CN108839808A - Flight control assemblies and unmanned vehicle - Google Patents
Flight control assemblies and unmanned vehicle Download PDFInfo
- Publication number
- CN108839808A CN108839808A CN201810731950.XA CN201810731950A CN108839808A CN 108839808 A CN108839808 A CN 108839808A CN 201810731950 A CN201810731950 A CN 201810731950A CN 108839808 A CN108839808 A CN 108839808A
- Authority
- CN
- China
- Prior art keywords
- circuit board
- flight control
- control assemblies
- box body
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of flight control assemblies and a kind of unmanned vehicle.The flight control assemblies include box body and are placed in the intracorporal flight-control computer circuit board of box, inertia measurement circuit board, counterweight shell and multiple vibration-reducing connecting parts are additionally provided in box body, inertia measurement circuit board is fixedly connected below counterweight shell, multiple supporting points are provided on counterweight shell, counterweight shell is arranged in box body by the vibration-reducing connecting part support being arranged in a one-to-one correspondence with supporting point.The present invention is in the box body of flight control assemblies, point-supported vibration-proof structure is constituted using counterweight shell and vibration-reducing connecting part, to reduce the volume of vibration-proof structure, and, inertia measurement circuit board is arranged in the box body of flight control assemblies and realizes vibration damping, integration degree is high, is conducive to connect between simplified inertia measurement circuit board and flight-control computer circuit board, reduces the cost of manufacture of unmanned vehicle.
Description
Technical field
The present invention relates to unmanned vehicle technical field, in particular to a kind of flight control assemblies and a kind of unmanned flight
Device.
Background technique
In the design of unmanned vehicle, the vibration damping for control of flying is most important.The Inertial Measurement Unit of unmanned vehicle
Accelerometer and gyro, the angular speed and acceleration of measurement object in three dimensions are generally comprised, and is sent to flight control
Computer is used to calculate the posture of unmanned vehicle, there is critically important application value in navigation with this.
Currently, the vibration damping of Inertial Measurement Unit still has defect on unmanned vehicle.For example, existing unmanned vehicle
In, carry out vibration damping using the cushion blocking (such as sponge) of large area mostly, volume is larger, thus can only by Inertial Measurement Unit and
Flight-control computer integrally carries out vibration damping, is unfavorable for the Miniaturization Design of unmanned vehicle；Or it needs inertia measurement list
Member keeps apart carry out vibration damping with flight-control computer, increases Inertial Measurement Unit and flight-control computer Joining Technology
Complexity, increase cost of manufacture and fraction defective.
Summary of the invention
In view of the bad problem of prior art unmanned aircraft inertia measuring unit vibration-proof structure, of the invention one is proposed
Kind flight control assemblies and a kind of unmanned vehicle, to overcome the above problem or at least to be partially solved the above problem.
To achieve the goals above, present invention employs following technical solutions：
According to one aspect of the present invention, it provides a kind of flight control assemblies, including box body and is placed in the box body
Flight-control computer circuit board, be additionally provided with inertia measurement circuit board, counterweight shell and multiple vibration-reducing connecting parts in the box body,
The inertia measurement circuit board is fixedly connected below the counterweight shell, is provided with multiple supporting points on the counterweight shell, described
Counterweight shell is arranged in the box body by the vibration-reducing connecting part support being arranged in a one-to-one correspondence with the supporting point.
Optionally, the vibration-reducing connecting part is buffering ball, is extended with first connecting rod on the upside of the buffering ball, described the
The first retaining ring is provided in one connecting rod, the counterweight shell corresponds to the first connecting rod and is provided with the first connecting hole, described
First connecting rod passes through first connecting hole, and first retaining ring is connected and fixed with the counterweight shell.
Optionally, along the first connecting rod direction and/or the vertical first connecting rod direction, the buffering ball setting
There is through-hole.
Optionally, connecting bridge is additionally provided in the box body, the connecting bridge and the flight-control computer circuit board are solid
Fixed connection, is placed in below the buffering ball, and the second connecting hole is provided in the connecting bridge, and the is extended on the downside of the buffering ball
Two connecting rods, the second retaining ring is provided in second connecting rod, and second connecting rod passes through second connecting hole, institute
The second retaining ring is stated to connect and fix with the connecting bridge.
Optionally, first retaining ring and second retaining ring are coniform, and the vertex of a cone is towards outside the buffering ball
Side.
Optionally, the bottom of the connecting bridge is equipped with boss pedestal, and the height of the boss pedestal is greater than described second and connects
Extension bar stretches out the length of second connecting hole.
Optionally, barometer is provided on the inertia measurement circuit board；What the box body formation was connected to external environment
First atmospheric pressure cavity, the counterweight shell and the inertia measurement circuit board form the second atmospheric pressure cavity, the company of being provided on the counterweight shell
Lead to the venthole of first atmospheric pressure cavity Yu second atmospheric pressure cavity.
Optionally, the opening of the wiring connector corresponding to flight-control computer circuit board, institute are provided on the box body
It states the first atmospheric pressure cavity and is connected to by the opening with external environment.
Optionally, in second atmospheric pressure cavity, barometric disturbance buffering is provided on the downside of the venthole of the counterweight shell
Sponge.
According to another aspect of the invention, provide a kind of unmanned vehicle, on the unmanned vehicle setting just like
Upper described in any item flight control assemblies.
In conclusion the beneficial effects of the invention are as follows：
In the box body of flight control assemblies, point-supported vibration-proof structure is constituted using counterweight shell and vibration-reducing connecting part, from
And the volume of vibration-proof structure is reduced, also, realization in the box body of flight control assemblies is arranged in inertia measurement circuit board and is subtracted
Vibration, integration degree is high, is conducive to connect between simplified inertia measurement circuit board and flight-control computer, reduces nobody and fly
The cost of manufacture of row device.
Detailed description of the invention
Fig. 1 is the side structure schematic diagram of flight control assemblies one embodiment of the present invention；
Fig. 2 is the Inertial Measurement Unit mould group explosive view in embodiment illustrated in fig. 1；
Fig. 3 is the overall structure diagram after Inertial Measurement Unit module group assembling shown in Fig. 2；
Fig. 4 is assembling mode schematic diagram of the Inertial Measurement Unit in flight-control computer box shown in Fig. 3；
Fig. 5 is one embodiment perspective view of buffering ball in flight control assemblies of the present invention；
Fig. 6 is the sectional view of buffering ball embodiment shown in Fig. 5；
Fig. 7 is another embodiment perspective view of buffering ball in flight control assemblies of the present invention；
Fig. 8 is the sectional view of buffering ball embodiment shown in Fig. 7；
Fig. 9 is the explosive view of another embodiment of flight control assemblies of the present invention；
In figure, 1, counterweight shell；11, groove is avoided；12, heat release hole；13, the first connecting hole；14, the 4th connecting hole；15, lead to
Stomata；2, inertia measurement circuit board；21, the 5th connecting hole；22, barometer；3, buffering ball；31, first connecting rod；32, first
Retaining ring；33, the second connecting rod；34, the second retaining ring；35, axially extending bore；36, radial through-hole；4, upper casing；41, it is open；5,
Lower casing；6, connecting bridge；61, the second connecting hole；62, boss pedestal；63, third connecting hole；7, the second fastener；8, the first fastening
Part；9, flight-control computer circuit board；91, wiring connector；10, barometric disturbance buffers sponge.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Technical concept of the invention is：Point-supported vibration-proof structure is constituted using counterweight shell and vibration-reducing connecting part, by inertia
Measuring circuit plate is arranged in the box body of flight control assemblies and realizes vibration damping, reduces the volume of vibration-proof structure, meanwhile, inertia
Measuring circuit plate is arranged in the box body of flight control assemblies, and integration degree is high, be conducive to simplify inertia measurement circuit board and
It is connected between flight-control computer, reduces the cost of manufacture of unmanned vehicle.
Embodiment one
Fig. 1-4 shows one embodiment of flight control assemblies of the present invention, with reference to shown in Fig. 1-4, a kind of flight control
Device, including box body and it is placed in the intracorporal flight-control computer circuit board 9 of box (see Fig. 4).In the present embodiment, in box body also
Equipped with inertia measurement circuit board 2, counterweight shell 1 and multiple vibration-reducing connecting parts, inertia measurement circuit board 2 is fixedly connected on counterweight shell 1
Lower section, is provided with multiple supporting points on counterweight shell 1, and counterweight shell 1 passes through the vibration-reducing connecting part branch that is arranged in a one-to-one correspondence with supporting point
Support is arranged in box body.
As shown in Figure 1, the box body of flight control assemblies includes the upper casing 4 and lower casing 5 being stitched together, controlled in the flight
In the box body of device, flight-control computer circuit board 9 is electrically connected with inertia measurement circuit board 2, obtains inertia measurement circuit board
The data of 2 acquisitions, and posture judgement and flight control are carried out to unmanned vehicle with this.
Counterweight shell 1 can be made of metal material, have biggish weight, to increase inertia, reduce inertia measurement electricity
The vibration intrinsic frequency of road plate 2, counterweight shell 1 and vibration-reducing connecting part cooperate, and form point-supported damping system, control in flight
In the box body of device processed, the damping vibration attenuation to inertia measurement circuit board 2 is realized.Inertia measurement circuit board 2 is integrated in by the application
In the box body of flight control assemblies, thus, electric connection structure between inertia measurement circuit board 2 and flight-control computer can be with
It is arranged more succinct, to reduce the cost of manufacture and packaging technology difficulty of unmanned vehicle.Also, the counterweight shell of metal material
1 also has electromagnetic shielding action, can improve nothing to avoid component on inertia measurement circuit board 2 by extraneous electromagnetic interference
The reliability of people's aircraft inertia detection.
In the present embodiment, vibration-reducing connecting part is buffering ball 3, and the upside of buffering ball 3 is extended with first connecting rod 31, first
The first retaining ring 32 is provided in connecting rod 31, the corresponding first connecting rod 31 of counterweight shell 1 is provided with the first connecting hole 13, and first connects
Extension bar 31 passes through the first connecting hole 13, and the first retaining ring 32 is connected and fixed with counterweight shell 1, as Figure 2-3.
The buffering ball 3 can be made using elastic material (such as rubber), realize vibration damping by the elasticity of its own
Effect.
In some embodiments of the invention, along 31 direction of 31 direction of first connecting rod and/or vertical first connecting rod, subtract
Vibration ball 3 is provided with through-hole.It hollows out buffering ball 3 and forms through-hole, the elasticity of buffering ball 3 can be increased and reduce by 3 mass of buffering ball,
Mode specifically is hollowed out, can be selected according to the weight of the material hardness of buffering ball 3 and counterweight shell 1, to realize vibration damping
The structural strength demand of ball 3 and the balance of elastic demand.
Fig. 5 and Fig. 6 shows one embodiment of buffering ball 3, as shown in Figure 5 and Figure 6, along 31 direction of first connecting rod,
Buffering ball 3 is provided with axially extending bore 35.Fig. 7 and Fig. 8 shows another embodiment of buffering ball 3, as shown in Figure 7 and Figure 8, edge
The radial direction in vertical 31 direction of first connecting rod, buffering ball 3 is provided with radial through-hole 36, and radial through-hole 36 is provided with vertical two
It is a, so that " ten " word cross-like is formed, so that 3 symmetrical balance of buffering ball.It is, of course, also possible to which above two mode, which is combined, to be made
With vertical and hollowing out buffering ball 3 simultaneously along 31 direction of first connecting rod and form through-hole.
In the present embodiment, connecting bridge 6, connecting bridge 6 and the fixed company of flight-control computer circuit board 9 are additionally provided in box body
It connects, is placed in the lower section of buffering ball 3, the second connecting hole 61 is provided in connecting bridge 6, is extended with the second connecting rod on the downside of buffering ball 3
33, the second retaining ring 34 is provided in the second connecting rod 33, the second connecting rod 33 passes through the second connecting hole 61, the second retaining ring 34
It is connected and fixed with connecting bridge 6, as shown in Figure 2.
In the present embodiment, the first retaining ring 32 and the second retaining ring 34 are coniform, and the vertex of a cone is towards outside buffering ball 3
Side, in order to which the connecting rod of buffering ball 3 is passed through from the connecting hole of inertia measurement circuit board 2 and connecting bridge 6.
In the present embodiment, the bottom of connecting bridge 6 is equipped with boss pedestal 62, and the height of boss pedestal 62 is greater than the second connection
Bar 33 stretches out the length of the second connecting hole 61.To, under the supporting role of boss pedestal 62, after the second connecting rod 33 is pierced by,
It does not contact, is avoided since contact squeeze causes the deformation of buffering ball 3 or falls off with flight-control computer circuit board 9.
In the present embodiment, first connecting rod 31 and the second connecting rod 33 are respectively provided with auxiliary guidance function, by vibration damping
Ball 3 is guided into the first connecting hole 13 or the second connecting hole 61 is completed after being clamped, and can remove first connecting rod 31 according to space requirement
Or second connecting rod 33.
In the present embodiment, third connecting hole 63 is offered on boss pedestal 62, connecting bridge 6 is connected by being arranged in third
First fastener 8 in hole 63 is fixedly connected (see Fig. 4) with flight-control computer circuit board 9.First fastener 8 is, for example, to fasten
The conventional fasteners such as bolt, details are not described herein.
With continued reference to Fig. 3, in the present embodiment, 1 lower surface of counterweight shell is provided with first device of evacuation inertia measurement circuit board 2
The evacuation groove 11 of part, it is not damaged with components such as accelerometer and the gyroscopes of protecting inertia measurement circuit board 2.
It is highly preferred that heat release hole 12 is additionally provided at the top of the evacuation groove 11 of counterweight shell 1, so that inertia measurement circuit board 2
On accelerometer and the components such as gyroscope adequately radiated, guarantee that its is working properly and prolongs the service life.
In the present embodiment, counterweight shell 1 is provided with the 4th connecting hole 14, and inertia measurement circuit board 2 is equipped with and connect with the 4th
Corresponding 5th connecting hole 21 in 14 position of hole, counterweight shell 1 and inertia measurement circuit board 2 are by being arranged in the 4th connecting hole 14 and
Second fastener 7 of five connecting holes 21 is fixedly connected (see Fig. 3).Second fastener 7 is, for example, the conventional fasteners such as fastening bolt,
Details are not described herein.
When assembling the flight control assemblies of the present embodiment, first according to shown in Fig. 2 explosive view, by counterweight shell 1, inertia measurement
Circuit board 2, buffering ball 3 and connecting bridge 6 fit together, and Inertial Measurement Unit mould group as shown in Figure 3 are formed, according still further to Fig. 4
It is shown, by the Inertial Measurement Unit module group assembling into the lower casing of flight control assemblies, finally splice the upper of flight control assemblies
Shell and lower casing complete assembling.
Embodiment two
In another embodiment of flight control assemblies of the present invention, unlike above-described embodiment one, flight control meter
It calculates and is provided with the second connecting hole on mounted circuit board 9, be extended with the second connecting rod on the downside of buffering ball, the is provided in the second connecting rod
Two retaining rings, the second connecting rod pass through the second connecting hole, and the second retaining ring is connected and fixed with flight-control computer circuit board 9.
Connect that is, the second connecting rod and the second retaining ring of 3 downside of buffering ball directly cooperate with flight-control computer circuit board 9
It connects, is no longer pass through connecting bridge 6 and transfers, further to reduce cost of manufacture.
Embodiment three
Fig. 9 discloses the another embodiment of flight control assemblies of the present invention, as shown in figure 9, compared to embodiment one, Fig. 9
In illustrated embodiment, barometer 22 is provided on inertia measurement circuit board 2；Box body forms the first air pressure being connected to external environment
Chamber, counterweight shell 1 are fastened with inertia measurement circuit board 2 by fixed screw, are formed the second atmospheric pressure cavity, are provided with connection on counterweight shell 1
The venthole 15 of first atmospheric pressure cavity and the second atmospheric pressure cavity.Barometer 22 is located in the second atmospheric pressure cavity.
In the present embodiment, by the setting of barometer 22 in inertia measurement circuit board 2, to reach measurement air pressure and be surveyed according to air pressure
Measure the purpose of height above sea level.Barometer 22 is realized in combination with ultrasonic wave and TOF (Time of flight, flight time telemetry)
The measurement of relative altitude and absolute altitude.Also, the box body of flight control assemblies forms relatively closed first atmospheric pressure cavity, as
First order pressure buffer area, counterweight shell 1 and the combination of inertia measurement circuit board 2 form relatively closed second atmospheric pressure cavity, as the
Second level pressure buffer area may be implemented the effect of two-stage air-flow buffer, avoid the interference in air flow air pressure driven in aircraft flight
Count the accuracy of 22 measurement data.
In the embodiment shown in fig. 9, the upper casing 4 of box body is provided with the line company corresponding to flight-control computer circuit board 9
The opening 41 of device 91 is connect, the first atmospheric pressure cavity is connected to by opening 41 with external environment.Preferably, on this basis, the second air pressure
Chamber and the first atmospheric pressure cavity are connected to by venthole 15, and position and first atmospheric pressure cavity of second atmospheric pressure cavity in addition to venthole 15 are removed
The position of opening 41 keeps sealing.
In embodiment illustrated in fig. 9, in the second atmospheric pressure cavity, air pressure is provided on the downside of the venthole 15 of counterweight shell 1 and is disturbed
Dynamic buffering sponge 10.Barometric disturbance buffering sponge 10 is placed in 11 top of evacuation groove of counterweight shell 1, covering the first air pressure of connection
The venthole 15 of chamber and the second atmospheric pressure cavity, barometer 22 are located at the bottom of evacuation groove 11, that is, barometer 22 and venthole 15 it
Between across sponge 10, the setting of sponge 10 be in order to formed to air-flow buffer effect third level pressure buffer area, to ensure gas
The data of 22 measurement of pressure meter are influenced smaller by aircraft generation flow perturbation.
Example IV
The invention also discloses a kind of unmanned vehicle, it is provided with described in any embodiment as above on the unmanned vehicle
Flight control assemblies.
Flight control assemblies in the present invention utilize counterweight shell and vibration-reducing connecting part in the box body of flight control assemblies
Point-supported vibration-proof structure is constituted, to reduce the volume of vibration-proof structure, also, the setting of inertia measurement circuit board is being flown
Vibration damping is realized in the box body of control device, integration degree is high, is conducive to simplify inertia measurement circuit board and flight control calculates
It is connected between machine, reduces the cost of manufacture of unmanned vehicle.In addition, in a preferred embodiment of the invention, clump weight has both
There are the multiple functions such as electromagnetic shielding, counterweight and pressure buffer chamber, the reliability of flight control assemblies work is improved, in conjunction with flight
Control device box body, clump weight and inertia measurement circuit board and barometric disturbance buffer sponge, form multiple barometric disturbance buffering
Area enables the barometer being arranged on inertia measurement circuit board accurately to measure barometric information, with calculating aircraft flight
Height above sea level solves aircraft flight and generates air-flow to the interference problem of barometric surveying.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of flight control assemblies, including box body and it is placed in the intracorporal flight-control computer circuit board of the box, feature
It is, inertia measurement circuit board, counterweight shell and multiple vibration-reducing connecting parts, the inertia measurement circuit board is additionally provided in the box body
Be fixedly connected below the counterweight shell, be provided with multiple supporting points on the counterweight shell, the counterweight shell by with the branch
The vibration-reducing connecting part support that support point is arranged in a one-to-one correspondence is arranged in the box body.
2. flight control assemblies according to claim 1, which is characterized in that the vibration-reducing connecting part is buffering ball, described
It is extended with first connecting rod on the upside of buffering ball, the first retaining ring is provided on the first connecting rod, the counterweight shell is corresponding
The first connecting rod is provided with the first connecting hole, and the first connecting rod passes through first connecting hole, first retaining
Ring is connected and fixed with the counterweight shell.
3. flight control assemblies according to claim 2, which is characterized in that along the first connecting rod direction and/or hang down
The straight first connecting rod direction, the buffering ball are provided with through-hole.
4. flight control assemblies according to claim 2, which is characterized in that connecting bridge is additionally provided in the box body, it is described
Connecting bridge is fixedly connected with the flight-control computer circuit board, is placed in below the buffering ball, is arranged in the connecting bridge
There is the second connecting hole, be extended with the second connecting rod on the downside of the buffering ball, be provided with the second retaining ring in second connecting rod,
Second connecting rod passes through second connecting hole, and second retaining ring is connected and fixed with the connecting bridge.
5. flight control assemblies according to claim 4, which is characterized in that first retaining ring and second retaining
Ring is coniform, and the vertex of a cone is towards on the outside of the buffering ball.
6. flight control assemblies according to claim 4, which is characterized in that the bottom of the connecting bridge is equipped with boss bottom
Seat, the height of the boss pedestal are greater than the length that second connecting rod stretches out second connecting hole.
7. flight control assemblies according to claim 1, which is characterized in that be provided with gas on the inertia measurement circuit board
Pressure meter；The box body forms the first atmospheric pressure cavity being connected to external environment, the counterweight shell and the inertia measurement circuit board shape
At the second atmospheric pressure cavity, the venthole for being connected to first atmospheric pressure cavity and second atmospheric pressure cavity is provided on the counterweight shell.
8. flight control assemblies according to claim 7, which is characterized in that be provided on the box body and correspond to flight control
The opening of the wiring connector of computer circuit board processed, first atmospheric pressure cavity are connected to by the opening with external environment.
9. flight control assemblies according to claim 7 or 8, which is characterized in that in second atmospheric pressure cavity, be located at described
Barometric disturbance buffering sponge is provided on the downside of the venthole of counterweight shell.
10. a kind of unmanned vehicle, which is characterized in that be provided with -9 any one according to claim 1 on the unmanned vehicle
The flight control assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731950.XA CN108839808A (en) | 2018-07-05 | 2018-07-05 | Flight control assemblies and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731950.XA CN108839808A (en) | 2018-07-05 | 2018-07-05 | Flight control assemblies and unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839808A true CN108839808A (en) | 2018-11-20 |
Family
ID=64200254
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810731950.XA Pending CN108839808A (en) | 2018-07-05 | 2018-07-05 | Flight control assemblies and unmanned vehicle |
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| CN (1) | CN108839808A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3094343A1 (en) * | 2019-03-29 | 2020-10-02 | Hexadrone | Drone comprising a base and a suspended plate |
| CN112429270A (en) * | 2020-11-26 | 2021-03-02 | 北京二郎神科技有限公司 | Inertia measurement module, flight control inertia measurement assembly and aircraft |
| CN112492840A (en) * | 2020-11-13 | 2021-03-12 | 广州小马慧行科技有限公司 | Inertial measurement unit |
| CN113038751A (en) * | 2021-03-02 | 2021-06-25 | 北京信息科技大学 | Data measuring device |
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| CN112429270A (en) * | 2020-11-26 | 2021-03-02 | 北京二郎神科技有限公司 | Inertia measurement module, flight control inertia measurement assembly and aircraft |
| CN113038751A (en) * | 2021-03-02 | 2021-06-25 | 北京信息科技大学 | Data measuring device |
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