CN111158390A - Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route - Google Patents
Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route Download PDFInfo
- Publication number
- CN111158390A CN111158390A CN201911400513.0A CN201911400513A CN111158390A CN 111158390 A CN111158390 A CN 111158390A CN 201911400513 A CN201911400513 A CN 201911400513A CN 111158390 A CN111158390 A CN 111158390A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- forced landing
- forced
- engine
- 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
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G05D1/12—Target-seeking control
Abstract
The invention provides an engine abnormal parking handling method of an unmanned aerial vehicle suitable for a fixed air route, which relates to the technical field of unmanned aerial vehicles and can ensure that the unmanned aerial vehicle of the fixed air route can quickly and accurately find a proper forced landing point for forced landing when the engine is abnormal at any position of the air route, thereby reducing the possibility of the unmanned aerial vehicle crashing due to the abnormal engine; according to the method, a plurality of forced landing points are arranged on the ground in advance along the flight area of the unmanned aerial vehicle according to the flight path and the performance of the unmanned aerial vehicle, and when the unmanned aerial vehicle has a parking fault at any position of the current flight path, the most appropriate forced landing point is selected from the plurality of forced landing points arranged in advance through a forced landing point extraction algorithm for forced landing. The technical scheme provided by the invention is suitable for the forced landing process of the unmanned aerial vehicle.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to an abnormal parking handling method for an engine of an unmanned aerial vehicle, which is suitable for a fixed air route.
[ background of the invention ]
For most fixed wing unmanned aerial vehicles, only one engine is generally installed, unpowered redundancy backup is carried out, and when the engine is abnormally stopped in the air, if the engine is improperly disposed, serious damage is possibly caused to the life and property safety of people in a flight area. After a parking fault occurs, the main treatment measure in the field of the current unmanned aerial vehicle depends on the knowledge of a flight operator on the flight characteristics of the unmanned aerial vehicle and the local geographic environment, and the unmanned aerial vehicle guides the aircraft to a forced landing point manually. In order to reduce the self damage of the unmanned aerial vehicle during landing and the damage to ground personnel and buildings, the forced landing point is required to be selected in an area with flat terrain, spaciousness and no inhabitant.
Because the unmanned aerial vehicle can have parking faults at any point in the flying process, and the cognitive degree of a flight operator to the geographic environment is limited, the unmanned aerial vehicle can be properly treated only by relying on the flight operator when the parking faults occur at any point, and is obviously unrealistic, so that great uncertainty is brought to the operation safety of the unmanned aerial vehicle.
The application scene of the freight transportation unmanned aerial vehicle is generally point-to-point fixed route flight, so the flight route of the unmanned aerial vehicle is fixed, and conditions are provided for planning a forced landing point before flight, so that a method for handling abnormal parking of an engine of the unmanned aerial vehicle suitable for the fixed route is needed to be researched to overcome the defects of the prior art, and one or more problems are solved or alleviated.
[ summary of the invention ]
In view of the above, the invention provides a handling method for abnormal parking of an engine of an unmanned aerial vehicle suitable for a fixed air route, which can enable the unmanned aerial vehicle of the fixed air route to quickly and accurately find a suitable forced landing point for forced landing when the engine is abnormal at any position of the air route, and reduce the possibility of crash of the unmanned aerial vehicle due to abnormal engine.
On one hand, the invention provides an unmanned aerial vehicle engine abnormal parking handling method suitable for a fixed route, which is characterized in that a plurality of forced landing points are arranged on the ground in advance along the flight area of an unmanned aerial vehicle according to the flight route of the unmanned aerial vehicle and the performance of the unmanned aerial vehicle, and when the unmanned aerial vehicle has a parking fault at any position of the current route, the most suitable forced landing point is selected from the plurality of forced landing points arranged in advance through a forced landing point extraction algorithm for forced landing.
The above-described aspect and any possible implementation manner further provide an implementation manner, and the specific steps of the method include:
s1, determining an area set A which can be reached by the unmanned aerial vehicle in the unpowered gliding at any position of the current route according to the gliding ratio of the unmanned aerial vehicle;
s2, selecting a region set B which is flat in terrain, open and free of inhabitants from the region set A;
s3, selecting a plurality of forced landing points in the area set B in a field survey confirmation mode, and storing forced landing point information in the flight control computer;
s4, when the unmanned aerial vehicle needs forced landing, selecting the optimal forced landing point from all forced landing points according to the forced landing point selection algorithm to perform forced landing.
The above-mentioned aspect and any possible implementation manner further provide an implementation manner, where the minimum number of forced landing points in S3 is required to ensure that at least one forced landing point is reachable when the unmanned aerial vehicle needs to be forced to land at any position of the airline; the maximum value of the number of the forced falling points is an integer within 120% of the minimum value of the number of the forced falling points.
The above aspects and any possible implementation manner further provide an implementation manner, when the number of forced landing points does not meet the requirement under the constraint of a ground environment, the forced landing points are set by changing the flight path and performing the manner from S1 to S3 again until a plurality of forced landing points meeting the whole flight path can be selected.
The above-described aspects and any possible implementations further provide for an implementation in which altering the course includes altering any one or more of a longitude, a latitude, and an altitude of the course.
As to the above-mentioned aspect and any possible implementation manner, an implementation manner is further provided, where the forced landing point selecting algorithm in S4 specifically is:
wherein the content of the first and second substances,
(lonPi,latPi,altPi) And (6) the longitude and latitude coordinates of the forced landing point with the sequence number i are shown, (lon0, lat0, alt0) the longitude and latitude coordinates of the unmanned aerial vehicle at the moment of shutdown.
In accordance with the above-described aspect and any one of the possible implementations, there is further provided an implementation in which, when the forced landing is performed in S4, an operator or an automatic processing program moves the aircraft flaps to the reference flap angle and controls the airspeed of the aircraft at the reference airspeed; the reference flap angle and the reference airspeed are the flap angle and the airspeed corresponding to the glide ratio in S1.
The above-described aspect and any possible implementation further provides an implementation, and the determining in S1 is performed according to a maximum weight of the drone when determining the glide ratio of the drone.
In the above aspect and any possible implementation manner, when the number of the optimal forced landing points selected according to the forced landing point selection algorithm is more than two in S4, a point for forced landing is selected according to the real-time state of each optimal forced landing point.
In another aspect, the invention provides an application of the method for disposing abnormal parking of the engine of the unmanned aerial vehicle suitable for the fixed air route, which is characterized in that the method is applied to forced landing of the aircraft.
Compared with the prior art, the invention can obtain the following technical effects: set up a plurality of forced landing points on unmanned aerial vehicle's fixed course, satisfy that unmanned aerial vehicle can both be rapidly and accurate when the engine is unusual in any position of course and find suitable forced landing point and carry out forced landing, reduce the possibility that unmanned aerial vehicle fell into the air because of the engine is unusual.
Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for handling abnormal parking of an engine of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The invention provides a forced landing point design and selection method for dealing with abnormal engine stop aiming at a fixed air route freight unmanned aerial vehicle. According to unmanned aerial vehicle flight line and self performance, confirm in advance along unmanned aerial vehicle flight area and compel the landing point, guarantee that unmanned aerial vehicle all has accessible compel the landing point when parking trouble takes place in arbitrary position through the design. By designing the forced landing point extraction algorithm, when a parking fault occurs at any position, a point suitable for forced landing can be selected from the existing forced landing points through the algorithm to be used by an operator or an automatic control system, so that the loss is reduced.
In order to achieve the purpose, the invention has the conception that firstly, an area set which can be glided when any point has a fault is determined through the glide ratio of the unmanned aerial vehicle, then the area set is further restricted according to the geographical environment restriction, then forced landing points are selected in the restricted area set and stored in a flight control computer, and when the engine has a fault in the air, a proper forced landing point can be selected through a forced landing point extraction algorithm to be used by a flight operator or an automatic landing module. The drone flight path includes longitude, latitude, and altitude.
The method comprises the following specific steps:
firstly, determining the glide ratio (the ground distance and the height loss ratio of gliding) of the unmanned aerial vehicle under different weights and different flap angles through the performance analysis of the unmanned aerial vehicle, thereby obtaining an area set A which can be reached by the unmanned aerial vehicle without power glide when the unmanned aerial vehicle has a parking fault at any position, wherein a forced landing point needs to be contained in the area set A; the area A needs to meet the requirement that when the unmanned aerial vehicles with different weights have parking faults at any position of the flight path, the unmanned aerial vehicles can glide into the area A; the larger the weight of the unmanned aerial vehicle is, the closer the sliding landing distance is at the same height, so that other weights can be met as long as the maximum weight is ensured and a reachable forced landing point exists;
when determining the glide ratio, calculating the maximum lift-drag ratio of the unmanned aerial vehicle under different weights and different flap angles according to the unmanned aerial vehicle model, and taking the airspeed and the flap angle of the unmanned aerial vehicle corresponding to the lift-drag ratio as reference values for landing in a gliding way; the method specifically comprises the following steps:
firstly, determining the weight M of the unmanned aerial vehicle (the weight M of the unmanned aerial vehicle is selected to be the largest so as to ensure that a forced landing point can be reached under the condition of the shortest glide distance), then, carrying out balancing (namely calculating the force and moment balance) by using an MATLAB tool box according to an unmanned aerial vehicle aerodynamic model to obtain the minimum track angle which can be reached by the unmanned aerial vehicle when the weight M and the thrust are 0, wherein the glide ratio of the unmanned aerial vehicle is the maximum glide ratio (when the maximum glide ratio of the unmanned aerial vehicle is reached, the corresponding balancing result is the minimum track angle); correspondingly, the airspeed and the flap angle of the unmanned aerial vehicle are uniquely determined at the moment, and the values can be used as reference input of the landing control, namely when the landing process flow is entered, an operator or an automatic processing program firstly drives the flap of the aircraft to the reference angle and then controls the airspeed of the aircraft to the reference airspeed;
step two, further restricting the area set A by using a mode of combining a satellite map and field survey, ensuring that the new area set is relatively flat in terrain, spacious and free of residents, and being represented by a new area set B;
selecting a plurality of forced landing points in the area set B in a field survey confirmation mode, wherein the minimum value of the forced landing points needs to ensure that at least one forced landing point can be reached when the unmanned aerial vehicle needs to be forced landed at any position; in order to reduce the difficulty of engineering realization and the occupation of flight control computer resources, the maximum value of the forced landing point number is required to be not more than 120% of the minimum forced landing point number; the position information of the forced landing point is stored in a flight control computer before taking off; the shape and the size of the forced landing point have no special requirements, and the landing requirement of the unmanned aerial vehicle can be met;
if the number of forced landing points does not meet the requirement under the constraint of the ground environment, the mission flight path is required to be changed before taking off, and the calculated forced landing points are re-planned and calculated through the change of the position or the height of the flight path until a plurality of forced landing points meeting the whole flight path can be selected;
designing a forced landing point selection algorithm, when an air engine parking fault occurs, selecting an optimal forced landing point from the selectable forced landing points nearby by using the algorithm, informing a flight control operator or an automatic sliding landing module, and providing support for unpowered sliding landing;
the algorithm is based on the principle that the point with the minimum module value from the three-dimensional coordinate of the unmanned aerial vehicle parking time to each forced landing point is selected as the forced landing point, and the formula is as follows:
wherein (lonP)i,latPi,altPi) Watch (A)And (lon0, lat0, alt0) is the longitude and latitude coordinates of the forced landing point with the sequence number of i, and the i-number forced landing point corresponding to the minimum value D is taken as the forced landing point selected by the unmanned aerial vehicle. When the minimum value D corresponds to two or more forced landing points, any one of the forced landing points can be selected as the forced landing point, and the real-time state of the current forced landing points can be selected by referring to the real-time state, wherein the real-time state comprises whether the forced landing point is in an open state, whether other airplanes are forced to land, whether the residual forced landing space is enough for two or more unmanned aerial vehicles to perform forced landing, and the forced landing point with the large residual forced landing space is preferably used for performing forced landing so as to ensure that the unmanned aerial vehicle to be forced to land still has enough space for other unmanned aerial vehicles to perform forced landing.
The method for disposing the abnormal parking of the engine of the unmanned aerial vehicle suitable for the fixed air route is described in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. The method is characterized in that a plurality of forced landing points are arranged on the ground in advance along the flight area of the unmanned aerial vehicle according to the flight line of the unmanned aerial vehicle and the performance of the unmanned aerial vehicle, and when the unmanned aerial vehicle has a parking fault at any position of the current flight line, the most appropriate forced landing point is selected from the plurality of forced landing points arranged in advance through a forced landing point extraction algorithm for forced landing.
2. The method for disposing the abnormal parking of the engine of the unmanned aerial vehicle suitable for the fixed route according to claim 1, wherein the specific steps of the method comprise:
s1, determining an area set A which can be reached by the unmanned aerial vehicle in the unpowered gliding at any position of the current route according to the gliding ratio of the unmanned aerial vehicle;
s2, selecting a region set B which is flat in terrain, open and free of inhabitants from the region set A;
s3, selecting a plurality of forced landing points in the area set B in a field survey confirmation mode, and storing forced landing point information in the flight control computer;
s4, when the unmanned aerial vehicle needs forced landing, selecting the optimal forced landing point from all forced landing points according to the forced landing point selection algorithm to perform forced landing.
3. The method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed route of claim 2, wherein the minimum number of forced landing points in S3 is required to ensure that at least one forced landing point is accessible when the unmanned aerial vehicle is required to be forced to land at any position of the route; the maximum value of the number of the forced falling points is an integer within 120% of the minimum value of the number of the forced falling points.
4. The method as claimed in claim 3, wherein when the number of forced landing points is not satisfactory due to the constraints of ground environment, the forced landing points are set by changing the route and then proceeding from S1 to S3 until a plurality of forced landing points satisfying the whole route can be selected.
5. The method of fixed lane-appropriate unmanned aerial vehicle engine abnormal parking handling according to claim 4, wherein altering the lane comprises altering any one or more of a longitude, latitude, and altitude of the lane.
6. The method for disposing the abnormal parking of the engine of the unmanned aerial vehicle suitable for the fixed route according to claim 2, wherein the forced landing point selecting algorithm in the S4 is specifically as follows:
wherein the content of the first and second substances,
(lonPi,latPi,altPi) Indicating a serial number ofiThe longitude and latitude coordinates of the forced landing point (lon0, lat0, alt0) represent the longitude and latitude coordinates of the unmanned aerial vehicle at the time of shutdown.
7. The method for handling the abnormal parking of the engine of the unmanned aerial vehicle suitable for the fixed route according to claim 2, wherein when the forced landing is performed in the S4, an operator or an automatic processing program drives the flap of the airplane to a reference flap angle and controls the airspeed of the airplane to be at a reference airspeed; the reference flap angle and the reference airspeed are the flap angle and the airspeed corresponding to the glide ratio in S1.
8. The method for handling abnormal engine stop of unmanned aerial vehicle suitable for fixed route according to claim 2, wherein the determination of the glide ratio of the unmanned aerial vehicle in S1 is made according to the maximum weight of the unmanned aerial vehicle.
9. The method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed route of claim 6, wherein when there are more than two optimal forced landing points selected according to forced landing point selection algorithm in S4, points for forced landing are selected according to real time status of each optimal forced landing point.
10. Use of the method for handling abnormal engine stops of unmanned aerial vehicles suitable for fixed routes according to any of claims 1-9, characterized in that the method is used in forced landing of aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911400513.0A CN111158390A (en) | 2019-12-30 | 2019-12-30 | Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911400513.0A CN111158390A (en) | 2019-12-30 | 2019-12-30 | Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111158390A true CN111158390A (en) | 2020-05-15 |
Family
ID=70559643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911400513.0A Pending CN111158390A (en) | 2019-12-30 | 2019-12-30 | Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111158390A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428371A (en) * | 2021-07-23 | 2021-09-24 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle capable of performing emergency treatment and unmanned aerial vehicle emergency treatment method |
| CN113625759A (en) * | 2021-08-25 | 2021-11-09 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle forced landing control method and device, remote control device and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070138345A1 (en) * | 2005-10-17 | 2007-06-21 | Shuster Gary S | Method and System For Aviation Navigation |
| CN102859569A (en) * | 2010-04-21 | 2013-01-02 | 波音公司 | Determining landing sites for aircraft |
| CN104751682A (en) * | 2015-04-21 | 2015-07-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Method, device and system for constructing dynamic air route of unmanned aircraft system |
| CN105292494A (en) * | 2014-06-11 | 2016-02-03 | 国家电网公司 | Parachuting method and device of unmanned aerial vehicle |
| CN108303993A (en) * | 2018-01-25 | 2018-07-20 | 武汉汇卓航科技有限公司 | A kind of unmanned plane failure emergency landing method |
| CN109582034A (en) * | 2018-11-29 | 2019-04-05 | 沈阳无距科技有限公司 | A kind of multitask flight course planning method, apparatus and electronic equipment |
| CN109992001A (en) * | 2019-04-22 | 2019-07-09 | 西安忠林世纪电子科技有限公司 | A kind of unmanned plane safe falling method, apparatus and unmanned plane |
-
2019
- 2019-12-30 CN CN201911400513.0A patent/CN111158390A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070138345A1 (en) * | 2005-10-17 | 2007-06-21 | Shuster Gary S | Method and System For Aviation Navigation |
| CN102859569A (en) * | 2010-04-21 | 2013-01-02 | 波音公司 | Determining landing sites for aircraft |
| CN105292494A (en) * | 2014-06-11 | 2016-02-03 | 国家电网公司 | Parachuting method and device of unmanned aerial vehicle |
| CN104751682A (en) * | 2015-04-21 | 2015-07-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Method, device and system for constructing dynamic air route of unmanned aircraft system |
| CN108303993A (en) * | 2018-01-25 | 2018-07-20 | 武汉汇卓航科技有限公司 | A kind of unmanned plane failure emergency landing method |
| CN109582034A (en) * | 2018-11-29 | 2019-04-05 | 沈阳无距科技有限公司 | A kind of multitask flight course planning method, apparatus and electronic equipment |
| CN109992001A (en) * | 2019-04-22 | 2019-07-09 | 西安忠林世纪电子科技有限公司 | A kind of unmanned plane safe falling method, apparatus and unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428371A (en) * | 2021-07-23 | 2021-09-24 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle capable of performing emergency treatment and unmanned aerial vehicle emergency treatment method |
| CN113625759A (en) * | 2021-08-25 | 2021-11-09 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle forced landing control method and device, remote control device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10126756B2 (en) | Method of adapting a segment of an aircraft trajectory with constant ground gradient segment according to at least one performance criterion | |
| CN103051373B (en) | Self-rotor unmanned aerial vehicle-based air emergency communication system | |
| US8849478B2 (en) | Aircraft piloting assistance method and corresponding device | |
| US20210407303A1 (en) | Systems and methods for managing energy use in automated vehicles | |
| CN103294062A (en) | Method for flying an aircraft along a flight path | |
| Lin et al. | Failure analysis for an unmanned aerial vehicle using safe path planning | |
| US20120232725A1 (en) | Method For Optimizing Aircraft Landing On A Runway | |
| Lee et al. | Closed-form takeoff weight estimation model for air transportation simulation | |
| JPWO2011132291A1 (en) | Flight state control device for flying object | |
| CN111158390A (en) | Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route | |
| US11604480B2 (en) | Methods and systems for automatic descent mode | |
| Aalmoes et al. | A conceptual third party risk model for personal and unmanned aerial vehicles | |
| US20180017967A1 (en) | High Performance System with Explicit Incorporation of ATC Regulations to Generate Contingency Plans for UAVs with Lost Communication | |
| CN106651014A (en) | Optimization method for flight path of transport aircraft | |
| CN113655812A (en) | Landing method for flameout of aerial engine of large-scale freight unmanned aerial vehicle | |
| US10867521B2 (en) | Aircraft mission computing system, comprising a computing engine for computing an aircraft trajectory during the mission and related process | |
| Elston et al. | Guidelines and best practices for FAA Certificate of Authorization applications for small unmanned aircraft | |
| Donkels | Trajectory risk evaluation for autonomous low-flying air transport | |
| Peng et al. | A novel emergency flight path planning strategy for civil airplanes in total loss of thrust | |
| Lin et al. | Airspace risk assessment in logistic path planning for UAV | |
| Prosser et al. | RPV flying qualities design criteria | |
| Soppa et al. | German contribution to the X-38 CRV demonstrator in the field of guidance, navigation and control (GNC) | |
| US11958626B2 (en) | Maximum takeoff weight determination for aircraft | |
| US11727815B2 (en) | Methods and systems for regenerating at least a portion of a flight plan based on location-specific data | |
| US11749119B2 (en) | Methods and systems for generating and displaying a time and a location for transitions of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |