CN107792402A - A kind of carrier rocket level recovery system and method - Google Patents
A kind of carrier rocket level recovery system and method Download PDFInfo
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- CN107792402A CN107792402A CN201710864909.5A CN201710864909A CN107792402A CN 107792402 A CN107792402 A CN 107792402A CN 201710864909 A CN201710864909 A CN 201710864909A CN 107792402 A CN107792402 A CN 107792402A
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- carrier rocket
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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
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
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Abstract
The invention discloses a kind of carrier rocket level recovery system and method, wherein, the system includes：Reclaim casing, detection device, signal receiving/transmission device, multiple air bags, aerating device, travel mechanism and ground control system；Recovery casing is the matrix body structure that top is not closed；Detection device, signal receiving/transmission device and aerating device are separately positioned on recovery casing；Multiple air bags are separately positioned on the bottom and side of the recovery casing；Aerating device is connected with the multiple air bag respectively；Travel mechanism is arranged on recovery bottom half；Ground control system passes through signal receiving/transmission device and the carrier rocket level recovery system telecommunication.The present invention is based on active service carrier rocket, in the recovery to completing sub- level while the less change of carrier rocket level.
Description
Technical field
The invention belongs to aerocraft system technical field, more particularly to a kind of carrier rocket level recovery system and method.
Background technology
In order to reduce carrier rocket launch cost, reclaim and reuse carrier rocket level as various countries in aircraft system
Command the important technology route explored in evolution in domain.SPACEX companies of the U.S. have been successfully realized carrier rocket
Sea, the land of one-level reclaims and reuses, it was demonstrated that recovery reuses the feasibility of technology path.
At present, the way of recycling of the carrier rocket level of generally use is：Parachuting is reclaimed or vertically returning with land support
Debit's case.Parachute and landing support are installed in carrier rocket level, are added the weight of carrier rocket level, are reduced
The payload of carrier rocket level, and rocket aerodynamic configuration is largely changed, add risk in-flight.
The content of the invention
The technology of the present invention solves problem：A kind of overcome the deficiencies in the prior art, there is provided carrier rocket level recovery system
And method, based on active service carrier rocket, in the recovery to completing sub- level while the less change of carrier rocket level.
In order to solve the above-mentioned technical problem, the invention discloses a kind of carrier rocket level recovery system, including：Collection box
Body, detection device, signal receiving/transmission device, multiple air bags, aerating device, travel mechanism and ground control system；
Recovery casing is the matrix body structure that top is not closed；
Detection device, signal receiving/transmission device and aerating device are separately positioned on recovery casing；
Multiple air bags are separately positioned on the bottom and side of the recovery casing；
Aerating device is connected with the multiple air bag respectively；
Travel mechanism is arranged on recovery bottom half；
Ground control system passes through signal receiving/transmission device and the carrier rocket level recovery system telecommunication.
In above-mentioned carrier rocket level recovery system,
Detection device, for being visited in real time to the state of the carrier rocket level recovery system and carrier rocket level
Survey, obtain detection information；
Signal receiving/transmission device, for the detection information to be sent to ground control system, and, receive ground control system
The control instruction that system returns；
Ground control system, the detection information sent for receiving the signal receiving/transmission device, is carried out according to detection information
Drop point is predicted, and generates control instruction；Controlled by the control instruction and filled described in the motion and/or control of the travel mechanism
Device of air is to the multiple airbag aeration.
In above-mentioned carrier rocket level recovery system, the detection information, including：Recovery system detection information and rocket
Sub- class survey information；
Recovery system detection information, for indicate the carrier rocket level recovery system and the carrier rocket level it
Between relative position；
The sub- class survey information of rocket, for indicating the real-time status of the carrier rocket level.
In above-mentioned carrier rocket level recovery system, the sub- class survey information of rocket, including：Fire after once lighting a fire
The sub- class survey information of rocket after arrow class survey information, regnition and the sub- class survey information of rocket after lighting a fire three times；
Ground control system, it is used for：
The sub- class survey information of rocket after once lighting a fire is received, according to the sub- class survey information of rocket after once igniting, is obtained
Prediction drop point to after once lighting a fire, and the first motion control instruction is generated according to the prediction drop point after the once igniting；It is logical
The motion that first motion control instruction controls the travel mechanism is crossed, so that carrier rocket level recovery system is to once point
Prediction drop point movement after fire；
The sub- class survey information of rocket after regnition is received, according to the sub- class survey information of rocket after regnition, is obtained
Prediction drop point after to regnition, and the second motion control instruction is generated according to the prediction drop point after the regnition；It is logical
The motion that second motion control instruction controls the travel mechanism is crossed, so that carrier rocket level recovery system is to secondary point
Prediction drop point movement after fire；
The sub- class survey information of rocket after lighting a fire three times is received, according to the sub- class survey information of rocket after igniting three times, is obtained
Prediction drop point to after lighting a fire three times, and the 3rd motion control instruction is generated according to the prediction drop point after the igniting three times；It is logical
The motion that the 3rd motion control instruction controls the travel mechanism is crossed, so that carrier rocket level recovery system is to point three times
Prediction drop point movement after fire.
In above-mentioned carrier rocket level recovery system, the sub- class survey information of rocket, including：Carrier rocket level it is real-time
Position, real-time speed and real-time attitude.
In above-mentioned carrier rocket level recovery system, the ground control system, it is used for：
Receive recovery system detection information；
The carrier rocket level recovery system and the delivery fire according to indicated by the recovery system detection information
Relative position between arrow level, judges whether the carrier rocket level touches the bottom of the recovery casing；
When it is determined that the carrier rocket level touches the bottom of the recovery casing, generation ventilating control instruction；
The aerating device is controlled to the multiple airbag aeration by ventilating control instruction.
In above-mentioned carrier rocket level recovery system, the aerating device, for being instructed according to the ventilating control, adopt
Mode is quickly filled with explosion type or compressed gas airing form carries out fast aeration to the multiple air bag, with by inflating expanded
The carrier rocket level is fixed multiple air bags afterwards.
In above-mentioned carrier rocket level recovery system, the duration of run of the multiple air bag is：10 milliseconds.
In above-mentioned carrier rocket level recovery system, in addition to：Multiple wake flame steam vents；
Multiple wake flame steam vents are separately positioned on the recovery bottom half, for entering institute in the carrier rocket level
When stating recovery casing, air-flow caused by the wake flame of carrier rocket level is discharged.
Accordingly, the invention also discloses a kind of carrier rocket level recovery method, including：
The state of the carrier rocket level recovery system and carrier rocket level is visited in real time by detection device
Survey, obtain detection information；
The detection information is occurred to ground control system by signal receiving/transmission device；
Drop point prediction is carried out according to the detection information by ground control system, and generates control instruction；
The motion of the travel mechanism is controlled by control instruction and/or controls aerating device to multiple airbag aerations, it is real
Now to the recovery of carrier rocket level.
The present invention has advantages below：
The invention discloses a kind of carrier rocket level recovery system, the carrier rocket level recovery system can be arranged on
On ground, based on recovery casing, detection device, signal receiving/transmission device, multiple air bags, aerating device, travel mechanism and ground control
System processed, the soft landing and fixation of carrier rocket level are realized, completes the recovery to carrier rocket level, with prior art phase
Than the present invention alleviates rocket body weight, the Yi Jiyin of rocket without installing parachute and landing support in carrier rocket level
To reclaim the transport power brought loss and the change of aerodynamic configuration, and take off, the influence of come in and go out atmosphere and landing shock,
The recovery of carrier rocket level is completed while not increasing carrier rocket level weight, improves the reliability of recovery.
Brief description of the drawings
Fig. 1 is a kind of structural representation of carrier rocket level recovery system in the embodiment of the present invention；
Fig. 2 is a kind of step flow chart of carrier rocket level recovery method in the embodiment of the present invention.
Embodiment
It is public to the present invention below in conjunction with accompanying drawing to make the object, technical solutions and advantages of the present invention clearer
Embodiment is described in further detail.
Reference picture 1, show a kind of structural representation of carrier rocket level recovery system in the embodiment of the present invention.At this
In embodiment, the carrier rocket level recovery system can include：Reclaim casing 100, detection device 200, signal transmitting and receiving dress
Put 300, multiple air bags 400, aerating device 500, travel mechanism 600 and ground control system 700.Carrier rocket level reclaims
The ground installation that system reclaims as carrier rocket level, any appropriate location such as land, ship deck can be arranged in, with reality
Now to the recovery of carrier rocket level.Wherein, the implication of carrier rocket level can be rocket core one-level either rocket core one
The association of level and boosting.
Such as Fig. 1, recovery casing is the matrix body structure that top is not closed；Detection device, signal receiving/transmission device and inflation
Device is separately positioned on recovery casing；Multiple air bags are separately positioned on the bottom and side of the recovery casing；Aerating device
It is connected respectively with the multiple air bag；Travel mechanism is arranged on recovery bottom half；Ground control system is filled by signal transmitting and receiving
Put and the carrier rocket level recovery system telecommunication.
In the preferred embodiment of the present invention, structure master of the casing as the carrier rocket level recovery system is reclaimed
Body, it can design and manufacture using high-strength material.Wherein, the profile for reclaiming casing can be any suitable shape, including but
It is not limited only to：Square, cuboid and cylinder etc..For example, recovery casing can be cube structure, long * is wide=10.7m*
10.7m, thickness 0.7m.Detection device is specifically as follows detection radar.Travel mechanism can be by engine, wheel and hydraulic pump
Deng composition.
In the preferred embodiment of the present invention, detection device, can be used for the carrier rocket level recovery system
Real-time detection is carried out with the state of carrier rocket level, obtains detection information.Signal receiving/transmission device, it can be used for the detection
Information is sent to ground control system, and, receive the control instruction that ground control system returns.Ground control system, can be with
The detection information sent for receiving the signal receiving/transmission device, drop point prediction is carried out according to detection information, and generate control and refer to
Order；The motion of the travel mechanism is controlled by the control instruction and/or controls the aerating device to the multiple air bag
Inflation.
Preferably, the detection information, is included but are not limited to：Recovery system detection information and the sub- class survey letter of rocket
Breath.Wherein, recovery system detection information, the carrier rocket level recovery system and carrier rocket be can serve to indicate that
Relative position between level.The sub- class survey information of rocket, can serve to indicate that the real-time status of the carrier rocket level, example
Such as, the real-time speed of carrier rocket level, position, posture, trajectory tilt angle, sideslip can be carried in the sub- class survey information of rocket
The movable informations such as angle, the posture of relative geographic coordinate system, axial load factor, normal g-load.
In the preferred embodiment of the present invention, during being reclaimed to carrier rocket level, three can be carried out
Secondary drop point prediction, drop point predicts that the igniting three times of corresponding carrier rocket level (is once lighted a fire three times for this:Carrier rocket level with
After carrier rocket reaches peak, carry out carrier rocket level and once reclaim igniting, prepare to reenter；Regnition：Carrier rocket
After sub- level enters atmosphere, the igniting of carrier rocket level secondary recovery is carried out, to control the decrease speed of carrier rocket level；Three
Secondary igniting：Carrier rocket level carries out carrier rocket level and reclaimed three times after carrier rocket level recovery system about 10km
Igniting)., wherein it is desired to explanation, the number of drop point prediction can be selected according to actual conditions, and the present embodiment is not limited this
System.
Preferably, corresponding with the prediction of drop point three times, detection device can be to the shape for carrier rocket level of lighting a fire three times
State carries out real-time detection, obtains the sub- class survey information of rocket after each igniting.That is, the sub- class survey information of rocket, can
With including：Once light a fire after the sub- class survey information of rocket, the sub- class survey information of rocket after regnition and three times light a fire after
The sub- class survey information of rocket.
Accordingly, ground control system, specifically can be used for：
The sub- class survey information of rocket after once lighting a fire is received, according to the sub- class survey information of rocket after once igniting, is obtained
Prediction drop point to after once lighting a fire, and the first motion control instruction is generated according to the prediction drop point after the once igniting；It is logical
The motion that first motion control instruction controls the travel mechanism is crossed, so that carrier rocket level recovery system is to once point
Prediction drop point movement after fire；
The sub- class survey information of rocket after regnition is received, according to the sub- class survey information of rocket after regnition, is obtained
Prediction drop point after to regnition, and the second motion control instruction is generated according to the prediction drop point after the regnition；It is logical
The motion that second motion control instruction controls the travel mechanism is crossed, so that carrier rocket level recovery system is to secondary point
Prediction drop point movement after fire；
The sub- class survey information of rocket after lighting a fire three times is received, according to the sub- class survey information of rocket after igniting three times, is obtained
Prediction drop point to after lighting a fire three times, and the 3rd motion control instruction is generated according to the prediction drop point after the igniting three times；It is logical
The motion that the 3rd motion control instruction controls the travel mechanism is crossed, so that carrier rocket level recovery system is to point three times
Prediction drop point movement after fire.
In the preferred embodiment of the present invention, can be according to described after carrier rocket level is lighted a fire terminate three times
It is relative between the carrier rocket level recovery system and the carrier rocket level indicated by recovery system detection information
Position, the expansion to air bag are controlled.
Preferably, ground control system, specifically can be used for：Receive recovery system detection information；It is according to the recovery
Relative position between the carrier rocket level recovery system and the carrier rocket level united indicated by detection information, sentences
Whether the carrier rocket level of breaking touches the bottom of the recovery casing；When it is determined that the carrier rocket level touches described return
When receiving the bottom of casing, generation ventilating control instruction；The aerating device is controlled to described more by ventilating control instruction
Individual airbag aeration.
Preferably, aerating device, it specifically can be used for being instructed according to the ventilating control, mode quickly filled using explosion type
Or compressed gas airing form carries out fast aeration to the multiple air bag, with by multiple air bags after inflating expanded to described
Carrier rocket level is fixed.
Wherein, mode or compressed gas airing form are quickly filled using explosion type, it is possible to achieve the duration of run of air bag exists
10 milliseconds or so.The setting of air bag can realize the fixation to carrier rocket level, avoid carrier rocket level from entering recovery
Topple over during casing.Further, since carrier rocket level relative velocity when reaching ground endless may be all zero, air bag
Setting serves protective effect to carrier rocket level, avoids carrier rocket level and is collided with recovery casing and cause to damage
Wound.
In the preferred embodiment of the present invention, such as Fig. 1, the carrier rocket level recovery system, can also include：It is more
Individual wake flame steam vent 800.Wherein, multiple wake flame steam vents are separately positioned on the recovery bottom half, in the delivery
When rocket level enters the recovery casing, air-flow caused by the wake flame of carrier rocket level is discharged.Wherein, wake flame steam vent
Radius can select according to actual conditions, for example, the radius of the wake flame steam vent can with but be not limited only to for：500mm.
In embodiments of the present invention, following points need to illustrate：
One：
It is using launching inertial system as navigational coordinate system, and in carrier rocket level in the emission process of carrier rocket
To use northeast day as navigational coordinate system in removal process, therefore, by the carrier rocket level recovery system to delivery
In the removal process that rocket level is carried out, ground control system can be also used for establishing launching inertial system to northeast day coordinate system
Transformational relation.Preferably, the conversion of launching inertial system to northeast day coordinate system can be as follows：
O-XYZ represents launching inertial system, OO-XEYNZRRepresent northeast day coordinate system.Wherein, OO-XEYNZRIt is defined as follows：
Using the prediction drop point of carrier rocket level as coordinate origin OO, OOYNAxle points to horizontal direct north, OOZRAxle edge is local
Normal is just O upwardsOXEAxle and OOYN、OOZRAxle forms right-handed system.Then, launching inertial system is to more than the direction of northeast day coordinate system
String battle array is：
K=sinB2cosωetcosAsinB1
L=cosB2cosωetcosAsinB1-cosB2sinωetsinA+sinB2cosAcosB1
M=-sinB2cosωetsinAsinB1-sinB2sinωetcosA+cosB2sinAcosB1
N=-cosB2cosωetsinAsinB1-cosB2sinωetcosA+sinB2sinAcosB1
Wherein, A represents the azimuth of launching inertial system, B1Represent the latitude of launching inertial system, B2Represent northeast day coordinate system
Latitude, ωeRotational-angular velocity of the earth is represented, t represents the flight time of carrier rocket level.
Secondly：
Detection device is carrying out real-time detection to the state of the carrier rocket level recovery system and carrier rocket level
When, it can be also used for launching the adjustable infrared laser of beam direction, to realize the guidance to carrier rocket level.Preferably,
The guidance flow of carrier rocket level can be as follows：
Carrier rocket level uses premature beats strategy on the basis of being instructed at trace routine angle, guidance is driven using improved
Beam-rider guidance method, the adjustable infrared laser of beam direction is launched by detection device, carrier rocket level is equipped with laser pick-off dress
Put, the guiding for following laser beam is guidanceed command by proportional guidance generation, completes the adjustment of relative position and the amendment of posture：
Wherein, N represents normal g-load, k1Represent proportional guidance coefficient, k2End conswtraint conditional coefficient is represented, v represents fortune
The speed full dose of rocket level is carried,Represent carrier rocket level and reclaim the line-of-sight rate by line between casing, λ represents delivery fire
The angle of sight between arrow level and recovery casing, g0For a constant.
Thirdly：
It is assumed that make (δ rx δry δrz) represent current location and the carrier rocket level of carrier rocket level recovery system
Coordinate points of the difference in northeast day coordinate system between current location, tsThe landing remaining time of carrier rocket level is represented,
Then, when being reclaimed by carrier rocket level recovery system to carrier rocket level, it is ensured that in tsIn -10s, (δ rx
δry δrz) it is zero.
In summary, carrier rocket level recovery system of the present invention can be set on the ground, based on collection box
Body, detection device, signal receiving/transmission device, multiple air bags, aerating device, travel mechanism and ground control system, realize delivery fire
The soft landing and fixation of arrow level, complete the recovery to carrier rocket level, and compared with prior art, the present invention is without delivering
Parachute and landing support are installed in rocket level, alleviate the rocket body weight and because the transport power damage that recovery is brought of rocket
Become estranged the change of aerodynamic configuration, and take off, the influence of come in and go out atmosphere and landing shock, do not increasing carrier rocket level
The recovery of carrier rocket level is completed while weight, improves the reliability of recovery.
Secondly, the setting of air bag realizes the fixation to carrier rocket level, avoids carrier rocket level from entering recovery
Topple over during casing, reduce recovery difficult, it is not necessary to which recovery can be achieved in the substantially vertical stable landing of carrier rocket level.
And the setting of air bag serves protective effect to carrier rocket level, avoid carrier rocket level and touched with recovery casing
Hit and cause to damage.In addition, air bag is reusable, cost is reduced.
Again, can be realized to the automatic of carrier rocket level based on carrier rocket level recovery system of the present invention
Recovery, recovery operation is participated in without personnel on site, avoids casualties risk, it is safe.
In addition, can be widely used in land and ocean etc. many for carrier rocket level recovery system of the present invention
Environment, application prospect are extensive.
Based on above-described embodiment, the invention also discloses a kind of carrier rocket level recovery method, this method is based on described
Carrier rocket level recovery system is realized.Reference picture 2, show a kind of carrier rocket level recovery method in the embodiment of the present invention
Step flow chart.In the present embodiment, the carrier rocket level recovery method, including：
Step 201, the state of the carrier rocket level recovery system and carrier rocket level is entered by detection device
Row real-time detection, obtains detection information.
Step 202, the detection information is occurred to ground control system by signal receiving/transmission device.
Step 203, drop point prediction is carried out according to the detection information by ground control system, and generates control instruction.
Step 204, the motion of the travel mechanism is controlled by control instruction and/or controls aerating device to multiple air bags
Inflation, realizes the recovery to carrier rocket level.
For embodiment of the method, because it is corresponding with system embodiment, so description is fairly simple, correlation
Place referring to system embodiment part explanation.
Each embodiment in this explanation is described by the way of progressive, what each embodiment stressed be and its
The difference of his embodiment, between each embodiment identical similar part mutually referring to.
It is described above, it is only the optimal embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (10)
- A kind of 1. carrier rocket level recovery system, it is characterised in that including：Reclaim casing, detection device, signal transmitting and receiving dress Put, multiple air bags, aerating device, travel mechanism and ground control system；Recovery casing is the matrix body structure that top is not closed；Detection device, signal receiving/transmission device and aerating device are separately positioned on recovery casing；Multiple air bags are separately positioned on the bottom and side of the recovery casing；Aerating device is connected with the multiple air bag respectively；Travel mechanism is arranged on recovery bottom half；Ground control system passes through signal receiving/transmission device and the carrier rocket level recovery system telecommunication.
- 2. carrier rocket level recovery system according to claim 1, it is characterised in thatDetection device, for carrying out real-time detection to the state of the carrier rocket level recovery system and carrier rocket level, Obtain detection information；Signal receiving/transmission device, for the detection information to be sent to ground control system, and, receive ground control system and return The control instruction returned；Ground control system, the detection information sent for receiving the signal receiving/transmission device, drop point is carried out according to detection information Prediction, and generate control instruction；The motion of the travel mechanism and/or the control inflation dress are controlled by the control instruction Put to the multiple airbag aeration.
- 3. carrier rocket level recovery system according to claim 2, it is characterised in that the detection information, including：Return Receipts system detection information and the sub- class survey information of rocket；Recovery system detection information, for indicating between the carrier rocket level recovery system and the carrier rocket level Relative position；The sub- class survey information of rocket, for indicating the real-time status of the carrier rocket level.
- 4. carrier rocket level recovery system according to claim 3, it is characterised in that the sub- class survey letter of rocket Breath, including：Once light a fire after the sub- class survey information of rocket, the sub- class survey information of rocket after regnition and three times light a fire after The sub- class survey information of rocket；Ground control system, it is used for：The sub- class survey information of rocket after once lighting a fire is received, according to the sub- class survey information of rocket after once igniting, obtains one Prediction drop point after secondary igniting, and the first motion control instruction is generated according to the prediction drop point after the once igniting；Pass through institute The motion that the first motion control instruction controls the travel mechanism is stated, so that carrier rocket level recovery system is to after once lighting a fire Prediction drop point movement；The sub- class survey information of rocket after regnition is received, according to the sub- class survey information of rocket after regnition, obtains two Prediction drop point after secondary igniting, and the second motion control instruction is generated according to the prediction drop point after the regnition；Pass through institute The motion that the second motion control instruction controls the travel mechanism is stated, so that carrier rocket level recovery system is to after regnition Prediction drop point movement；The sub- class survey information of rocket after lighting a fire three times is received, according to the sub- class survey information of rocket after igniting three times, obtains three Prediction drop point after secondary igniting, and the 3rd motion control instruction is generated according to the prediction drop point after the igniting three times；Pass through institute The motion that the 3rd motion control instruction controls the travel mechanism is stated, so that carrier rocket level recovery system to after lighting a fire three times Prediction drop point movement.
- 5. carrier rocket level recovery system according to claim 3, it is characterised in that the sub- class survey information of rocket, bag Include：Real time position, real-time speed and the real-time attitude of carrier rocket level.
- 6. carrier rocket level recovery system according to claim 3, it is characterised in that the ground control system, use In：Receive recovery system detection information；The carrier rocket level recovery system and carrier rocket according to indicated by the recovery system detection information Relative position between level, judges whether the carrier rocket level touches the bottom of the recovery casing；When it is determined that the carrier rocket level touches the bottom of the recovery casing, generation ventilating control instruction；The aerating device is controlled to the multiple airbag aeration by ventilating control instruction.
- 7. carrier rocket level recovery system according to claim 6, it is characterised in that the aerating device, for root Instructed according to the ventilating control, mode or compressed gas airing form are quickly filled using explosion type the multiple air bag is carried out soon Speed inflation, so that the carrier rocket level to be fixed by multiple air bags after inflating expanded.
- 8. carrier rocket level recovery system according to claim 7, it is characterised in that during the expansion of the multiple air bag Between be：10 milliseconds.
- 9. carrier rocket level recovery system according to claim 1, it is characterised in that also include：Multiple wake flame exhausts Hole；Multiple wake flame steam vents are separately positioned on the recovery bottom half, for entering described return in the carrier rocket level When receiving casing, air-flow caused by the wake flame of carrier rocket level is discharged.
- A kind of 10. carrier rocket level recovery method, it is characterised in that including：Real-time detection is carried out to the state of the carrier rocket level recovery system and carrier rocket level by detection device, obtained To detection information；The detection information is occurred to ground control system by signal receiving/transmission device；Drop point prediction is carried out according to the detection information by ground control system, and generates control instruction；The motion of the travel mechanism is controlled by control instruction and/or controls aerating device to multiple airbag aerations, realization pair The recovery of carrier rocket level.
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| CN109665123A (en) * | 2018-12-28 | 2019-04-23 | 蓝箭航天技术有限公司 | Recyclable device for space launch vehicle |
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| CN109987257A (en) * | 2018-12-27 | 2019-07-09 | 蓝箭航天空间科技股份有限公司 | Rocket recovery system |
| CN110160407A (en) * | 2019-05-24 | 2019-08-23 | 上海宇航系统工程研究所 | A kind of carrier rocket grade is settled in an area scope control system |
| CN110294148A (en) * | 2019-04-19 | 2019-10-01 | 蓝箭航天空间科技股份有限公司 | A kind of auxiliary recovery system for carrier rocket recycling |
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| CN114199085A (en) * | 2021-11-12 | 2022-03-18 | 大连船舶重工集团有限公司 | Offshore rocket recovery method for compensating drop point deviation |
| CN114152152B (en) * | 2021-11-12 | 2023-11-24 | 大连船舶重工集团有限公司 | Marine rocket recovery method for compensating drop point deviation during autonomous navigation |
| CN114199085B (en) * | 2021-11-12 | 2024-09-27 | 大连船舶重工集团有限公司 | Marine rocket recovery method for compensating drop point deviation |
| CN115723983A (en) * | 2022-11-23 | 2023-03-03 | 南开大学 | Method and system for nondestructive recovery experiment of parafoil with heterogeneous open space |
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