CN1631733A - Beyond visual range autonomously flying unmanned helicopter system - Google Patents
Beyond visual range autonomously flying unmanned helicopter system Download PDFInfo
- Publication number
- CN1631733A CN1631733A CN 200310122633 CN200310122633A CN1631733A CN 1631733 A CN1631733 A CN 1631733A CN 200310122633 CN200310122633 CN 200310122633 CN 200310122633 A CN200310122633 A CN 200310122633A CN 1631733 A CN1631733 A CN 1631733A
- Authority
- CN
- China
- Prior art keywords
- flight
- helicopter
- control
- horizon
- over
- 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.)
- Granted
Links
Images
Abstract
The invention discloses a ultra apparent distance pilotless self-guided helicopter pilot system consists of the helicopter and pilot system. The pilot system includes onboard test control system and ground test control system. It forecasts, comprehends, decides variety commands and the changes of the circumstances, to send proper feedback signal, operate the executive mechanisms, motion the control mechanism so to achieve the landing, forwards and backwards flying, turning, hanging and other complex actions and fly on presetted course. It has the function of ultra apparent distance self-guided piloting which can be applied to the civil use of virulent pesticide sprinkling, rainmaking, patrol over woods, and the military use of scouting, observing, patrolling and attacking.
Description
Technical field
The present invention relates to a kind of flight tool, relate in particular to a kind of pilotless helicopter system with over the horizon autonomous flight function.
Background technology
Helicopter just demonstrates huge preceence from being born certainly.It can vertical takeoff and landing, hovering, land everywhere, have flexible, motor-driven, convenient, characteristics rapidly, can be used to speedily carry out rescue work, prevent fires, move, take photo by plane, physical prospecting, commercial affairs, patrol, monitoring, scouting etc., militarily can be used for air-to-air attack and air to surface, empty attack, be subjected to the attention of national governments the sea.For a long time, helicopter all is manned helicopter, and people's helicopter process practice and the improvement of nearly half a century are arranged, and technology is very ripe.But more and more wideer along with the helicopter application, the work in many dangerous fields such as use have people's helicopter to go to do, the cost that tends to give one's life for, and life is valuable, so people begin to develop over the horizon autonomous flight pilotless helicopter.China is also at the early-stage to the research-and-development activity of over the horizon autonomous flight pilotless helicopter, and the over the horizon autonomous flight pilotless helicopter that exploitation has independent intellectual property rights is the sacred mission of pendulum in face of China scientific and technical personnel.
Summary of the invention
Purpose of the present invention, be to provide a kind of without pilot steering on the machine, have the pilotless helicopter system of over the horizon autonomous flight function.
To achieve these goals, the present invention has adopted following technical scheme: a kind of over the horizon autonomous flight pilotless helicopter system, be made up of helicopter main body and flight control system, described flight control system comprises airborne measurement and control system and ground observing and controlling system.
Described helicopter main body mainly comprises fuselage and sled, rotor, tail-rotor, driving engine and driving device, auto-bank unit, displacement steering wheel, throttle steering wheel, course steering wheel and electrical generator, be provided with instrument department at forebody, engine installation is at the rear portion of fuselage, be used to provide power, auto-bank unit is installed in the below of fuselage inner main axis, displacement steering wheel and throttle steering wheel are installed in the place ahead of driving engine, the course steering wheel is arranged on the bottom of fuselage, electrical generator is arranged on the rear of driving engine, is used for that each consumer provides electric power in helicopter;
Described airborne measurement and control system is arranged on the helicopter main body, comprise flight control computer, air data computer, magnetometer, vertical gyro, inertial measurement cluster, the on-board data radio station, the GPS receiver, the DGPS airborne station, the DGPS antenna, the data radio antenna, difference radio station antenna and pitot, flight control computer and corresponding electric component are combined the top that is arranged on instrument department, air data computer, data radio, GPS receiver and corresponding electric component are combined the middle part that is arranged on instrument department, magnetometer and vertical gyro are arranged on the bottom of helicopter main body, DGPS airborne station and corresponding electric component are combined the bottom that is arranged on instrument department, the DGPS antenna is arranged on the tail boom of helicopter main body, data radio antenna and difference radio station antenna are separately positioned on the below of helicopter body, and pitot is arranged on the front end below of helicopter body;
Described ground observing and controlling system comprises ground controlling control desk and ground observing and controlling computing machine, ground data radio station, GPS ground station and the secondary computer etc. that are arranged on the ground controlling control desk.
Over the horizon autonomous flight pilotless helicopter system of the present invention is owing to utilize flight control computer to replace the judgement of human brain and the sensation of human body, preset, understand, judge the variation of all kinds of instructions and surrounding environment by airborne measurement and control system and ground observing and controlling system, make proper feedback signal, drive actuating unit, make the steering unit motion, the flare maneuver that to finish that helicopter lifting, front and back fly, turn, hover etc. complicated and by the voyage flight of appointment has the functions of use of over the horizon autonomous flight.Thereby can utilize it as platform, in some special occasions, as high-risk environment down or do long distance, long-time navigation, under the situation that unairworthiness person handles, substituting has people's helicopter to go to finish various tasks.As long as disposing concrete task device on the helicopter, then have the ability of work such as the extremely malicious agricultural chemicals of sprinkling, rainmaking, forest farm patrol on civilian, militarily utilize its disguise, manoevreability, can finish tasks such as scouting, monitoring, patrol, attack.
Description of drawings
Fig. 1 is the structural representation of the helicopter in the over the horizon autonomous flight pilotless helicopter of the present invention system;
Fig. 2 is the action principle figure of the flight control system in the over the horizon autonomous flight pilotless helicopter of the present invention system;
Fig. 3 is the flight control computer in the over the horizon autonomous flight pilotless helicopter of the present invention system and the interface scheme drawing of relevant measuring and controlling equipment.
The specific embodiment
Over the horizon autonomous flight pilotless helicopter of the present invention system is made up of helicopter main body and flight control system, and flight control system comprises airborne measurement and control system and ground observing and controlling system.
See also Fig. 1, helicopter main body of the present invention mainly comprises fuselage 1, sled 2, main shaft 3, rotor 4, tail-rotor 5, driving engine 6, auto-bank unit 7, displacement steering wheel 8, throttle steering wheel 9, course steering wheel 10 and electrical generator 11, be provided with instrument department 101 at forebody, driving engine 6 is installed in the rear portion of fuselage 1, be used to provide power, auto-bank unit 7 is installed in the below of fuselage 1 inner main axis 3, displacement steering wheel 8 and throttle steering wheel 9 are installed in the place ahead of driving engine 6, course steering wheel 10 is arranged on the bottom of fuselage 1, electrical generator 11 is arranged on the rear of driving engine 1, is used for that each consumer provides electric power in helicopter.
Please continue referring to Fig. 1, airborne measurement and control system of the present invention is arranged in the helicopter main body, this system comprises flight control computer 12, air data computer 13, magnetometer 14, vertical gyro 15, on-board data radio station 16, GPS receiver 17, DGPS airborne station 18, DGPS antenna 19, data radio antenna 20, difference radio station antenna 21 and pitot 22, flight control computer 12 and corresponding electric component are combined the top that is arranged on instrument department 11, air data computer 13, on-board data radio station 16, GPS receiver 17 and corresponding electric component are combined the middle part that is arranged on instrument department 11, magnetometer 14 and vertical gyro 15 are arranged on the bottom of helicopter main body, and DGPS airborne station 18 and corresponding electric component are combined the bottom that is arranged on instrument department 101; DGPS antenna 19 is arranged on the tail boom of helicopter main body, and data radio antenna 20 and difference radio station antenna 21 are separately positioned on the below of helicopter main body, and pitot 22 is arranged on the front end below of helicopter body.
Ground observing and controlling system of the present invention comprises ground controlling control desk and ground observing and controlling computing machine, ground data radio station, GPS ground station and the secondary computer etc. that are arranged on the ground controlling control desk, and is not shown.
Over the horizon autonomous flight pilotless helicopter of the present invention system can adopt three kinds of patterns flights:
1, master mode is handled in range estimation: the attitude of being estimated helicopter by the ground controlling personnel changes, with the control of the realization of the joystick on the ground controlling control desk to over the horizon autonomous flight pilotless helicopter.This mission mode is mainly used in manually taking off, landing of over the horizon autonomous flight pilotless helicopter or the control in range estimation flicon scope.
2, instrument is handled master mode: by the telemetry and telecommand of ground controlling personnel by the ground data radio station, various flying qualities on the depopulated helicopter are real-time transmitted to instrument carrier panel on the ground controlling control desk, the control that realizes by the joystick on the ground controlling control desk by operating personal to over the horizon autonomous flight pilotless helicopter.
3, automatic navigation control pattern: in advance the flight path and the aerial mission of over the horizon autonomous flight pilotless helicopter are input in the flight control computer by technical personnel, provide the optimum trajectory data by the flight path rule algorithm in the flight control computer and send to the attitude control module, under the control of the programming track program of autonomous navigation and trajectory planning program, realize control to over the horizon autonomous flight pilotless helicopter, or by the ground observing and controlling computing machine on the ground observing and controlling platform, carry out and revise predetermined vector, aloft helicopter flight path is carried out override.This automatic navigation control pattern is under the control of the programming track program of autonomous navigation and trajectory planning program, in the over the horizon zone of the unknown, can be according to height, speed, airline operation and the recurrence of flight control computer setting, when external factors such as the wind direction that takes place on the way, wind speed change flight attitude and heading, can give automatic compensation, and above-mentioned data can be fed back on the instrument carrier panel on the ground observing and controlling platform, for ground staff's monitoring, adjusted where necessary by the ground staff.If ground and aircraft generation communicating interrupt, aircraft mounted control system also can be controlled aircraft and return by the flight path of former setting.This master mode also can be interrupted autonomous flight at any time and be changed gauge control pattern or range estimation manipulation master mode over to, guarantees the safety of flight reliably, or revert to the automatic navigation control pattern under the situation of confirming flight safety.
The action principle of the flight control system in the over the horizon autonomous flight pilotless helicopter of the present invention system as shown in Figure 2.The flight control computer in the over the horizon autonomous flight pilotless helicopter of the present invention system and the interface relationship of relevant measuring and controlling equipment are as shown in Figure 3.
The action principle of flight control system can further specify as follows with reference to Fig. 2, Fig. 3:
1, flight control computer is accepted the surface instruction signal from the ground data radio station, and TT﹠C system is returned the existing condition signal of helicopter earthward.
2, flight control computer is accepted the flight attitude signal of the helicopter that relevant sensor sends by its A/D converter, comprehensively become the position command of steering wheel by the digital control rule in the attitude control module, realize the steady control that increases vertical passage, interconnection and course passage.
3, flight control computer adopts digital control algorithm, realizes the closed loop control of three axis angular positions, guarantees the practical flight attitude and instruction unanimity of over the horizon autonomous flight pilotless helicopter under various flying conditions.
4, be provided with programming track program and trajectory planning program in the flight control computer to realize the control of autonomous navigation and flight path.The command signal that flight control computer obtains from the navigation data of input in advance or the navigation data that resolved by task trajectory planning program and obtain position signal at that time from DGPS, finish resolving of Navigation Control by the artificial intelligence control algorithm, produce the course and the attitude command of depopulated helicopter.
5, driving engine is provided with tachogen and analog electrical minor rotational speed governor, by the actual speed of tachogen feedback driving engine, is finished the closed loop control of engine speed by analog electrical minor rotational speed governor.
Flight control computer among the present invention adopts the PC104 microcomputer, this computing machine is a kind of high modularization design-calculated embedded computer, have characteristics such as extra small size, DC supply, wide operating temperature, compatible fully with the PC/AT standard, all can in this system, move at the numerous softwares that move on the IPM-PC.This microcomputer is chosen the CPU board of 80486DX (frequency of operation is 100MHZ) treater.Flight control system is except that airborne computer, also be furnished with various sensors, signal processor and signal interface unit, can and send instruction by serial mode and parallel mode and other measuring and controlling equipment real-time exchange data, finish various aerial missions, as inserting atmosphere data machine, GPS etc.Control actuating units such as driving engine, throttle steering wheel, course steering wheel, displacement steering wheel simultaneously.
The principle of work of ground observing and controlling system is: by dispersing or continual command and DGPS data that the ground observing and controlling computing machine produces, launch up by the ground data radio station, its signal is accepted by the on-board data radio station on the helicopter, be transferred to flight control computer or actuating unit, the DGPS data are accepted by DGPS on the machine.Machine upper sensor data, airborne equipment service condition, repayment instruction and DGPS data through the on-board data radio station emission pass to ground, behind the received signal of ground data radio station, output to the ground observing and controlling computing machine.
Ground control system in the over the horizon autonomous flight pilotless helicopter of the present invention system have a following function:
1, under the environment in outfield, can test oneself,, be convenient to on-the-spot the eliminating as finding fault to airborne electronic equipment, electrical equipment.
2, in whole flight course, finish Ground Control manipulation and the up transmission of instruction and the descending transmission of on-board data.
3, show flight parameter in real time, the real-time rendering of complete process curve.
4, constitute human-computer interaction interface, realize the manipulation and the control of over the horizon autonomous flight pilotless helicopter.
5, finish the preservation of flying quality, and can realize the recovery and the editor of data.
Over the horizon autonomous flight pilotless helicopter in the over the horizon autonomous flight pilotless helicopter of the present invention system does not adopt the someone to drive jociey stick common in the helicopter, throttle collective-pitch lever and pedal, but utilize steering wheel to handle rotor, total distance, tail-rotor and throttle, steering wheel obtains electric signal from flight control computer, rotation by motor, driving the in-to-in gear rotates, the rotation of gear drives high-precision leading screw upper and lower displacement, realizes the control to rotor, tail-rotor and driving engine.
Claims (10)
1, a kind of over the horizon autonomous flight pilotless helicopter system, it is characterized in that: be made up of helicopter main body and flight control system, described flight control system comprises airborne measurement and control system and ground observing and controlling system;
Described helicopter main body mainly comprises fuselage and sled, rotor, tail-rotor, driving engine and driving device, auto-bank unit, displacement steering wheel, throttle steering wheel, course steering wheel and electrical generator, be provided with instrument department at forebody, engine installation is at the rear portion of fuselage, be used to provide power, auto-bank unit is installed in the below of fuselage inner main axis, displacement steering wheel and throttle steering wheel are installed in the place ahead of driving engine, the course steering wheel is arranged on the bottom of fuselage, electrical generator is arranged on the rear of driving engine, is used for that each consumer provides electric power in helicopter;
Described airborne measurement and control system is arranged on the helicopter main body, comprise flight control computer, air data computer, magnetometer, vertical gyro, inertial measurement cluster, the on-board data radio station, the GPS receiver, the DGPS airborne station, the DGPS antenna, the data radio antenna, difference radio station antenna and pitot, flight control computer and corresponding electric component are combined the top that is arranged on instrument department, air data computer, data radio, GPS receiver and corresponding electric component are combined the middle part that is arranged on instrument department, magnetometer and vertical gyro are arranged on the bottom of helicopter main body, DGPS airborne station and corresponding electric component are combined the bottom that is arranged on instrument department, the DGPS antenna is arranged on the tail boom of helicopter main body, data radio antenna and difference radio station antenna are separately positioned on the below of helicopter body, and pitot is arranged on the front end below of helicopter body;
Described ground observing and controlling system comprises ground controlling control desk and ground observing and controlling computing machine, ground data radio station, GPS ground station and the secondary computer etc. that are arranged on the ground controlling control desk.
2, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described flight control computer adopts the PC104 microcomputer, the CPU board of 80486DX treater is installed, flight control computer is accepted the surface instruction signal from the ground data radio station, by serial mode and parallel mode and other measuring and controlling equipment real-time exchange data and transmission instruction, finish various aerial missions, and TT﹠C system is returned the existing condition signal of helicopter earthward.
3, over the horizon autonomous flight pilotless helicopter according to claim 1 system is characterized in that: be provided with programming track program and trajectory planning program in the described flight control computer to realize the control of autonomous navigation and flight path; Be provided with the attitude control module, computing machine is accepted the flight attitude signal of the helicopter that relevant sensor sends by its A/D converter, comprehensively become the position command of steering wheel by the digital control rule in the attitude control module, revise predetermined vector to carry out, realize the steady control of increasing of vertical passage, interconnection and course.
4, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described flight control computer adopts digital control algorithm, realize the closed loop control of three axis angular positions, guarantee the practical flight attitude and instruction unanimity of over the horizon autonomous flight pilotless helicopter under various flying conditions.
5, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described driving engine is provided with tachogen and analog electrical minor rotational speed governor, can realize the closed loop control of engine speed.
6, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described four-way steering wheel can be realized the control to rotor, tail-rotor and driving engine by the upper and lower displacement or the rotation of its high precision movement leading screw under the instruction of flight control computer.
7, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described over the horizon autonomous flight pilotless helicopter can adopt range estimation to handle master mode flight, with the control of the realization of the joystick on the ground controlling control desk to over the horizon autonomous flight pilotless helicopter.
8, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described over the horizon autonomous flight pilotless helicopter can adopt instrument to handle master mode flight, by the telemetry and telecommand of ground controlling personnel by the ground data radio station, various flying qualities on the depopulated helicopter are real-time transmitted to instrument carrier panel on the ground controlling control desk, realize control by the joystick on the ground controlling control desk over the horizon autonomous flight pilotless helicopter by operating personal.
9, over the horizon autonomous flight pilotless helicopter according to claim 1 system, it is characterized in that: described over the horizon autonomous flight pilotless helicopter can adopt the flight of automatic navigation control pattern, in advance the flight path and the aerial mission of over the horizon autonomous flight pilotless helicopter are input in the flight control computer by technical personnel, provide the optimum trajectory data by the flight path rule algorithm in the computing machine and send to the attitude control module, under the control of the programming track program of autonomous navigation and trajectory planning program, realize control to over the horizon autonomous flight pilotless helicopter, or by the observing and controlling computing machine on the ground controlling control desk, carry out and revise predetermined vector, aloft helicopter flight path is carried out override.
10, over the horizon autonomous flight pilotless helicopter according to claim 1 system is characterized in that: master mode is handled in the range estimation of described over the horizon autonomous flight pilotless helicopter, instrument handles master mode and the automatic navigation control pattern can be changed mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101226331A CN100390020C (en) | 2003-12-22 | 2003-12-22 | Beyond visual range autonomously flying unmanned helicopter system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101226331A CN100390020C (en) | 2003-12-22 | 2003-12-22 | Beyond visual range autonomously flying unmanned helicopter system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1631733A true CN1631733A (en) | 2005-06-29 |
| CN100390020C CN100390020C (en) | 2008-05-28 |
Family
ID=34844551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003101226331A Expired - Fee Related CN100390020C (en) | 2003-12-22 | 2003-12-22 | Beyond visual range autonomously flying unmanned helicopter system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100390020C (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100495275C (en) * | 2006-11-24 | 2009-06-03 | 中国科学院沈阳自动化研究所 | Small-sized depopulated helicopter independent flight control system |
| CN101830281A (en) * | 2010-05-18 | 2010-09-15 | 无锡汉和航空技术有限公司 | Unmanned helicopter for project |
| CN101834414A (en) * | 2010-05-25 | 2010-09-15 | 广州科易光电技术有限公司 | Power line inspecting helicopter |
| CN101881971A (en) * | 2010-06-25 | 2010-11-10 | 深圳市东方华创投资有限公司 | Method and device for controlling flight state of micro unmanned rotary wing aircraft |
| CN101963806A (en) * | 2010-10-15 | 2011-02-02 | 农业部南京农业机械化研究所 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
| CN102375150A (en) * | 2010-08-26 | 2012-03-14 | 中国农业机械化科学研究院 | Global positioning system (GPS) short-time self-differential navigation method and device of pesticide spray aircraft |
| CN102870530A (en) * | 2012-03-23 | 2013-01-16 | 北京林业大学 | Air seeding afforestation system at panda habitat and method for air seeding afforestation |
| CN103657110A (en) * | 2013-12-15 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Remote control aircraft toy |
| CN103761902A (en) * | 2013-12-31 | 2014-04-30 | 中国人民解放军空军航空大学军事仿真技术研究所 | Method for simulating operating force feeling of helicopter by means of double force sources |
| CN103914077A (en) * | 2014-04-03 | 2014-07-09 | 江西洪都航空工业集团有限责任公司 | Manned/unmanned selectable dual-mode flight control system |
| CN104240552A (en) * | 2013-06-21 | 2014-12-24 | 威翔航空科技股份有限公司 | Rotary wing type carrier operating system and operating method thereof |
| CN106458313A (en) * | 2014-10-27 | 2017-02-22 | 深圳市尚腾影科技有限公司 | Model aeroplane and steering engine assembly structure for same |
| CN106697292A (en) * | 2017-01-23 | 2017-05-24 | 北京通用航空江西直升机有限公司 | Agricultural and forestal plant protection unmanned helicopter with large load capacity |
| CN110362111A (en) * | 2019-07-16 | 2019-10-22 | 洲际联合超伦科技（北京）有限公司 | Method and device for determining safe landing of engine of unmanned helicopter after parking |
| JP2020083104A (en) * | 2018-11-27 | 2020-06-04 | 双葉電子工業株式会社 | Drive control unit for remote control helicopter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2952397B2 (en) * | 1994-08-23 | 1999-09-27 | 科学技術庁航空宇宙技術研究所長 | Active air control aircraft using air speed vector measurement device |
-
2003
- 2003-12-22 CN CNB2003101226331A patent/CN100390020C/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100495275C (en) * | 2006-11-24 | 2009-06-03 | 中国科学院沈阳自动化研究所 | Small-sized depopulated helicopter independent flight control system |
| CN101830281A (en) * | 2010-05-18 | 2010-09-15 | 无锡汉和航空技术有限公司 | Unmanned helicopter for project |
| CN101834414A (en) * | 2010-05-25 | 2010-09-15 | 广州科易光电技术有限公司 | Power line inspecting helicopter |
| CN101881971A (en) * | 2010-06-25 | 2010-11-10 | 深圳市东方华创投资有限公司 | Method and device for controlling flight state of micro unmanned rotary wing aircraft |
| CN102375150A (en) * | 2010-08-26 | 2012-03-14 | 中国农业机械化科学研究院 | Global positioning system (GPS) short-time self-differential navigation method and device of pesticide spray aircraft |
| CN101963806A (en) * | 2010-10-15 | 2011-02-02 | 农业部南京农业机械化研究所 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
| CN101963806B (en) * | 2010-10-15 | 2012-06-27 | 农业部南京农业机械化研究所 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
| CN102870530B (en) * | 2012-03-23 | 2015-08-26 | 北京林业大学 | A kind of Giant Panda Habitat scattered seeds by airplane for afforestation system and method |
| CN102870530A (en) * | 2012-03-23 | 2013-01-16 | 北京林业大学 | Air seeding afforestation system at panda habitat and method for air seeding afforestation |
| CN104240552A (en) * | 2013-06-21 | 2014-12-24 | 威翔航空科技股份有限公司 | Rotary wing type carrier operating system and operating method thereof |
| CN103657110A (en) * | 2013-12-15 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Remote control aircraft toy |
| CN103761902A (en) * | 2013-12-31 | 2014-04-30 | 中国人民解放军空军航空大学军事仿真技术研究所 | Method for simulating operating force feeling of helicopter by means of double force sources |
| CN103914077A (en) * | 2014-04-03 | 2014-07-09 | 江西洪都航空工业集团有限责任公司 | Manned/unmanned selectable dual-mode flight control system |
| CN106458313A (en) * | 2014-10-27 | 2017-02-22 | 深圳市尚腾影科技有限公司 | Model aeroplane and steering engine assembly structure for same |
| CN106697292A (en) * | 2017-01-23 | 2017-05-24 | 北京通用航空江西直升机有限公司 | Agricultural and forestal plant protection unmanned helicopter with large load capacity |
| JP2020083104A (en) * | 2018-11-27 | 2020-06-04 | 双葉電子工業株式会社 | Drive control unit for remote control helicopter |
| JP7139229B2 (en) | 2018-11-27 | 2022-09-20 | 双葉電子工業株式会社 | Remote control helicopter drive controller |
| CN110362111A (en) * | 2019-07-16 | 2019-10-22 | 洲际联合超伦科技（北京）有限公司 | Method and device for determining safe landing of engine of unmanned helicopter after parking |
| CN110362111B (en) * | 2019-07-16 | 2022-05-13 | 洲际联合超伦科技（北京）有限公司 | Method and device for determining safe landing of engine of unmanned helicopter after parking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100390020C (en) | 2008-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9108729B2 (en) | Autonomous control of unmanned aerial vehicles | |
| Nonami et al. | Autonomous flying robots: unmanned aerial vehicles and micro aerial vehicles | |
| Cai et al. | An overview on development of miniature unmanned rotorcraft systems | |
| CN100390020C (en) | Beyond visual range autonomously flying unmanned helicopter system | |
| CN104656660A (en) | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof | |
| CN204440169U (en) | The control system of the multi-modal autonomous flight of Miniature Unmanned Helicopter | |
| CN105404308A (en) | Flight control unit for parafoil type unmanned plane | |
| Chen et al. | A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation | |
| Wang et al. | Development of an unmanned helicopter for vertical replenishment | |
| Rock et al. | Combined CDGPS and vision-based control of a small autonomous helicopter | |
| Cai et al. | Development of fully functional miniature unmanned rotorcraft systems | |
| Duranti et al. | Linkmav, a protoype rotary wing micro aerial vehicle | |
| Fan | Flight Control System Simulation for Quadcopter Unmanned Aerial Vehicle (UAV) based on Matlab Simulink | |
| Schuchardt et al. | Mission Management and Landing Assistance for an Unmanned Rotorcraft for Maritime Operations | |
| Ranasinghe et al. | Development of gasoline-electric hybrid propulsion surveillance and reconnaissance VTOL UAV | |
| Cooper et al. | Integrating critical interface elements for intuitive single-display aviation control of UAVs | |
| Abbasi et al. | Design of Unmanned Aerial Vehicle Autopilot based on Freescale Qorivva 32-bit Microcontroller | |
| Ollero | Control and perception techniques for aerial robotics | |
| Al-Radaideh | Guidance, Control and Trajectory Tracking of Small Fixed Wing Unmanned Aerial Vehicles (UAV's) | |
| Kaminer et al. | Rapid Flight Test Prototyping System and the Fleet of UAV's and MAVs at the Naval Postgraduate School | |
| Rinaldi | Automatic control of a multirotor | |
| KORNAIN | MODEL ANDCONTROL ON THE ASCENDING PROCESS OF ROTATING WING HELICOPTER | |
| Jones | Coordination and control for multi-quadrotor UAV missions | |
| Singh | Development of Ground Station and Onboard Sensors for an Autonomous Mini Helicopter | |
| Jakka et al. | Comparative analysis of technological advancements in Hexacopters: Assessment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080528 Termination date: 20151222 |
|
| EXPY | Termination of patent right or utility model |