CN1670534A - Minisize low speed airspeedometer for mini aircrafts - Google Patents
Minisize low speed airspeedometer for mini aircrafts Download PDFInfo
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- CN1670534A CN1670534A CN 200410003447 CN200410003447A CN1670534A CN 1670534 A CN1670534 A CN 1670534A CN 200410003447 CN200410003447 CN 200410003447 CN 200410003447 A CN200410003447 A CN 200410003447A CN 1670534 A CN1670534 A CN 1670534A
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Abstract
This invention relates to micro aviator low speed air speedometer, which comprises orderly micro air speedometer, micro voltage difference measurement unit, data collection module, microprocessor and display and memory unit, wherein, the air speedometer has the micro design comprising tube head, outer tube, bus voltage tube and static tube. The outer tube is located with static hole and the bus voltage tube is inserted with tube head and the other end of the outer tube is sealed. The bus and static voltage are separately conducted by bus tube and static tube. The data collection module is connected to the output end of signal adjusting circuit of micro voltage difference. The data collection module is A/D converter circuit module to convert the received signals put to the microprocessor, wherein the microprocessor is connected to the display memory unit.
Description
Technical field
The present invention relates to a kind of low-speed measurement mechanism, particularly a kind of volume is little, in light weight, the miniature low speed pitot meter that is used for minute vehicle of high reliability.
Background technology
The measurement of air speed has crucial effect for the safe flight of aircraft with automatic control.The design concept of traditional pitot meter mainly contains hot-wire, differential pressure type, principle such as rotary-type.The sensitive element of hot-wire pitot meter is thermistor wire (sheet), and electric current flows through at thermistor wire (sheet), causes resistance heating; When gas flows through around the resistance, can take away certain heat; Under certain electric current, the temperature of resistance wire (sheet) becomes certain functional relation with the flow velocity of gas, can obtain current wind speed by the voltage at resistance two ends is just measured.Rotary-type pitot meter is screw propeller of energy drives or the wind wheel that utilizes wind, by screw propeller or wind wheel speed measured wind speed degree size; The sensitive element of differential pitot meter is a pressure transducer, when air flow, can form a blast that is attached on the static pressure on the surface that facings the wind, use a differential pressure pick-up, ram pressure is introduced a tracting pressuring hole, static pressure is introduced another tracting pressuring hole, just can obtain corresponding wind speed by measuring differential pressure.
The minute vehicle volume is little, and energy and load-carrying ability are limited, and weight, volume, the power consumption of airborne sensor proposed strict demand.Traditional pitot meter is difficult to satisfy this requirement.At present in the existing miniature air speed measurement mechanism with rotary-type, hot-wire is in the majority, but on indexs such as volume, weight and measurement range all difficulty satisfy the requirement of minute vehicle.Miniature low speed pitot meter based on the differential pressure measurement principle is not found Related product and report at present as yet.Under this background, design a kind of miniature low speed air speed measurement mechanism that satisfies the minute vehicle requirement and become very urgent.Hot-wire, rotary-type pitot meter, because complex structure is unfavorable for microminiaturization, therefore miniature low speed pitot meter of the present invention is selected the differential pressure type principle for use.
Tradition differential pressure type pitot meter is made up of pitot and tensimeter, and its major defect is:
1, pitot volume, weight are big, must carry out microminiaturization to it;
2, the traditional differential pressure sensors volume is big, and complex structure is unfavorable for microminiaturization;
3, traditional pitot meter is relatively poor for the measure linear degree of low-speed.
Summary of the invention
The objective of the invention is to, provide a kind of simple in structure, be easy to the microminiaturized miniature low speed pitot meter that is applicable to minute vehicle.
Technical scheme of the present invention is as follows:
A kind of miniature low speed pitot meter that is used for minute vehicle provided by the invention, it is characterized in that this miniature low speed pitot meter comprises miniature pitot unit 10, elementary errors pressure measuring unit 20, data acquisition module 30, the microprocessor 40 that is electrically connected successively and shows storage unit 50;
Described miniature pitot unit 10; Comprise: a stagnation pressure tube 3, it inserts in the center pit of the tube head 1 with spherical arc with one heart, suit outer tube 2 outside the stagnation pressure tube 3, one end and the tube head 1 of outer tube 2 are tightly connected, the other end is tightly connected by sealing-plug 5 and stagnation pressure tube 3, outer tube 2 is near vertical installation one and the static tube 4 that outer tube 2 inner chambers communicate on the tube walls of afterbody, is positioned on the radial section at outer tube 2 middle parts to be evenly equipped with 4-8 baroport; Described stagnation pressure tube 3 inner chambers constitute stagnation pressure chamber 8, constitute static pressure chamber 6 between outer tube 2 and the stagnation pressure tube, are drawn by static tube 4 inner chambers by its static pressure;
Described elementary errors is pressed measuring unit 20; Comprise: little differential pressure sensor 21, power module 22, signal conditioning circuit 23; Described power module 22 is electrically connected with little differential pressure sensor 21 and signal conditioning circuit 23 respectively, is respectively little differential pressure sensor 21 stable electric current is provided, for signal conditioning circuit 23 provides stable voltage; The stagnation pressure P1 in described stagnation pressure chamber 8 is connected with two input ends of little differential pressure sensor 21 by flexible pipe respectively with the static pressure P2 in static pressure chamber 6, the output terminal of little differential pressure sensor 21 links to each other with signal conditioning circuit 23, to signal conditioning circuit 23 outputs one and the proportional voltage of pressure reduction (P1-P2), this voltage is setovered to amplify through signal conditioning circuit 23 and is obtained an output voltage u;
Described data acquisition module 30 presses signal conditioning circuit 23 output terminals of measuring unit 20 to link to each other with elementary errors, and data acquisition module 30 is an A/D change-over circuit module, and the signal of accepting is carried out the AD conversion, inputs to the microprocessor 40 that is attached thereto afterwards; Microprocessor 40 links to each other with demonstration storage unit 50, with the air speed data that shows that storage is measured;
Described little differential pressure sensor 21 is the MEMS little differential pressure sensor;
Described power module 22 comprises a reference voltage 221, reference voltage 221 is connected to the in-phase input end of voltage comparator 222, little differential pressure sensor 21 connects sampling resistor 223, sampling resistor 223 1 end ground connection, the other end links to each other with voltage comparator 222 reversed-phase outputs, voltage comparator 222 is output as little differential pressure sensor 21 constant-current supply is provided, the output terminal of reference voltage 221 connects the reference potential input end of signal conditioning circuit 23, for signal conditioning circuit 23 provides stable reference voltage, to the amplification of setovering of the output voltage u signal of little differential pressure sensor 21.
Carrying out air speed when measuring, the miniature pitot unit 10 of minute vehicle is being installed in correct position in the flow field to be measured, over against coming flow path direction; Miniature pitot 10 is exported stagnation pressure P simultaneously
1With static pressure P
2, near the airspeed indicator of measurement point is shown V in the flow field
A, the flow field gas density is ρ, q represents P
1With P
2Pressure differential, then have
With stagnation pressure P
1With static pressure P
2Insert elementary errors respectively and press two input ends of measuring unit 20, by little differential pressure sensor 21 and the sqignal conditioning circuit 23 in the elementary errors pressure measuring unit 20, obtain the voltage u that is directly proportional with differential pressure q, k is a scale-up factor, its size is by selected concrete sensor and the decision of sqignal conditioning circuit, and the relation between the three can be expressed as: u=kq.Elementary errors press measuring unit 20 output voltage u, carry out the AD conversion through 30 couples of voltage u of data acquisition module, input microprocessor 40 as a result, in microprocessor 40 data carried out computing, obtain air speed V
A, its computing formula is:
Measurement result delivered to show that storage unit 50 stores and show.
The miniature low speed pitot meter that is used for minute vehicle provided by the invention has the following advantages:
Its pitot and traditional pitot principle of work are similar, difference has been to adopt the structure that is easy to microminiaturization, tube head 1 has reduced difficulty of processing with the design that separates of outer tube 2, stagnation pressure tube 3 directly inserts tube head 1 center, be convenient to assembling, form the static pressure chamber between outer tube 2 and the stagnation pressure tube 3, at outer tube 2 afterbodys static pressure chamber 6 is sealed, static pressure and stagnation pressure are derived by static tube 4 and stagnation pressure tube 3 respectively; In each junction, connect by the bonding Ji, play the effect of sealing simultaneously, this structure has well realized the microminiaturization of pitot;
Minute-pressure difference measurements unit is selected little differential pressure sensor for use, particularly selects the MEMS little differential pressure sensor for use, and to the signal amplification of setovering, and has that volume is little, in light weight, reliability is high and the characteristics of energy measurement utmost point low-speed.
Description of drawings
Accompanying drawing 1 is the structural representation of miniature low speed pitot meter of the present invention (also being schematic diagram);
Accompanying drawing 2 is miniature low speed pitot wiring layout;
Accompanying drawing 3 is the structural representation of minute-pressure difference measurements unit 2;
Wherein: miniature pitot 10 tube heads 1 outer tube 2
6 baroports, 7 stagnation pressure chambeies 8, static pressure chamber
Minute-pressure difference measurements unit 20 little differential pressure sensors, 21 power modules 22,
Signal conditioning circuit 23 data acquisition modules 30 processors 40
The stagnation pressure P in microprocessor 40 stagnation pressure chambeies 8
1The static pressure P in static pressure chamber 6
2
Air speed V
AFlow field gas density ρ pressure differential q
Voltage u coefficient k shows storage unit 50
Standard space velocity pipe correction coefficient Φ
0The dynamic pressure value Δ p that the standard space velocity pipe records
The dynamic pressure value Δ p ' that records for pitot to be determined
Little differential pressure sensor 21 power modules 22 signal conditioning circuits 23
Reference voltage 221 voltage comparators 222 resistance 223
Output voltage u
Embodiment
Further describe the present invention below in conjunction with drawings and Examples:
Referring to accompanying drawing 1, miniature low speed pitot meter of the present invention is based on the design of differential pressure measurement principle, comprises that mainly miniature pitot unit 10, elementary errors press measuring unit 20, data acquisition module 30, processor 40, show that storage unit 50 forms; Its principle of work is summarized as follows:
For 30,40,50 3 modules among the figure, need not special explanation, this professional person can design voluntarily as required and finish.In addition for 30,40,50 3 modules, be construed as and it can be combined with other system as required or make corresponding modify.
1, a technical problem underlying to be solved is a kind of simple pitot structure of design in miniature pitot unit 10 designs, reduces volume and weight, to reach microminiaturized purpose, makes its structure satisfy the Testing requirement of low-speed simultaneously.
As shown in Figure 2, during measurement, tube head 1 is over against airflow direction, stagnation pressure tube 3 inserts tube head 1 positive center, and the other end is connected by air intake opening of flexible pipe and little differential pressure sensor, after air-flow enters stagnation pressure chamber 8, mobile and blocked because of not continuing, thus experience the local stagnation pressure P1 at mouth of pipe place; Baroport 7 leaves at outer tube 2 middle parts, and impression is parallel to the static pressure P2 of outer tube wall direction air-flow, because baroport 7 perforate directions are vertical with airflow direction, this static pressure and flow velocity size are irrelevant; Form static pressure chamber 6 between outer tube 2 and the stagnation pressure tube 3, static pressure is derived by static tube 4, is connected to another input end of little differential pressure sensor 21 by flexible pipe; In order to reduce the influence of the angle of attack, eliminate error, a uniform 4-8 baroport on outer tube 2 same cross sections to measurement result; The air-flow static pressure at baroport place can be subjected to the influence of head and back stay: during the more than half spherical tube head of air flow stream, flow velocity increases static pressure and descends, and makes to measure static pressure and be lower than actual static pressure, brings negative error; Back stay has decelerating effect to air-flow, and static pressure is increased, and produces positive error.Therefore should be according to the position of experimental result choose reasonable baroport; Tube head 1 shape adopts hemispherical dome structure, and the air speed that helps low mach is measured.
Pitot and traditional pitot principle of work that the present invention adopts are similar, difference is that it is easy to microminiaturized structure, tube head 1 has reduced difficulty of processing with the design that separates of outer tube 2, stagnation pressure tube 3 directly inserts tube head 1 center, be convenient to assembling, form the static pressure chamber between outer tube 2 and the stagnation pressure tube 3, at outer tube 2 afterbodys static pressure chamber 6 is sealed, static pressure and stagnation pressure are derived by static tube 4 and stagnation pressure tube 3 respectively.In each junction, connect by the bonding Ji, play the effect of sealing simultaneously.This structure has well realized the microminiaturization of pitot.
2, elementary errors is pressed measuring unit 20
At first calculate according to the air speed measurement range and the little differential pressure sensor 21 of selected suitable range, general miniature little differential pressure sensor is all applicable in the present invention, but is that effect is preferable with the little differential pressure sensor of this class of MEMS little differential pressure sensor; Can be according to the output area of micro-pressure sensor and the requirement of A/D change-over circuit, the range of choose reasonable signal conditioning circuit adopts biasing to amplify in signal amplification circuit 23, to be able to measure the requirement than low-speed; According to little differential pressure sensor 21 and 23 pairs of power supplys of signal conditioning circuit and performance demands designing power supply module 22.
Introduce a most preferred embodiment below.Present embodiment selects for use SM5651 type MEMS little differential pressure sensor as sensitive element, and this sensor has that volume is little, highly sensitive, high reliability features.Its internal application resistance laser correction technique carries out temperature compensation, drift correction to sensor, adopts the structure of high stable chip adhesive at ceramic base, has guaranteed high reliability.Under the constant current power supply mode, in establish gain coefficient and adjust resistance, can cooperate outside differential amplifier, strengthened interchangeability.
Ask for an interview Fig. 4, it is to guarantee the high-precision most important condition of sensor that stable constant current source is provided.Provide reference voltage by MAX6061 (reference voltage 221), the sampling of 223 pairs of MEMS little differential pressure sensors of sampling resistor working current, receive voltage comparator 222 reverse input ends, compare with the reference voltage that inserts the voltage comparator in-phase input end, guarantee that by negative-feedback circuit MEMS little differential pressure sensor 21 is operated in constant current state.It should be noted that when selecting sampling resistor 223 and should guarantee that working current makes amplifier be operated in the range of linearity, avoids saturated.
The output of little differential pressure sensor 21 is connected to instrument amplifier 23, gains according to the measurement range selective amplifier.Because pitot meter is operated in low-speed range, when air speed was very low, little differential pressure sensor 21 output signals were very faint, and can cause can not linear amplification when measuring when low speed.In order to improve the linearity of pitot meter, reach the purpose that utmost point low-speed is measured, the output terminal of reference voltage 221 is received the reference potential input end of instrument amplifier 23, to the amplification of setovering of little differential pressure sensor signal, can effectively eliminate the dead band like this, make the Minimum Airspeed of pitot meter energy measurement approach zero.
The output terminal of instrument amplifier 23 links to each other with A/D convertor circuit 6, is input to microprocessor 40 through the AD conversion, handles in microprocessor 40, and measurement result is kept in the storer 50.
Claims (3)
1, a kind of miniature low speed pitot meter that is used for minute vehicle, it is characterized in that this miniature low speed pitot meter comprises miniature pitot unit (10), elementary errors pressure measuring unit (20), data acquisition module (30), the microprocessor (40) that is electrically connected successively and shows storage unit (50);
Described miniature pitot unit (10); Comprise: a stagnation pressure tube (3), it inserts in the center pit of the tube head (1) with spherical arc with one heart, suit outer tube (2) outside the stagnation pressure tube (3), one end of outer tube (2) and tube head (1) are tightly connected, the other end is tightly connected by sealing-plug (5) and stagnation pressure tube (3), outer tube (2) is near vertical installation one and the static tube (4) that outer tube (2) inner chamber communicates on the tube wall of afterbody, is positioned on the radial section in the middle part of the outer tube (2) to be evenly equipped with 4-8 baroport; Described stagnation pressure tube (3) inner chamber constitutes stagnation pressure chamber (8), constitutes static pressure chamber (6) between outer tube (2) and the stagnation pressure tube, is drawn by static tube (4) inner chamber by its static pressure;
Described elementary errors is pressed measuring unit (20); Comprise: little differential pressure sensor (21), power module (22), signal conditioning circuit (23); Described power module (22) is electrically connected with little differential pressure sensor (21) and signal conditioning circuit (23) respectively, for little differential pressure sensor (21) provides stable electric current, for signal conditioning circuit (23) provides stable voltage; The stagnation pressure (P1) in described stagnation pressure chamber (8) and the static pressure (P2) of static pressure chamber (6) are connected by two input ends of flexible pipe with little differential pressure sensor (21) respectively, the output terminal of little differential pressure sensor (21) links to each other with signal conditioning circuit (23), to signal conditioning circuit (23) output one and the proportional voltage of pressure reduction (P1-P2), this voltage is setovered to amplify through signal conditioning circuit (23) and is obtained an output voltage (u);
Described data acquisition module (30) presses signal conditioning circuit (23) output terminal of measuring unit (20) to link to each other with elementary errors, data acquisition module (30) is an A/D change-over circuit module, the signal of accepting is carried out the AD conversion, input to the microprocessor (40) that is attached thereto afterwards; Microprocessor (40) links to each other with showing storage unit (50), with the air speed data that shows that storage is measured.
2, by the described miniature low speed pitot meter that is used for minute vehicle of claim 1, it is characterized in that described little differential pressure sensor (21) is the MEMS little differential pressure sensor.
3, by the described miniature low speed pitot meter that is used for minute vehicle of claim 1, it is characterized in that, described power module (22) comprises a reference voltage (221), reference voltage (221) is connected to the in-phase input end of voltage comparator 222, little differential pressure sensor (21) connects sampling resistor (223), sampling resistor (223) one end ground connection, the other end links to each other with voltage comparator (222) reversed-phase output, voltage comparator (222) is output as little differential pressure sensor (21) constant-current supply is provided, the output terminal of reference voltage (221) connects the reference potential input end of signal conditioning circuit (23), for signal conditioning circuit (23) provides stable reference voltage, to the amplification of setovering of the output voltage u signal of little differential pressure sensor (21).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100034470A CN100356176C (en) | 2004-03-15 | 2004-03-15 | Minisize low speed airspeedometer for mini aircrafts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100034470A CN100356176C (en) | 2004-03-15 | 2004-03-15 | Minisize low speed airspeedometer for mini aircrafts |
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| CN1670534A true CN1670534A (en) | 2005-09-21 |
| CN100356176C CN100356176C (en) | 2007-12-19 |
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| CNB2004100034470A Expired - Fee Related CN100356176C (en) | 2004-03-15 | 2004-03-15 | Minisize low speed airspeedometer for mini aircrafts |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323440A (en) * | 2011-06-03 | 2012-01-18 | 清华大学 | Biaxial airspeed detection system of helicopter |
| CN102944375A (en) * | 2012-10-22 | 2013-02-27 | 北京航空航天大学 | Compound pneumatic data sensor applicable to micro aerial vehicle |
| CN103226367A (en) * | 2013-05-10 | 2013-07-31 | 中航通飞研究院有限公司 | Airspeed head heating system |
| CN103913267A (en) * | 2014-03-31 | 2014-07-09 | 北京自动化控制设备研究所 | Small straight pipe electric heating type airspeed head |
| CN104122118A (en) * | 2013-04-27 | 2014-10-29 | 北京自动化控制设备研究所 | Gas taking apparatus of small-size total static pressure sensor |
| CN105259365A (en) * | 2015-11-16 | 2016-01-20 | 深圳飞马机器人科技有限公司 | Airspeed meter module |
| CN106018866A (en) * | 2016-08-05 | 2016-10-12 | 北京奇正数元科技股份有限公司 | Integrated quick-disassembling airspeed meter |
| JP2017501405A (en) * | 2013-12-18 | 2017-01-12 | ロッキード・マーチン・コーポレーション | Air data system |
| CN106608368A (en) * | 2015-10-23 | 2017-05-03 | 中国飞行试验研究院 | Height and speed testing structure and method based on minimum gas path delay |
| CN108051612A (en) * | 2017-12-11 | 2018-05-18 | 西安忠林世纪电子科技有限公司 | A kind of unmanned plane pitot static calibrations device |
| CN111398624A (en) * | 2020-03-06 | 2020-07-10 | 清远市智慧农业研究院 | Device and method for testing penetrability of canopy of lower washing wind field |
| CN111465129A (en) * | 2020-03-13 | 2020-07-28 | 西安爱生无人机技术有限公司 | Electric heating airspeed head and assembling method thereof |
| CN112504547A (en) * | 2020-11-25 | 2021-03-16 | 成都凯天电子股份有限公司 | High-precision dynamic pressure measuring method and system with long-term stability |
| CN113156159A (en) * | 2021-02-10 | 2021-07-23 | 复旦大学 | Airspeed meter applied to aircraft and without airspeed tube |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6141970A (en) * | 1984-08-03 | 1986-02-28 | Mitsubishi Heavy Ind Ltd | Air speed indicator |
| JPS6225268A (en) * | 1985-07-25 | 1987-02-03 | Sumitomo Electric Ind Ltd | Optical air speedometer |
| CN86209431U (en) * | 1986-11-18 | 1987-09-16 | 东北工学院 | Tuyere speed measuring pipe |
| CN2416506Y (en) * | 2000-04-19 | 2001-01-24 | 西安交通大学 | Differential pressure dynamic wind speed measuring apparatus |
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- 2004-03-15 CN CNB2004100034470A patent/CN100356176C/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323440A (en) * | 2011-06-03 | 2012-01-18 | 清华大学 | Biaxial airspeed detection system of helicopter |
| CN102944375A (en) * | 2012-10-22 | 2013-02-27 | 北京航空航天大学 | Compound pneumatic data sensor applicable to micro aerial vehicle |
| CN102944375B (en) * | 2012-10-22 | 2015-05-20 | 北京航空航天大学 | Compound pneumatic data sensor applicable to micro aerial vehicle |
| CN104122118B (en) * | 2013-04-27 | 2017-04-05 | 北京自动化控制设备研究所 | A kind of small-sized total, collector of static pressure pick-up |
| CN104122118A (en) * | 2013-04-27 | 2014-10-29 | 北京自动化控制设备研究所 | Gas taking apparatus of small-size total static pressure sensor |
| CN103226367A (en) * | 2013-05-10 | 2013-07-31 | 中航通飞研究院有限公司 | Airspeed head heating system |
| CN103226367B (en) * | 2013-05-10 | 2015-06-10 | 中航通飞研究院有限公司 | Airspeed head heating system |
| JP2017501405A (en) * | 2013-12-18 | 2017-01-12 | ロッキード・マーチン・コーポレーション | Air data system |
| CN103913267B (en) * | 2014-03-31 | 2016-08-31 | 北京自动化控制设备研究所 | A kind of small-sized straight tube electroheating type pitot |
| CN103913267A (en) * | 2014-03-31 | 2014-07-09 | 北京自动化控制设备研究所 | Small straight pipe electric heating type airspeed head |
| CN106608368A (en) * | 2015-10-23 | 2017-05-03 | 中国飞行试验研究院 | Height and speed testing structure and method based on minimum gas path delay |
| CN105259365A (en) * | 2015-11-16 | 2016-01-20 | 深圳飞马机器人科技有限公司 | Airspeed meter module |
| CN106018866A (en) * | 2016-08-05 | 2016-10-12 | 北京奇正数元科技股份有限公司 | Integrated quick-disassembling airspeed meter |
| CN108051612A (en) * | 2017-12-11 | 2018-05-18 | 西安忠林世纪电子科技有限公司 | A kind of unmanned plane pitot static calibrations device |
| CN111398624A (en) * | 2020-03-06 | 2020-07-10 | 清远市智慧农业研究院 | Device and method for testing penetrability of canopy of lower washing wind field |
| CN111465129A (en) * | 2020-03-13 | 2020-07-28 | 西安爱生无人机技术有限公司 | Electric heating airspeed head and assembling method thereof |
| CN111465129B (en) * | 2020-03-13 | 2022-04-12 | 西安爱生无人机技术有限公司 | Electric heating airspeed head and assembling method thereof |
| CN112504547A (en) * | 2020-11-25 | 2021-03-16 | 成都凯天电子股份有限公司 | High-precision dynamic pressure measuring method and system with long-term stability |
| CN113156159A (en) * | 2021-02-10 | 2021-07-23 | 复旦大学 | Airspeed meter applied to aircraft and without airspeed tube |
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| Publication number | Publication date |
|---|---|
| CN100356176C (en) | 2007-12-19 |
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