CN111196375B - Thrust line measuring suspender, device and unmanned aerial vehicle thrust line measuring system - Google Patents
Thrust line measuring suspender, device and unmanned aerial vehicle thrust line measuring system Download PDFInfo
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- CN111196375B CN111196375B CN201911268988.9A CN201911268988A CN111196375B CN 111196375 B CN111196375 B CN 111196375B CN 201911268988 A CN201911268988 A CN 201911268988A CN 111196375 B CN111196375 B CN 111196375B
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- 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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
Abstract
The application provides jib, device and unmanned aerial vehicle distance line measurement system are measured to distance line belongs to the aeronautical technology field. The thrust line measuring device comprises a hanging ring, a base assembly, a first adjusting assembly, a second adjusting assembly and a measuring assembly. When the measuring device is used, the rocket cone seat and the measuring cylinder form a using environment of the suspender body, wherein the rocket cone seat is connected with the mounting bolt, and the measuring cylinder is used for measuring a thrust line. Reliable installation of jib body is realized through the connection of construction bolt, and first cross joint and second cross joint can guarantee that the jib body realizes reliable rotation in the measuring plane, ensure that the unmanned aerial vehicle focus passes through jib body central line, and the jib body radially warp when hanging the aircraft can be ignored, has improved measurement accuracy.
Description
Technical Field
The application relates to the technical field of aviation, particularly, relate to a distance line measurement jib, device and unmanned aerial vehicle distance line measurement system.
Background
The rocket-assisted launching is an important link in the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle accelerates to safe flight speed and height from a static state by means of self power and thrust generated by the rocket boosters, and after the rocket boosters are separated, the unmanned aerial vehicle enters a flight path under the action of the self power to fly. The speed of the unmanned aerial vehicle in the takeoff process is determined by the thrust of the boosting rocket and the engine, the stability of the takeoff process is determined by the pitch angle of the engine body, and the measurement accuracy of the thrust line is a key factor for the successful launching of the unmanned aerial vehicle.
At present, the thrust line of the rocket-assisted zero-length launching unmanned aerial vehicle is basically measured by hanging. Unmanned aerial vehicle hangs and is connected the realization through the equipment of hanging of installing at rocket booster and unmanned aerial vehicle contact point, and present equipment of hanging generally divide into two kinds: one is made of steel rope and the other is made of nylon rope. The great deformation of in-process hanging causes the measuring result inaccurate easily, causes unmanned aerial vehicle transmission failure.
Disclosure of Invention
In view of this, this application embodiment provides a jib, device and unmanned aerial vehicle distance line measurement system are measured to distance line, aims at improving unmanned aerial vehicle distance line measurement's accuracy.
The application provides a thrust line measuring device, include
A hoisting ring;
the base assembly comprises a rocket cone seat and a mounting bolt, and the rocket cone seat is connected with the mounting bolt;
the first adjusting assembly comprises a first pin, a second pin, a first cross joint and a first adapter joint, one end of the first cross joint is connected with the mounting bolt through the first pin, and the other end of the first cross joint is connected with the first adapter joint through the second pin;
the second adjusting assembly comprises a third pin, a fourth pin, a second cross joint and a second adapter joint, one end of the second cross joint is connected with the lifting ring through the third pin, and the other end of the second cross joint is connected with the second adapter joint through the fourth pin; and
the measuring assembly comprises a measuring barrel and a suspender body, the suspender body is sleeved with the measuring barrel, and two ends of the suspender body are connected with the first adapter joint and the second adapter joint respectively.
With reference to the first aspect, in a first possible implementation manner of the first aspect, two ends of the suspension rod are respectively in threaded connection with the first adapter joint and the second adapter joint.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the measuring cylinder includes a cylinder body, a first cylinder cover, and a second cylinder cover, the first cylinder cover and the second cylinder cover are respectively connected to two ends of the cylinder body, and the suspension rod penetrates through the first cylinder cover and the second cylinder cover.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the first cross joint includes a first joint body and a second joint body, the first joint body has a first clamping groove for accommodating the mounting bolt, the second joint body has a second clamping groove for accommodating the first adapter joint, the second joint body is connected to the first joint body, and a center line of the second clamping groove is perpendicular to a center line of the first clamping groove.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the second cross joint includes a third joint body and a fourth joint body, the third joint body has a third clamping groove for accommodating the hanging ring, the fourth joint body has a fourth clamping groove for accommodating the second adapter joint, the fourth joint body is connected to the third joint body, and a center line of the fourth clamping groove is perpendicular to a center line of the third clamping groove.
In a second aspect, the present application provides an unmanned aerial vehicle thrust line measurement system, including
The thrust line measuring device comprises an unmanned aerial vehicle and the thrust line measuring device of any one of the first aspect and the first to fourth possible implementation manners of the first aspect.
Wherein, unmanned aerial vehicle hangs in rings.
In a third aspect, the present application further provides a thrust line measuring boom comprising
A hoisting ring;
a mounting bolt configured to connect with a rocket mount;
the first adjusting assembly comprises a first pin, a second pin, a first cross joint and a first adapter joint, one end of the first cross joint is connected with the mounting bolt through the first pin, and the other end of the first cross joint is connected with the first adapter joint through the second pin;
the second adjusting assembly comprises a third pin, a fourth pin, a second cross joint and a second adapter joint, one end of the second cross joint is connected with the lifting ring through the third pin, and the other end of the second cross joint is connected with the second adapter joint through the fourth pin;
a boom body having both ends connected to the first and second adapter joints, respectively, the boom body configured to penetrate a measuring cylinder.
With reference to the third aspect, in a first possible implementation manner of the third aspect, both ends of the boom body are respectively screwed with the first adapter joint and the second adapter joint.
With reference to the first possible implementation manner of the third aspect, in a second possible implementation manner of the third aspect, the hanger rod body is a steel column.
With reference to the third aspect, in a third possible implementation manner of the third aspect, the first cross joint includes a first joint body and a second joint body, the first joint body has a first clamping groove for receiving the mounting bolt, the second joint body has a second clamping groove for receiving the first adapter joint, the second joint body is connected to the first joint body, and a center line of the second clamping groove is perpendicular to a center line of the first clamping groove.
With reference to the third possible implementation manner of the third aspect, in a fourth possible implementation manner of the third aspect, the second cross joint includes a third joint body and a fourth joint body, the third joint body has a third clamping groove configured to accommodate the hanging ring, the fourth joint body has a fourth clamping groove configured to accommodate the second adapter joint, the fourth joint body is connected to the third joint body, and a center line of the fourth clamping groove is perpendicular to a center line of the third clamping groove.
The invention has the beneficial effects that: the application provides a thrust line measuring device includes rings, base subassembly, first adjusting part, second adjusting part and measuring component. When the measuring device is used, the rocket cone seat and the measuring cylinder form a using environment of the suspender body, wherein the rocket cone seat is connected with the mounting bolt, and the measuring cylinder is used for measuring a thrust line. When using, realize the reliable installation of jib body through installing bolt's connection, first cross joint and second cross joint can guarantee that the jib body realizes reliable rotation in the measuring plane, ensure that the focus of unmanned aerial vehicle passes through the central line of jib body, and the jib body is radially out of shape when hanging the aircraft and can be ignored, has improved measurement accuracy.
Drawings
In order to more clearly explain the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic structural diagram of a thrust line measuring device provided in an embodiment of the present application;
FIG. 2 is a schematic partial structural diagram of a thrust line measuring device provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a lifting ring provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a base assembly provided in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a first adjustment assembly provided by an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a second adjustment assembly provided by an embodiment of the present application;
fig. 7 is a schematic structural diagram of a measurement assembly provided in an embodiment of the present application.
Icon: 10-a thrust line measuring device; 100-a lifting ring; 300-a base assembly; 310-rocket cone base; 330-mounting bolts; 500-a first adjustment assembly; 510-a first pin; 530-a second pin; 550-a first cross joint; 551-a first joint body; 553 — a second fitting body; 555-a first clamping groove; 557-second clamping groove; 570-a first crossover joint; 700-a second adjustment assembly; 710-a third pin; 730-a fourth pin; 750-a second cross-connector; 751-a third joint body; 753-fourth fitting body; 755-third grip groove; 757-fourth holding groove; 770-a second adapter; 900-a measurement component; 910-a measuring cylinder; 911-barrel; 913 — a first cartridge cover; 915-a second cartridge cover; 930-boom body.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Examples
The active small and medium-sized unmanned aerial vehicle and rocket-assisted zero-length launching are most widely applied. The rocket-assisted launching is an important link in the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle accelerates to safe flight speed and height from a static state by means of self power and thrust generated by the rocket boosters, and after the rocket boosters are separated, the unmanned aerial vehicle enters a flight path under the action of the self power to fly. The speed of the unmanned aerial vehicle in the takeoff process is determined by the thrust of the boosting rocket and the engine, the stability of the takeoff process is determined by the pitch angle of the engine body, and the measurement accuracy of the thrust line is a key factor for the successful launching of the unmanned aerial vehicle.
At present, the thrust line of the rocket-assisted zero-length launching unmanned aerial vehicle is basically measured by hanging. Unmanned aerial vehicle hangs and is connected the realization through the equipment of hanging of installing at rocket booster and unmanned aerial vehicle contact point, and present equipment of hanging generally divide into two kinds: one is made of steel rope and the other is made of nylon rope. The great deformation of in-process hanging causes the measuring result inaccurate easily, causes unmanned aerial vehicle transmission failure. In addition, for the equipment of hanging that the cable wire was made, the easy friction damage after repetitious usage causes unmanned aerial vehicle to hang the in-process impaired.
Therefore, the application provides a jib is measured to distance line aims at improving unmanned aerial vehicle distance line measuring accuracy, and then improves unmanned aerial vehicle transmission success rate.
Fig. 1 shows a schematic structural diagram of a thrust line measuring device, and fig. 2 shows a partial schematic structural diagram of a thrust line measuring device. Referring to fig. 1 and 2, the thrust line measuring apparatus 10 includes a lifting ring 100, a base assembly 300, a first adjusting assembly 500, a second adjusting assembly 700, and a measuring assembly 900.
Fig. 3 shows a schematic structural view of a suspension ring. Referring to fig. 3, in the present application, the flying ring 100 is used to suspend the drone. When specifically setting up, rings 100 can be platelike and set up the round hole that hangs unmanned aerial vehicle.
Fig. 4 shows a schematic view of a base assembly. Referring to fig. 4, the base assembly 300 includes a rocket mount 310 and a mounting bolt 330, the rocket mount 310 being connected to the mounting bolt 330.
Fig. 5 shows a schematic view of a first adjusting assembly. Referring to fig. 5, the first adjustment assembly 500 includes a first pin 510, a second pin 530, a first cross joint 550, and a first adaptor 570, wherein one end of the first cross joint 550 is connected to the mounting bolt 330 by the first pin 510, and the other end of the first cross joint 550 is connected to the first adaptor 570 by the second pin 530.
In particular arrangements, the first cross-fitting 550 includes a first fitting body 551 and a second fitting body 553, the first fitting body 551 has a first retaining groove 555 for receiving the mounting bolt 330, the second fitting body 553 has a second retaining groove 557 for receiving the first adapter 570, the second fitting body 553 is connected to the first fitting body 551 and a centerline of the second retaining groove 557 is perpendicular to a centerline of the first retaining groove 555.
In the present application, one end of the mounting bolt 330 is inserted into the first clamping groove 555, and then the mounting bolt 330 and the first joint body 551 are coupled by means of the first pin 510. One end of the first adaptor 570 is inserted into the second clamping groove 557, and then the second adaptor body 553 is coupled to the first adaptor 570 by means of the second pin 530.
Fig. 6 shows a schematic view of a second adjusting assembly. Referring to fig. 5, the second adjusting assembly 700 includes a third pin 710, a fourth pin 730, a second cross joint 750 and a second adapter 770, wherein one end of the second cross joint 750 is connected to the hanging ring 100 through the third pin 710, and the other end of the second cross joint 750 is connected to the second adapter 770 through the fourth pin 730.
When specifically arranged, the second letter joint 750 comprises a third joint body 751 and a fourth joint body 753, the third joint body 751 is provided with a third clamping groove 755 for accommodating the hanging ring 100, the fourth joint body 753 is provided with a fourth clamping groove 757 for accommodating the second adapter 770, the fourth joint body 753 is connected with the third joint body 751, and the center line of the fourth clamping groove 757 is perpendicular to the center line of the third clamping groove 755.
In this application, one end of the bail 100 is inserted into the first retaining groove 555 and then the bail 100 is connected to the third connector body 751 by means of the third pin 710. One end of the second adapter 770 is inserted into the fourth clamping groove 757, and then the fourth adapter body 753 is coupled to the second adapter 770 by means of the fourth pin 730.
Fig. 7 shows a schematic representation of a measuring assembly. Referring to fig. 7, the measuring assembly 900 includes a measuring cylinder 910 and a boom body 930, the measuring cylinder 910 is sleeved on the boom body 930, and two ends of the boom body 930 are respectively connected to the first adapter 570 and the second adapter 770. In particular arrangements, the ends of the boom body 930 are threaded with the first and second adapters 570, 770, respectively.
In a specific arrangement, the boom body 930 is made of a hard material, and the boom body 930 may be a steel column, for example.
In some specific embodiments, the measuring cylinder 910 includes a cylinder body 911, a first cylinder cover 913, and a second cylinder cover 915, the first cylinder cover 913 and the second cylinder cover 915 are respectively connected to both ends of the cylinder body 911, and the suspension rod body 930 penetrates the first cylinder cover 913 and the second cylinder cover 915.
When specifically setting up, first cover 913 and second cover 915 all correspond and have seted up spacing hole, and jib body 930 runs through spacing hole, and barrel 911 can slide along jib body 930.
In the present application, the boom main body 930 is attached more firmly. In use, the first pin 510, the second pin 530, the third pin 710, and the fourth pin 730 are all provided with split pins to ensure that the hanger bar body 930 is firmly mounted.
The application provides an unmanned aerial vehicle distance line measurement system, including distance line measuring device 10 and unmanned aerial vehicle.
Wherein the unmanned aerial vehicle is suspended from the flying ring 100.
Additionally, the present application further provides a thrust line measuring boom comprising a bail 100, a mounting bolt 330, a first adjustment assembly 500, a second adjustment assembly 700, and a boom body 930. With respect to the thrust line measurement apparatus 10 mentioned above, the thrust line measurement boom does not include the rocket mount 310 and the measurement canister 910.
For ease of understanding, the steps of using the thrust line measuring device 10 provided herein will be described below.
In the initial state, the thrust line measurement boom is in an assembled state, waiting to connect with the measurement canister 910 and the rocket mount 310. When using, also be exactly when unmanned aerial vehicle hangs, will pull down the rings 100 who installs in jib body 930 one end earlier, the other end passes through mounting bolt 330 to be installed on unmanned aerial vehicle's rocket cone seat 310, will measure a section of thick bamboo 910 cover on jib body 930 again, installs rings 100 at last, and rings 100 installs the back of accomplishing, hangs up unmanned aerial vehicle through rings 100, carries out the thrust line and measures.
When measuring, if the unmanned aerial vehicle focus is not on the central line of measuring a section of thick bamboo 910, jib body 930 can rotate the regulation that realizes two directions through the angle fulcrum at first cross joint 550 and second cross joint 750 both ends, ensures that the unmanned aerial vehicle focus passes through the central line of jib body.
After the unmanned aerial vehicle is hung, the hanging ring 100 is firstly removed, the measuring cylinder 910 is detached from the hanger rod body 930, and finally the mounting bolt 330 is detached.
In the present application, the thrust line measuring apparatus 10 includes a bail 100, a base assembly 300, a first adjustment assembly 500, a second adjustment assembly 700, and a measuring assembly 900. In use, the rocket cone base 310 and the measuring cylinder 910 form a use environment of the boom body 930, wherein the rocket cone base 310 is connected with the mounting bolt 330, and the measuring cylinder 910 is used for measuring a thrust line. When using, realize the reliable installation of jib body 930 through mounting bolt's connection, first cross joint 550 and second cross joint 750 can guarantee that jib body 930 realizes reliable rotation in the measuring plane, ensure that the unmanned aerial vehicle focus passes through jib body 930 central line, and jib body 930 can be neglected when hanging the aircraft radial deformation, has improved measurement accuracy.
The above is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A thrust line measuring device is characterized by comprising
A hoisting ring;
the base assembly comprises a rocket cone seat and a mounting bolt, and the rocket cone seat is connected with the mounting bolt;
the first adjusting assembly comprises a first pin, a second pin, a first cross joint and a first adapter joint, one end of the first cross joint is connected with the mounting bolt through the first pin, the other end of the first cross joint is connected with the first adapter joint through the second pin, the first cross joint comprises a first joint body and a second joint body, the first joint body is provided with a first clamping groove for accommodating the mounting bolt, the second joint body is provided with a second clamping groove for accommodating the first adapter joint, the second joint body is connected with the first joint body, and the central line of the second clamping groove is perpendicular to the central line of the first clamping groove;
the second adjusting assembly comprises a third pin, a fourth pin, a second cross joint and a second adapter joint, one end of the second cross joint is connected with the lifting ring through the third pin, and the other end of the second cross joint is connected with the second adapter joint through the fourth pin; and
the measuring assembly comprises a measuring barrel and a suspender body, the suspender body is sleeved with the measuring barrel, and two ends of the suspender body are connected with the first adapter joint and the second adapter joint respectively.
2. The thrust line measuring device of claim 1, wherein both ends of the boom are threadedly connected to the first adapter joint and the second adapter joint, respectively.
3. The thrust line measuring device of claim 1, wherein the measuring cylinder includes a cylinder body, a first cylinder cover and a second cylinder cover, the first cylinder cover and the second cylinder cover are respectively connected to two ends of the cylinder body, and the hanger body penetrates through the first cylinder cover and the second cylinder cover.
4. The thrust line measuring device of claim 1, wherein the second cross joint includes a third joint body having a third clamping groove receiving the bail, and a fourth joint body having a fourth clamping groove receiving the second adapter, the fourth joint body being coupled to the third joint body and a centerline of the fourth clamping groove being perpendicular to a centerline of the third clamping groove.
5. An unmanned aerial vehicle thrust line measurement system, which is characterized by comprising
The thrust line measuring device of any one of claims 1-4; and
and the unmanned aerial vehicle is suspended on the lifting ring.
6. A thrust line measuring suspension rod is characterized by comprising
A hoisting ring;
a mounting bolt configured to connect with a rocket mount;
the first adjusting assembly comprises a first pin, a second pin, a first cross joint and a first adapter joint, one end of the first cross joint is connected with the mounting bolt through the first pin, the other end of the first cross joint is connected with the first adapter joint through the second pin, the first cross joint comprises a first joint body and a second joint body, the first joint body is provided with a first clamping groove for accommodating the mounting bolt, the second joint body is provided with a second clamping groove for accommodating the first adapter joint, the second joint body is connected with the first joint body, and the central line of the second clamping groove is perpendicular to the central line of the first clamping groove;
the second adjusting assembly comprises a third pin, a fourth pin, a second cross joint and a second adapter joint, one end of the second cross joint is connected with the lifting ring through the third pin, and the other end of the second cross joint is connected with the second adapter joint through the fourth pin;
a boom body having both ends connected to the first and second adapter joints, respectively, the boom body configured to penetrate a measuring cylinder.
7. The thrust line measurement boom of claim 6, wherein the boom body is a steel column.
8. The thrust line measurement boom of claim 6, wherein the second cross joint comprises a third joint body having a third clamping groove that receives the bail, and a fourth joint body having a fourth clamping groove that receives the second adapter, the fourth joint body being coupled to the third joint body and a centerline of the fourth clamping groove being perpendicular to a centerline of the third clamping groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911268988.9A CN111196375B (en) | 2019-12-11 | 2019-12-11 | Thrust line measuring suspender, device and unmanned aerial vehicle thrust line measuring system |
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| CN201911268988.9A CN111196375B (en) | 2019-12-11 | 2019-12-11 | Thrust line measuring suspender, device and unmanned aerial vehicle thrust line measuring system |
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| CN111196375B true CN111196375B (en) | 2021-11-26 |
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| CN111959812B (en) * | 2020-07-15 | 2021-04-27 | 成都飞机工业（集团）有限责任公司 | Self-adaptive gravity center matching device and method for thrust line of rocket launching unmanned aerial vehicle |
| CN112158357B (en) * | 2020-08-28 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring deviation between thrust line and gravity center of unmanned aerial vehicle booster rocket |
| CN112298594B (en) * | 2020-11-11 | 2022-02-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Device for inertial projection of unmanned aerial vehicle |
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