted simulation landing deck 4 carries out II stage landing in quiet phase state is ceased automatically, if
Land and successfully then receive immediately always away from recycling, completes automatic descent；It goes around automatically if landing is unsuccessful；
(5) go around automatically: the II stage lands unsuccessful, is gone around automatically to 2 meters of height, waits for second of landing, such as
Shown in Fig. 3.
Embodiment 4
The vehicle-mounted landing simulation system of a kind of boat-carrying unmanned helicopter provided in this embodiment, the system simulate carrier landing guidance with
The autonomous landing composite test of boat-carrying is specific as follows:
It independently takes off under this verification experimental verification Ship Motion state, task execution is with carrier landing guidance flight after the completion and certainly
Main landing function, test procedure are as follows:
(1) observing and controlling vehicle 2 rests in movement vehicle-mounted landing platform side rear, and boat-carrying unmanned helicopter 1 is parked in vehicle-mounted landing
On platform, head is directed toward vehicle-mounted landing platform central axes, starts large platform trailer 3 and remains a constant speed after accelerating to certain speed
Traveling, observing and controlling vehicle 2 are followed at the same rate at the about twenty or thirty rice of 3 rear of large platform trailer；
(2) automatic takeoff: sending instruction of taking off, and boat-carrying unmanned helicopter 1, which is in, keeps present speed and vehicle-mounted landing flat
Platform is opposing stationary to keep 3 direction of motion of head orientation tracking large platform trailer with taking off, and it is flat vertically to fly away from vehicle-mounted landing
Platform, with hovering above vehicle-mounted landing platform；
(3) operation flight: boat-carrying unmanned helicopter 1 flies away from vehicle-mounted landing platform at a certain angle, and simulation task is arrived in flight
Region executes task, such as is taken pictures task above task with certain speed orbit；
(4) after guiding flight boat-carrying unmanned helicopter 1 completes operation flight, guiding flight directive is sent, nobody is straight for boat-carrying
1 homing guidance of machine is risen to moving above vehicle-mounted landing platform, is kept with vehicle-mounted landing platform is moved with state of flight；
(5) land I automatically: automatic landing instruction is sent under with state of flight, boat-carrying unmanned helicopter 1 is kept and fortune
Dynamic 3 position of large platform trailer is opposing stationary, is lowered vertically into above vehicle-mounted landing platform, apart from platform close to 2 meters of height companions
With hovering；
(6) land II automatically: waiting the vehicle-mounted movement of simulation landing deck 4 breath with floating state Imitating in 2 meters of height
The quiet phase arrives, once judge that move vehicle-mounted simulation landing deck 4 carries out II stage landing in quiet phase state is ceased automatically, if
Land and successfully then receives immediately always away from the automatic descent of completion；It goes around automatically if landing is unsuccessful；
(7) go around automatically: the II stage lands unsuccessful, is gone around automatically to 2 meters of height, waits for second of landing.
Boat-carrying unmanned helicopter flight control system is suitable according to vehicle-mounted landing platform guidance information progress boat-carrying landing function is moved
Answering property is transformed --- and newly-increased carrier landing guidance, adjoint flight and autonomous landing model of flight, the movement provided using guidance system are big
The position and height tolerance of type platform trailer 3 and boat-carrying unmanned helicopter 1, control for position and height, increase newly with mode
Realize that newly-increased boat-carrying landing mode is with real boat-carrying unmanned helicopter 1 on moving target for simulating Ship Target tracing control
Autonomous landing function, independently take off control as shown in figure 3, boat-carrying unmanned helicopter 1 keep present speed take off, take-off process
It keeps opposing stationary with sundeck, rises and carry out completing autonomous take-off process with hovering after flying to certain altitude；Autonomous landing
Control flow is as shown in figure 4, entire descent boat-carrying unmanned helicopter 1 remains and moves vehicle-mounted landing platform landing point
Position it is opposing stationary, by landing I-stage completion drop to predetermined altitude (for example, dropping to apart from 2 meters of deck height) after, from
It is dynamic to enter the adjoint floating state for keeping relative altitude constant, wait vehicle-mounted simulation landing deck 4 quiet in ceasing in this stage
On landing opportunity again in phase, certain opportunity, which arrives, carries out landing II movement, completes last to drop to vehicle-mounted simulation landing
4 process of deck can make unmanned helicopter have the guiding in the case where simulating ships environment and landing flight by above-mentioned improvement
Function.
By the way that above-mentioned boat-carrying unmanned helicopter, simulation boat-carrying TT&C system, vehicle-mounted landing platform and carrier landing guidance are simulated
System forms the vehicle-mounted landing simulation system of unmanned helicopter, can effectively simulate true naval vessel landing environment.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (5)
1. a kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter, it is characterised in that: the simulation system includes being equipped with wirelessly
Boat-carrying unmanned helicopter (1), simulation boat-carrying TT&C system, vehicle-mounted landing platform and the carrier landing guidance simulation system of data radio station,
The boat-carrying unmanned helicopter (1) that boat-carrying TT&C system goes out according to carrier landing guidance simulation system real-time measurement is simulated to put down with vehicle-mounted landing
Relative position difference and difference in height between platform control the landing of boat-carrying unmanned helicopter (1), in which:
The simulation boat-carrying TT&C system is mounted on observing and controlling vehicle (2), the vehicle-mounted landing platform by large platform trailer (3),
Vehicle-mounted simulation landing deck (4) and protecting wall (5) composition, before the large platform trailer (3) is set to the side of observing and controlling vehicle (2)
Side, the vehicle-mounted simulation landing deck (4) are arranged on large platform trailer (3), and vehicle-mounted simulation landing deck (4) is small by five pieces
Platform (41) is spliced, and the protecting wall (5) is fixed on large platform trailer (3) by protecting wall pedestal close to large-scale flat
The side of plate trailer (3) headstock is additionally provided with measurement antenna (6) on the protecting wall (5)；
Carrier landing guidance simulation system includes boat-carrying carrier landing guidance simulation system and airborne carrier landing guidance simulation system, the boat-carrying
The extension set cabinet of warship guiding simulation system is fixed on protecting wall pedestal by angle steel, the airborne carrier landing guidance simulation system setting
In boat-carrying unmanned helicopter (1), boat-carrying carrier landing guidance simulation system emits vehicle-mounted simulation landing deck (4) by radio station
Position and movement state information give airborne carrier landing guidance simulation system, airborne carrier landing guidance simulation system is electric by wireless data sending
Platform receives the information of boat-carrying carrier landing guidance simulation system and carries out Difference Solution calculation, obtains boat-carrying unmanned helicopter (1) and vehicle-mounted mould
Quasi- landing deck (4) accurately relative position and difference in height information, as boat-carrying unmanned helicopter (1) carrier landing guidance flight and
The guidance information of autonomous landing flight.
2. the vehicle-mounted landing simulation system of boat-carrying unmanned helicopter according to claim 1, it is characterised in that: the observing and controlling vehicle
(2) ups power module is installed, the TT&C antenna on observing and controlling vehicle (2) is fastenedly connected using clip mode in observing and controlling vehicle (2) on
On.
3. the vehicle-mounted landing simulation system of boat-carrying unmanned helicopter according to claim 1, it is characterised in that: the chain-wales
(41) antislip paint is sprayed on, chain-wales (41) are welded by frame and checkered steel plate, four angles of each chain-wales (41) with
Angle steel is welded in the corresponding position of large platform trailer (3), and angle steel corresponding position opens waist through hole.
4. the vehicle-mounted landing simulation system of boat-carrying unmanned helicopter according to claim 1, it is characterised in that: the protecting wall
(5) it being welded by square tube and steel plate, angle steel is respectively welded in (5) four angles of protecting wall and large platform trailer (3) corresponding position,
And angle steel corresponding position opens waist through hole.
5. the vehicle-mounted landing simulation system of boat-carrying unmanned helicopter according to claim 1, it is characterised in that: each described small
Platform is bolted between (41), is bolted between chain-wales (41) and large platform trailer (3), the protecting wall (5) with
Large platform trailer is bolted between (3).
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| CN201610631214.8A CN106125765B (en) | 2016-08-03 | 2016-08-03 | A kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter |
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| CN201610631214.8A CN106125765B (en) | 2016-08-03 | 2016-08-03 | A kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter |
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| CN109094817B (en) * | 2018-08-29 | 2021-05-14 | 哈尔滨工业大学 | Carrier-based helicopter self-adaptive landing gear landing simulation system |
| CN111240349A (en) * | 2020-01-22 | 2020-06-05 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle takeoff control method based on motion base, computer readable storage medium and control equipment |
| CN113306743A (en) * | 2021-06-03 | 2021-08-27 | 中国科学院沈阳自动化研究所 | Small-size six-degree-of-freedom deck motion simulation system |
| JP7263605B1 (en) | 2022-08-19 | 2023-04-24 | Kddi株式会社 | Information processing device, information processing method, and program |
| CN115457833B (en) * | 2022-09-15 | 2024-04-19 | 吉林大学 | Traction robot track control experiment table of offshore operation helicopter |
| CN115901163B (en) * | 2023-03-09 | 2023-06-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Helicopter landing aerodynamic characteristic wind tunnel test method |
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