CN106155072A - A kind of small aircraft automated driving system and method - Google Patents
A kind of small aircraft automated driving system and method Download PDFInfo
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- CN106155072A CN106155072A CN201610580868.2A CN201610580868A CN106155072A CN 106155072 A CN106155072 A CN 106155072A CN 201610580868 A CN201610580868 A CN 201610580868A CN 106155072 A CN106155072 A CN 106155072A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of small aircraft automated driving system and method, described small aircraft automated driving system is arranged on small-sized manned vehicle, described small-sized manned vehicle has automatic Pilot and two kinds of steer mode of manual drive, and described system includes embedded control unit, the driver element being connected with embedded control unit outfan communication and inertial navigation module, general GPS module and the data acquisition unit communicated to connect respectively with embedded control unit input.The invention provides a kind of cheap and automatic Pilot small aircraft automated driving system and method safely and efficiently; by application technical scheme; modular design; it is easy to components and parts change and software and hardware upgrading, according to integrated, Miniaturization Design, self-protection perfect in shape and function; easy and simple to handle; improve safety and reduce the requirement to user operation technical ability, stability is high, low cost.
Description
Technical field
The present invention relates to automatic Pilot technical field, particularly relate to a kind of small aircraft automated driving system and method.
Background technology
Small-sized manned vehicle, such as gyroplane machine or fixed wing airplane, be substantially unstable, it usually needs drive
The person of sailing utilizes a hands to keep the lasting interaction with cyclic pitch stick, the even moment of cyclic pitch stick
Unclamping and all can cause cyclic pitch stick or control bar " shaking ", adjoint is out of hand to small aircraft.When driving
When the person of sailing needs to participate in both hands activity, the most such as when regulating the hard copy of headset or reference map, so
Inconvenient especially.Additionally, the needs that cyclic pitch stick carries out Sustainable Control can make driver become tired.
Traditional automatic pilot can provide many benefits, including allowing driver's pitch control deenergized period bar
To participate in both hands task, and alleviate the fatigue of driver.But, applicants have recognized that, traditional medium-and-large-sized aircraft from
The cost of dynamic pilot is the highest, and existing small aircraft is the most manually-operated.Such as, traditional or routine from
The cost of dynamic pilot is to be so high that in light-duty small aircraft very compared with the cost of small aircraft itself
Difficulty sees automatic pilot, and the data that conventional small manned vehicle obtains in driving procedure are not accurate enough, safety
Low, it is impossible to monitor and store aircraft duty.
Therefore, a kind of cheap and automatic Pilot small aircraft automated driving system safely and efficiently is badly in need of in this area
With method.
Summary of the invention
The invention aims to overcome the defect of existing small-sized manned vehicle, it is provided that a kind of small aircraft is certainly
Dynamic control loop and method, and have the advantage that modular design, it is simple to components and parts are changed and software and hardware is upgraded, according to
Integrated, Miniaturization Design, self-protection perfect in shape and function, easy and simple to handle, improve safety and reduce user operation technical ability
Requirement, stability is high, low cost.
The object of the present invention is achieved like this:
A kind of small aircraft automated driving system, described small aircraft automated driving system is arranged on small-sized manned fly
On row device, described small-sized manned vehicle has automatic Pilot and two kinds of steer mode of manual drive, and described system includes embedding
Formula control unit, the driver element being connected with embedded control unit outfan communication and with embedded control unit input
The inertial navigation module communicated to connect respectively, general GPS module and data acquisition unit, wherein,
Described inertial navigation module is used for measuring flight attitude and control information, and it includes three-dimensional accelerometer, gyroscope and height
Degree table；
Described data acquisition unit includes that the first Hall that single-chip microcomputer and the a/d converter with single-chip microcomputer are respectively connected with passes
Sensor and the second Hall element, described first Hall element is for measuring the rotating speed of rotor, described second Hall element
For measuring the rotating speed of propeller, described single-chip microcomputer passes after gathering sensing data and the data gathered are carried out pretreatment
It is defeated by embedded control unit to be analyzed calculating；
Described driver element includes power driver module and the roll electricity being connected that communicates respectively with power driver module
Machine, pitching motor and course motor；
Described embedded control unit is believed by the data transferring inertial navigation module, general GPS module and data acquisition unit
Breath, and control roll motor, pitching motor and course motor by power driver module, thus change small-sized manned vehicle
Pitching, roll or Heading control, it is achieved automatic Pilot.
Preferably, described data acquisition unit also includes that the a/d converter with single-chip microcomputer is respectively connected with including that air speed senses
Device, cylinder temperature sensor, fuel-quantity transducer and cooling-water temperature sensor.
Preferably, described embedded control unit is to utilize embedded computer system as airborne control centre, auxiliary
With outside expanded circuit, it is possible to realize Navigation Control, data acquisition, data process and the function of wireless telecommunications, described embedded
Computer system is ARM11 processor.
Preferably, described embedded control unit is connected with power supply by DC/DC transducer, and described power supply is 12V, described
DC/DC transducer is also associated with motor of prewhirling.
Preferably, described embedded control unit is also associated with sound and light alarm module, and described sound and light alarm module is small-sized
Report to the police in manned vehicle job insecurity state or the no-fly region preset according to described general GPS module.
Preferably, described embedded control unit is also associated with data memory module, wireless communication module and video acquisition
Module, described wireless communication module is data radio station, and described data memory module is used for preserving flight attitude in flight course, boat
Line, video and the data of each sensor.
Preferably, described embedded control unit includes the first judge module, the second judge module and the 3rd judge module
(17), according to inertial navigation module, described first judge module is for judging whether described small-sized manned vehicle roll crosses the border, described
According to inertial navigation module, second judge module is for judging whether described small-sized manned vehicle pitching crosses the border, described first judges mould
According to inertial navigation module and general GPS module, block is for judging whether described small-sized manned vehicle course crosses the border.
The corresponding present invention also provides for the implementation method of a kind of small aircraft automated driving system, described method include as
Lower step:
S201 starts single-chip microcomputer, is sensed by the first Hall element, the second Hall element, airspeed sensor, cylinder temperature
Device, fuel-quantity transducer and cooling-water temperature sensor gather data, and small-sized manned vehicle parameter is carried out Initialize installation；
S202 embedded control unit starts inertial navigation module and general GPS module, and generates thread；
S203 is when selecting automatic Pilot steer mode, and embedded control unit reads described inertial navigation module data, calculates
And adjust the flight attitude of described small-sized manned vehicle；
S204 shows height, course, electromotor and the data of sensor in real time, and stores data.
Preferably, calculate and adjust the flight attitude line of described small-sized manned vehicle, particularly as follows:
S2031 is when the first judge module judges that roll is crossed the border, it is judged that difference whether more than zero, the most then controls horizontal stroke
Rolling motor rotates forward, and otherwise, then controls roll motor reversal；
S2032 is when the second judge module judges that pitching is crossed the border, it is judged that whether difference more than zero, the most then controls to bow
Face upward motor to rotate forward, otherwise, then control pitching motor reversion；
S2033 is when the 3rd judge module judges to cross the border in course, it is judged that difference whether more than zero, the most then controls boat
Rotate forward to motor, otherwise, then control course motor reversal；
Preferably, after choosing manual drive steer mode, by data memory module, data are stored, described number
It is SD card according to memory module.
As can be seen here, the invention provides a kind of cheap and automatic Pilot small aircraft safely and efficiently automatically to drive
Sail System and method for, by application technical scheme, use digitizing technique, improve certainty of measurement, reliability and peace
Quan Xing, modular design, it is simple to components and parts are changed and software and hardware is upgraded, according to integrated, Miniaturization Design, self-protection merit
Can be perfect, easy and simple to handle, improve safety and reduce the requirement to user operation technical ability, stability is high, low cost.
Accompanying drawing explanation
Fig. 1 is the small aircraft automated driving system schematic diagram that the application proposes；
Fig. 2 is the small aircraft automatic Pilot method flow diagram that the application proposes；
Fig. 3 is the small aircraft automatic Pilot method flow diagram that the application proposes.
Detailed description of the invention
Because the cost of the automatic pilot of medium-and-large-sized aircraft traditional in prior art is the highest, and existing
Small aircraft does not has Function for Automatic Pilot, operates more complicated, and stability is low, can not automatically obtain the problem of related data,
The invention provides a kind of small aircraft automated driving system and method.
In order to the technological thought of the present invention is expanded on further, in conjunction with concrete application scenarios, the specific embodiment of the invention is made
Describe in further detail.
As it is shown in figure 1, a kind of small aircraft automated driving system proposed for the application, described small aircraft is automatic
Control loop is arranged on small-sized manned vehicle, and described small-sized manned vehicle has automatic Pilot and manual drive two kinds behaviour
Control pattern, described system includes embedded control unit 1, the driver element 5 being connected with embedded control unit 1 outfan communication
And inertial navigation module 2, general GPS module 3 and the data acquisition unit communicated to connect respectively with embedded control unit 1 input
4,
Wherein, general GPS module is GPS sensor, is used for measuring geographical location information, in conjunction with embedded control unit
Calculate, export flight path information, and record-setting flight circuit, divide no-fly region and other barrier hint etc.；
Described inertial navigation module 2 is used for measuring flight attitude and control information, and it includes three-dimensional accelerometer 21, gyroscope 22
With altimeter 23；
Described data acquisition unit 4 includes first that single-chip microcomputer 41 and the a/d converter with single-chip microcomputer 41 are respectively connected with
Hall element 42 and the second Hall element 43, described first Hall element 42 for measuring the rotating speed of rotor, described the
Two Hall elements 43 are for measuring the rotating speed of propeller, and described single-chip microcomputer 41 is for gathering sensing data and to the number gathered
It is analyzed calculating according to being transferred to embedded control unit 1 after carrying out pretreatment；
Described driver element 5 includes power driver module 51 and the horizontal stroke being connected that communicates respectively with power driver module 51
Rolling motor 52, pitching motor 53 and course motor 54；
Described embedded control unit 1 is by transferring inertial navigation module 2, general GPS module 3 and the number of data acquisition unit 4
It is believed that breath, and control roll motor 52, pitching motor 53 and course motor 54 by power driver module 51, thus change small-sized
The pitching of manned vehicle, roll or Heading control, it is achieved automatic Pilot.Wherein, motor uses three groups of DC speed-reducing, merit
Rate 30 watts, by high power semi-conductor driver, drives actuating motor rotating, controls aircraft control bar and tail vane, reach
Controlling pitching, roll, course etc., the closed loop response time is less than 100 milliseconds.
It should be noted that the employing quasiconductor inertial sensor of the application, comprise accelerometer, gyro, altimeter etc.
Sensor constitutes Methods of Strapdown Inertial Navigation System with flush bonding processor, and carries out system correction with GPS alignment system, and reaching data can
By purpose；And utilize pitot to combine inertial navigation system to carry out flight speed correction, gather such as propeller, rotor rotating speed, electromotor
Aircraft duty is monitored and stored to status signal；Utilize enforcement divisions such as embedding computer export control signal driving motor
Part, controls course, roll, pitching etc., reaches automatic Pilot purpose.
In concrete application scenarios, described data acquisition unit 4 also includes the phase respectively of the a/d converter with single-chip microcomputer 41
Even include airspeed sensor 44, cylinder temperature sensor 45, fuel-quantity transducer 46 and cooling-water temperature sensor 47.
It should be noted that sensor also has as follows: fuel-quantity transducer, use supersonic sounding mode, can in the range of 1 meter
It is accurate to 3 millimeters.After sectional area scale according to fuel tank, application display is in liquid crystal display screen, certainty of measurement 10%；Cooling-water temperature sensor, inserts
Enter formula thermosensitive resistance measurement coolant temperature, certainty of measurement 1 degree；Engine temperature sensing unit, uses thermocouple to measure, essence
Spend 1 degree；Voltage sensor, measures supply voltage, precision 0.1V；Airspeed sensor, i.e. pitot are through baroceptor and temperature
Degree sensor correction after measure air speed, and with inertial acceleration meter integrated value mutually compensate for revise after show at liquid crystal display screen.
In concrete application scenarios, described embedded control unit 1 is to utilize embedded computer system as airborne
Control centre, assists with outside expanded circuit, it is possible to realize Navigation Control, data acquisition, data process and the merit of wireless telecommunications
Can, described embedded computer system is ARM11 processor.
Needing explanation, automated driving system has two processors, front end pretreatment single-chip microcomputer, is responsible for gathering from individual biography
The data of sensor, including, rotor rotating speed, revolution speed of propeller, enumerator complete, by HIS input measurement fuel tank liquid level, pass through
A/D changes, and gathers the data such as engine cylinder temperature, radiator water temperature, airspeed sensor, sends primary processor after packing to.Embed
Computer uses ARM11, as primary processor, is responsible for gathering the sensing data from inertial navigation module, computational mathematics mould
Type, gathers from drawing result of calculation, outputs a control signal to actuating motor and other outut devices.Embedded control unit is adopted
Using arm11 flush bonding processor, 10.4 cun of liquid crystal displays, backlight processes, shows relevant flight parameter and sensing data, with
Time there is black box function, preserve flight attitude in flight course, course line, and the data of each sensor, network interface can be passed through
Or SD card, derive data and play back to computer.Forward position processor (single-chip microcomputer) uses band A/D conversion and the monolithic of PCA function
Machine does distributed treatment and gathers respective sensor data and pretreatment, sends primary processor (embedded control to by serial line interface
Unit processed) it is analyzed calculating.
In concrete application scenarios, state embedded control unit 1 and be connected with power supply by DC/DC transducer, described electricity
Source is 12V, and described DC/DC transducer is also associated with motor of prewhirling.
Wherein, needed for using DC_DC form that 12V DC source is converted to strong and weak system, and isolate, improve and be
System reliability.
In concrete application scenarios, described embedded control unit 1 is also associated with sound and light alarm module 11, described acousto-optic
Alarm module 11 is in small-sized manned vehicle job insecurity state or according to the default no-fly region of described general GPS module 3
Report to the police.Wherein, small-sized manned vehicle job insecurity state refers to that the data that sensor detects exceed the clothes preset
Business table specifies the preset value of normal condition.
In concrete application scenarios, described embedded control unit 1 is also associated with data memory module 12, wireless telecommunications
Module 13 and video acquisition module 14, described wireless communication module 13 is data radio station, and described data memory module 12 is used for protecting
Deposit flight attitude in flight course, course line, video and the data of each sensor.
Wherein, using data radio station, communication frequency 340M, output 50w. can transmit sound and the image of certain bandwidth
Signal.
In concrete application scenarios, described embedded control unit 1 includes first judge module the 15, second judge module
16 and the 3rd judge module 17, described first judge module 15 is for judging described small-sized manned vehicle according to inertial navigation module 2
Whether roll crosses the border, according to inertial navigation module 2, described second judge module 16 is for judging that described small-sized manned vehicle pitching is
No crossing the border, described first judge module 15 is described small-sized manned for judging according to inertial navigation module 2 and general GPS module 3
Whether device course crosses the border.
The present invention provides the implementation method of a kind of small aircraft automated driving system, as in figure 2 it is shown, described method includes
Following steps:
S201 starts single-chip microcomputer 41, by first Hall element the 42, second Hall element 43, airspeed sensor 44,
Cylinder temperature sensor 45, fuel-quantity transducer 46 and cooling-water temperature sensor 47 gather data, and at the beginning of small-sized manned vehicle parameter is carried out
Beginningization is arranged；
S202 embedded control unit 1 starts inertial navigation module 2 and general GPS module 3, and generates thread；
S203 is when selecting automatic Pilot steer mode, and embedded control unit 1 reads described inertial navigation module 2 data, meter
Calculate and adjust the flight attitude of described small-sized manned vehicle；
Wherein, calculate and adjust the flight attitude line of described small-sized manned vehicle, particularly as follows:
S2031 is when the first judge module 15 judges that roll is crossed the border, it is judged that whether difference more than zero, the most then controls
Roll motor 52 rotates forward, and otherwise, then controls roll motor 52 and inverts；
Wherein, difference is the marginal value or damped coefficient set.
S2032 is when the second judge module 16 judges that pitching is crossed the border, it is judged that whether difference more than zero, the most then controls
Pitching motor 53 rotates forward, and otherwise, then controls pitching motor 53 and inverts；
S2033 is when the 3rd judge module 17 judges to cross the border in course, it is judged that whether difference more than zero, the most then controls
Course motor 54 rotates forward, and otherwise, then controls course motor 54 and inverts；
S204 shows height, course, electromotor and the data of sensor in real time, and stores data.
In concrete application scenarios, after choosing manual drive steer mode, by data memory module 12 to data
Storing, described data memory module 12 is SD card.
Through the above description of the embodiments, those skilled in the art is it can be understood that can lead to the present invention
Cross hardware to realize, it is also possible to the mode adding necessary general hardware platform by software realizes.(based on such understanding, this
The technical scheme of invention can embody with the form of software product, and this software product can be stored in one and non-volatile deposit
Storage media can be CD-ROM, USB flash disk, portable hard drive etc.) in, including some instructions with so that a computer equipment is (permissible
It is personal computer, server, or the network equipment etc.) each implements the method described in scene to perform the present invention.
It will be appreciated by those skilled in the art that accompanying drawing is a schematic diagram being preferable to carry out scene, module in accompanying drawing or
Flow process is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in the device implemented in scene can be entered according to implementing scene description
Row is distributed in the device implementing scene, it is also possible to carries out respective change and is disposed other than one or more dresses of this enforcement scene
In putting.The module of above-mentioned enforcement scene can merge into a module, it is also possible to is further split into multiple submodule.
The invention described above sequence number, just to describing, does not represent the quality implementing scene.
The several scenes that are embodied as being only the present invention disclosed above, but, the present invention is not limited to this, Ren Heben
What the technical staff in field can think change all should fall into protection scope of the present invention.
Claims (10)
1. a small aircraft automated driving system, described small aircraft automated driving system is arranged on small-sized manned
On device, described small-sized manned vehicle has automatic Pilot and two kinds of steer mode of manual drive, it is characterised in that described system
The driver element (5) that is connected with embedded control unit (1) outfan communication including embedded control unit (1) and with embedding
Enter inertial navigation module (2), general GPS module (3) and data acquisition unit that formula control unit (1) input communicates to connect respectively
(4), wherein,
Described inertial navigation module (2) is used for measuring flight attitude and control information, and it includes three-dimensional accelerometer (21), gyroscope
And altimeter (23) (22)；
Described data acquisition unit (4) includes that single-chip microcomputer (41) and the a/d converter with single-chip microcomputer (41) are respectively connected with
One Hall element (42) and the second Hall element (43), described first Hall element (42) is for measuring turning of rotor
Speed, described second Hall element (43) is for measuring the rotating speed of propeller, and described single-chip microcomputer (41) is used for gathering sensor number
According to and to gather data carry out pretreatment after be transferred to embedded control unit (1) be analyzed calculate；
Described driver element (5) includes that power driver module (51) and communicating respectively with power driver module (51) is connected
Roll motor (52), pitching motor (53) and course motor (54)；
Described embedded control unit (1) is by transferring inertial navigation module (2), general GPS module (3) and data acquisition unit (4)
Data message, and control roll motor (52), pitching motor (53) and course motor (54) by power driver module (51),
Thus change the pitching of small-sized manned vehicle, roll or Heading control, it is achieved automatic Pilot.
Small aircraft automated driving system the most according to claim 1, it is characterised in that described data acquisition unit
(4) also include that the a/d converter with single-chip microcomputer (41) is respectively connected with including airspeed sensor (44), cylinder temperature sensor (45), oil mass
Sensor (46) and cooling-water temperature sensor (47).
Small aircraft automated driving system the most according to claim 1, it is characterised in that described embedded control unit
(1) it is to utilize embedded computer system as airborne control centre, assists with outside expanded circuit, it is possible to realize navigation control
System, data acquisition, data process and the function of wireless telecommunications, and described embedded computer system is ARM11 processor.
Small aircraft automated driving system the most according to claim 3, it is characterised in that described embedded control unit
(1) being connected with power supply by DC/DC transducer, described power supply is 12V, and described DC/DC transducer is also associated with motor of prewhirling.
Small aircraft automated driving system the most according to claim 4, it is characterised in that described embedded control unit
(1) being also associated with sound and light alarm module (11), described sound and light alarm module (11) is at small-sized manned vehicle job insecurity shape
Report to the police in state or the no-fly region preset according to described general GPS module (3).
Small aircraft automated driving system the most according to claim 4, it is characterised in that described embedded control unit
(1) data memory module (12), wireless communication module (13) and video acquisition module (14), described wireless telecommunications mould it are also associated with
Block (13) is data radio station, and described data memory module (12) is used for preserving flight attitude in flight course, course line, video and each
The data of sensor.
Small aircraft automated driving system the most according to claim 1, it is characterised in that described embedded control unit
(1) the first judge module (15), the second judge module (16) and the 3rd judge module (17), described first judge module are included
(15) for judging whether described small-sized manned vehicle roll crosses the border according to inertial navigation module (2), described second judge module
(16) for judging whether described small-sized manned vehicle pitching crosses the border according to inertial navigation module (2), described first judge module
(15) for judging whether described small-sized manned vehicle course crosses the border according to inertial navigation module (2) and general GPS module (3).
8. the implementation method of the small aircraft automated driving system described in a claim 7, it is characterised in that described method
Comprise the steps:
S201 starts single-chip microcomputer (41), by the first Hall element (42), the second Hall element (43), airspeed sensor
(44), cylinder temperature sensor (45), fuel-quantity transducer (46) and cooling-water temperature sensor (47) gather data, and to small-sized manned vehicle
Parameter carries out Initialize installation；
S202 embedded control unit (1) starts inertial navigation module (2) and general GPS module (3), and generates thread；
S203 is when selecting automatic Pilot steer mode, and embedded control unit (1) reads described inertial navigation module (2) data, meter
Calculate and adjust the flight attitude of described small-sized manned vehicle；
S204 shows height, course, electromotor and the data of sensor in real time, and stores data.
Small aircraft automatic Pilot method the most according to claim 8, it is characterised in that calculate and adjust described small-sized
The flight attitude line of manned vehicle, particularly as follows:
S2031 is when the first judge module (15) judges that roll is crossed the border, it is judged that difference whether more than zero, the most then controls horizontal stroke
Rolling motor (52) rotates forward, and otherwise, then controls roll motor (52) reversion；
S2032 is when the second judge module (16) judges that pitching is crossed the border, it is judged that whether difference more than zero, the most then controls to bow
Face upward motor (53) to rotate forward, otherwise, then control pitching motor (53) reversion；
S2033 is when the 3rd judge module (17) judges to cross the border in course, it is judged that difference whether more than zero, the most then controls boat
Rotate forward to motor (54), otherwise, then control course motor (54) reversion.
The most according to claim 8 utilize ultrared Spark plug optical fiber sensor method, it is characterised in that choosing manual drive
During steer mode, being stored data by data memory module (12), described data memory module (12) is SD card.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106527490A (en) * | 2017-01-18 | 2017-03-22 | 青岛欧森系统技术有限公司 | Oil-powered multi-rotor unmanned aerial vehicle autopilot |
| CN106773877A (en) * | 2017-03-16 | 2017-05-31 | 天津京东智联科技发展有限公司 | A kind of manned vehicle automatic safety control system and its control method |
| CN106996794A (en) * | 2017-04-20 | 2017-08-01 | 佛山科学技术学院 | A kind of depopulated helicopter state monitoring apparatus |
| CN107065904A (en) * | 2017-03-10 | 2017-08-18 | 武汉农帮科技有限责任公司 | Gasoline and electric hybrid aircraft balance control system |
| CN109324628A (en) * | 2018-11-28 | 2019-02-12 | 无锡飞天侠科技有限公司 | A kind of unmanned plane and its control system with high protection |
| CN111003190A (en) * | 2019-12-11 | 2020-04-14 | 兰州飞行控制有限责任公司 | Flight control panel and pilot console |
| CN114488906A (en) * | 2022-02-15 | 2022-05-13 | 广东汇天航空航天科技有限公司 | Flight control method, flight control unit and flight control system |
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| CN111003190A (en) * | 2019-12-11 | 2020-04-14 | 兰州飞行控制有限责任公司 | Flight control panel and pilot console |
| CN114488906A (en) * | 2022-02-15 | 2022-05-13 | 广东汇天航空航天科技有限公司 | Flight control method, flight control unit and flight control system |
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