CN202574620U - Small-sized multi-purpose unmanned aerial vehicle - Google Patents
Small-sized multi-purpose unmanned aerial vehicle Download PDFInfo
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- CN202574620U CN202574620U CN 201120455803 CN201120455803U CN202574620U CN 202574620 U CN202574620 U CN 202574620U CN 201120455803 CN201120455803 CN 201120455803 CN 201120455803 U CN201120455803 U CN 201120455803U CN 202574620 U CN202574620 U CN 202574620U
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Abstract
The utility model discloses a small-sized multi-purpose unmanned aerial vehicle. The small-sized multi-purpose unmanned aerial vehicle comprises a vehicle body, a power subsystem, a fight control subsystem, an electrical subsystem, a measurement and control subsystem, a task subsystem and a recovery parachute device, wherein the vehicle body comprises a body, a wing, an empennage and a vertical empennage; the section of the body is rectangular; the wing is an asymmetrical type high-mounted flat wing with a moderate aspect ratio and is divided into an inner wing and an outer wing, and the outer wing is detachable; the empennage is an asymmetrical type rectangular planar empennage and is arranged at the rear part of the body at the angle of 0 degree, and an elevator is arranged on the rear edge of the empennage; the vertical empennage is a symmetrical type trapezoid planer empennage and is arranged on the vertical symmetrical surface at the rear part of the body. The small-sized multi-purpose unmanned aerial vehicle has the advantages of low cost, wide application, high environmental adaptability and the like.
Description
Technical field
The utility model relates to a kind of unmanned plane, relates in particular to a kind of small multi-purpose unmanned aerial vehicle, task such as can be used for scientific experiment, remote sensing, take photo by plane, and use as target drone.
Background technology
Unmanned plane can be carried out many tasks of having man-machine inconvenience maybe can't carry out owing to do not need navigating mate, has that volume is little, cost is low, easy to use.Advantage such as low to environmental requirement, that viability is strong has obtained application more and more widely at present.
Muscovite " evil spirit-D " multi-purpose unmanned aerial vehicle is to develop under long-range unmanned aerial vehicle's research project background of " distance " at Moscow aeronautical engineering institute code name; 5.86 meters of this wing exhibitions, long 5.4 meters of fuselage weighs 360 kilograms; Flying speed 80-195 kilometer/hour, 120 kilometers of voyages.W-50 type unmanned plane can be equipped with equipment such as colour TV camera, thermal infrared imager, digital camera, is widely used in tasks such as forest fire protection supervision, the tour of fishing ground, pasture, city planning aerial survey, national boundaries border patrol, the monitoring of cracking down on smuggling.After installing special equipment additional, also can accomplish tasks such as radio communication relaying, electronic countermeasure simulation, Geophysical Experiment, meteorological elements sampling and scientific exploration investigation, main technical details is: 4.8 meters of the spanes, 3.4 meters of captains.
A present domestic disclosed patented technology: a kind of small multi-purpose unmanned aerial vehicle, aerial mission such as can be used for carrying out scientific experiment, remote sensing and take photo by plane in the air.This unmanned plane has following characteristics: cruise duration is longer, the aerial mission of having relatively high expectations when being convenient to carry out to boat; Use simply, be convenient to handle; Stability better is fit to carry equipment such as autopilot, the camera of taking photo by plane, pick up camera.
Yet; Existing multi-purpose unmanned aerial vehicle is mainly used in civil area; Other purposes outside the civil area is not considered in its design; For example carry the task device that comprises infrared enhancer and bait bullet, carry out absolutely empty weapon air mobile target training mission, perhaps carry out the reconnaissance mission of HAE etc.
The utility model content
The utility model technical matters to be solved is to overcome the deficiency of prior art, and a kind of small multi-purpose unmanned aerial vehicle is provided.
The small multi-purpose unmanned aerial vehicle of the utility model comprises body, power subsystem, flies to control subsystem, electric subsystem, tracking-telemetry and command subsystem, task subsystem and recorery parachute device that said body comprises fuselage, wing, empennage, vertical tail; The fuselage cross section is an oblong; Wing is the straight wing with medium aspect ratio, asymmetric airfoil, high mounted wing layout, and wing divides inner wing and outer wing two parts, and outer wing is detachable; Empennage is asymmetric airfoil, rectangular planar shape, is arranged on fuselage afterbody, 0 ° of stagger angle, and trailing edge is provided with elevating rudder; Vertical tail is symmetrical airfoil, ladder plane shape, is arranged on the fuselage afterbody vertical symmetry plane.
Said wing is a whole wing, and single-beam and many pairs of wall type structures, beam are metal and aviation laminate mixed system, and wall is cork wood and glass-felt plastic mixed system; Wing cover adopts the sandwich material of frp honeycomb to form and goes up lower wall panels; Carry out special reinforcement in aileron suspension place; Horizontal tail and vertical fin all adopt the sandwich glass fibre reinforced plastic structure of wooden single-beam foam, and upper and lower 2 wooden ribs are set, and trailing edge seals with the cork wood bar; Aileron is the sandwich glass fibre reinforced plastic structure of wooden single-beam foam, and each block construction jointing all adopts metallic article, bolt together.
Said fuselage interior is divided into a plurality of cabins section with the aviation laminate.Thereby can adjust the fuselage back spatial destribution flexibly and easily according to different purposes.
Said power subsystem comprises driving engine, screw propeller, starting device and oil-feeding device for engine; Said driving engine is the opposed double stroke air-cooled engine of twin-tub, is installed on fuselage head; Said screw propeller is the wooden spacing tension propellers of two leaves; Said starter gear is the hand electric starter; Said oil-feeding device for engine comprises oil burning arrangement and the quick apparatus for filling of ground fuel oil on the machine; Oil burning arrangement comprises fuel tank, fuel filter and fuel pipe on the machine; Fuel tank is soft fuel tank, and fuel tank is provided with oil outlet, oil drain cock, be communicated to the wing rear end and have the oil filling port of unidirectional self-enclosed function.
Saidly fly to control subsystem and comprise vertical gyro, angular rate gyroscope, GPS receiver, flight control computer, electrical servo steering wheel and pressure-altitude sensor.
Said underbelly is equipped with rocket booster, is positioned at the position of unmanned plane center of gravity after partially.
Said tracking-telemetry and command subsystem comprises MDS wireless digital broadcasting station and airborne vertical polarization center driven antenna.
Compare prior art, the small multi-purpose unmanned aerial vehicle of the utility model has the following advantages:
(1) low-cost development is the basis with the mature technology, is satisfying under the prerequisite of technical requirement, selects matching component cheaply for use, reduces production costs; In design process, implement universalization, modularization, standardized designs criterion, reduce technical risk as far as possible, reduce development cost.
(2) can realize data communication between target drone and airborne fire control system, the target range ground command system, realize that the target intensifier that target drone carries throws in the interlock of infrared flare, infrared counteraction type weapon is tested and the critical effect is played in tactical training.
(3) owing to adopt single-shot solid-rocket boosting emission types, the control unmanned plane is realized launching steadily, and safety is reclaimed in parachuting, and is lower to the landing conditional request.
(4) multi-purpose unmanned aerial vehicle of the utility model is except being applied to the civil area; Also portability comprises the task device of infrared enhancer and bait bullet; Carrying out absolutely empty weapon air mobile target training mission, is domestic novel air mobile target simulation aircraft, and it is big to have an oad; Mission payload is big, the boat duration, can be used as the simulation of aerial target characteristic, aerial reconnaissance, carriage by air platform etc.
Description of drawings
Fig. 1 is the profile scheme drawing of the utility model small multi-purpose unmanned aerial vehicle;
Fig. 2 is the fuselage interior schematic layout pattern of the utility model small multi-purpose unmanned aerial vehicle;
Fig. 3 is the power subsystem composition frame chart of the utility model small multi-purpose unmanned aerial vehicle;
Fig. 4 flies to control the subsystem composition frame chart for the utility model small multi-purpose unmanned aerial vehicle;
Fig. 5 is the electric subsystem composition frame chart of the utility model small multi-purpose unmanned aerial vehicle;
Fig. 6 is the remote-control data frame structure;
Fig. 7 is the composition frame chart of the recorery parachute device of the utility model small multi-purpose unmanned aerial vehicle.
The specific embodiment
Be elaborated below in conjunction with the technical scheme of accompanying drawing to the utility model:
The small multi-purpose unmanned aerial vehicle of the utility model comprises body, power subsystem, flies to control subsystem, electric subsystem, tracking-telemetry and command subsystem, task subsystem and recorery parachute device.
The small multi-purpose unmanned aerial vehicle body profile of the utility model is as shown in Figure 1, comprises fuselage, wing, empennage, vertical tail; The fuselage cross section is an oblong; Wing is the straight wing with medium aspect ratio, asymmetric airfoil, high mounted wing layout, and wing divides inner wing and outer wing two parts, and outer wing is detachable; Empennage is asymmetric airfoil, rectangular planar shape, is arranged on fuselage afterbody, 0 ° of stagger angle, and trailing edge is provided with elevating rudder; Vertical tail is symmetrical airfoil, ladder plane shape, is arranged on the fuselage afterbody vertical symmetry plane.Said wing is a whole wing, and single-beam and many pairs of wall type structures, beam are metal and aviation laminate mixed system, and wall is cork wood and glass-felt plastic mixed system; Wing cover adopts the sandwich material of frp honeycomb to form and goes up lower wall panels; Carry out special reinforcement in aileron suspension place; Horizontal tail and vertical fin all adopt the sandwich glass fibre reinforced plastic structure of wooden single-beam foam, and upper and lower 2 wooden ribs are set, and trailing edge seals with the cork wood bar; Aileron is the sandwich glass fibre reinforced plastic structure of wooden single-beam foam, and each block construction jointing all adopts metallic article, bolt together.
Body all adopts composite structure except that main load-carrying member.Fuselage is a thin-wall case, longitudinal such as the beam through the cork wood material, purlin and laterally deckle board form force structure, deckle board is the aviation laminate, can according to each freight space equipment situation flap be set on fuselage according to airborne equipment and task device installation situation layout; The local reinforcement of hardware is adopted in crucial force part such as fuselage, wing interface frame, mating frame.Underbelly is equipped with rocket booster, is positioned at the position of unmanned plane center of gravity after partially.
Fuselage interior is divided into a plurality of cabins section with the aviation laminate.Thereby can adjust the fuselage back spatial destribution flexibly and easily according to different purposes.Be example with unmanned target drone, as shown in Figure 2, whole fuselage interior is divided into 8 cabin sections with the aviation laminate.Machinery space is the first cabin section, is positioned at the head of fuselage; In the second cabin section is instrument department, comprises gyro, power source conversion box, throttle steering wheel, and the 3rd cabin section is an instrument department, comprises flight control computer, gps receiver and receiving wire, data transmission radio station; The 4th cabin section is the task device cabin, and promptly Target Intensifier is installed the cabin, and infrared enhancer is installed, and outstanding fuselage of infrared enhancer and fuselage are 30 ° of angles; The 5th cabin section is a fuel tank, is positioned near the full machine center of gravity of middle fuselage; In the 6th cabin section is electric cabin, comprises onboard generators, supply convertor, storage battery, power transmission and distribution box equipment such as (box conflux); In the 7th cabin section is the task device cabin, and bait bullet and control setup thereof are installed; The 8th cabin section is the umbrella cabin, and the recorery parachute device is arranged at fuselage afterbody.
The power subsystem of the utility model unmanned plane, as shown in Figure 3, comprise driving engine, screw propeller, starting device and oil-feeding device for engine.Driving engine is selected the opposed double stroke air-cooled engine of twin-tub of (FL350) 22hp, weight≤10kg (dry weight) for use, is installed on fuselage head.The screw propeller parameter need be confirmed according to calculation of parameter such as the height of engine altitude characteristic and the main state of flight of aircraft, speed and test; Because the needs of rocket assist emission, it is the spacing tension propeller of 700mm that this specific embodiment adopts the wooden diameter of two leaves.Said starter gear is the hand electric starter.Oil-feeding device for engine comprises oil burning arrangement and the quick apparatus for filling of ground fuel oil on the machine; Oil burning arrangement comprises fuel tank, fuel filter and fuel pipe on the machine; Fuel tank is soft fuel tank, and fuel tank is provided with oil outlet, oil drain cock, be communicated to the wing rear end and have the oil filling port of unidirectional self-enclosed function.
The utility model unmanned plane fly to control subsystem, as shown in Figure 4, comprise vertical gyro, angular rate gyroscope, GPS receiver, flight control computer, electrical servo steering wheel and pressure-altitude sensor.Its principal feature is following:
A) adopt attitude sensor to measure the attitude information of unmanned plane, reach and stablize stablizing of unmanned plane during flying attitude and course angle through flying to control inner looping, and have maneuvering characteristics flexibly.
B) the flying height information that adopts barometric height and GPS receiver to measure is come sustained altitude through flying to control highly stable loop.
C) the unmanned plane current position information that adopts the GPS receiver to measure; Pass to ground control station through under the telemeter channel; Be uploaded to unmanned plane by the navigator through the remote control channel; Can realize climbing, flat fly, glide, left, to the right, action such as fly nonstop to, the guiding unmanned plane is carried out tasks such as interference detection to predetermined navigating area.
D), realize three-dimensional autonomous flight, and have the checking functions that returns of course line bookbinding by the vector of binding in advance; If the gps signal losing lock, handle the unmanned plane landing site that flies back through detection and control terminal, or realize that immediately emergent parachuting reclaims.
E) the control unmanned plane is realized launching steadily, and safety is reclaimed in parachuting.
F) has good safety control function.
G) has the fast detecting function.
H) have flight information is transferred to remote control/telemetry equipment and ground checkout equipment through serial ports.
The electric subsystem of the utility model unmanned plane is as shown in Figure 5, comprises onboard generators, supply convertor, storage battery, power transmission and distribution box, surface power supply test macro and terrestrial power generation machine (containing relevant cables).The key technical indexes of electric subsystem is following:
A) direct supply 22V～30V DC;
B) generator power >=200W;
C) mean time between failures (MTBF) TBF >=300h;
D) mean time to repair
E) weight requirement≤2Kg.
The radical function of electric subsystem:
A) automatically regulating of completion generator voltage, and completion electrical generator drops into electrical network and breaks away from from electrical network;
B) realize that automatically emergency source of electrical power is to flying to control key equipment power supply such as subsystem;
C), realize the control of bus-bar and relay automatically according to the distribution requirement;
D) parallel operation of realization electrical generator and storage battery;
E) signal transmission between consumer power supply and each subsystem on the completion machine;
F) accept flight control computer instruction control engine off;
G) accept the priming system of flight control computer instruction control regenerative apparatus;
H) reverse polarity protection during surface power supply.
Because the target drone UAS adopts the 28V direct supply, so choose low-voltage dc power supply as target drone UAS main power source.
Storage battery adopts the nickel chromium triangle battery pack, and the use of can charging repeatedly can be satisfied the emergency service requirement.
The tracking-telemetry and command subsystem of the utility model unmanned plane selects for use MDS wireless digital broadcasting station (half duplex operation) as upper and lower radio channel, through the upper and lower frequency of operation of channel is set respectively, can realize that airborne single antenna accomplishes airborne remote control reception and remote-control transmitting.Airborne antenna adopts the vertical polarization center driven antenna.
The tracking-telemetry and command subsystem the key technical indexes is following:
A) remote measurement frame length 32 bytes;
B) bit rate 19.2kbps;
C) Refresh Data rate 12.5 frames/s;
D) transmission error rates 1 * 10-5;
E) ranging coverage is greater than 25km;
F) frequency of operation 900MHz;
G) power supply 28V/3A;
H) profile reference dimension 10cm * 8cm * 18cm;
I) weight is less than 1.58kg;
J) emissive power 5W;
K) receiving sensitivity-110dBm
L) operating temperature-20 ℃～+ 50 ℃;
M) storage temperature-20 ℃～+ 55 ℃;
N) humidity 90 ± 3% (+35 ℃);
O) oscillating curve (15～2000Hz, random vibration);
P) axial load factor >=2g;
Q) normal g-load >=4g (impact).
The tracking-telemetry and command subsystem radical function:
A) realize the state of flight of unmanned plane and the real time remote control of airborne equipment mode of operation;
B) realize the state of flight of unmanned plane and the real-time telemetry of airborne equipment mode of operation (comprising the repayment of gps data and telecommand);
C) realize the flight track of unmanned plane, real-time demonstration, record and the playback of telemetry parameter.
Tracking-telemetry and command subsystem and flight control computer adopt the RS232 standard communication interface, and baud rate is 19200bps, 8 of data bit, and the no parity check position, every frame length is 32 bytes.The remote control frame structure is as shown in Figure 6.Up remote control is a burst mode, running fire 7 frames (the every frame of frame counter adds 1) when instruction is arranged.
Remote-control data is explained as follows:
A. synchronous code EB90;
B. teleswitch instruction+scrambling modulation code;
C. task switch instruction+scrambling modulation code;
D. data are injected sign indicating number;
E. inject the packet sign indicating number;
F. inject data;
G. continual command backup;
H. frame counter;
I. mould 256 and verification
Data are injected sign indicating number D:
● the 00h free of data
● A1h～A7h flight path injects (1～3)
● whole piece or certain point of B1h～B7h flight path inquiry (1～3)
● C1h～C7h is provided with course line and starting point (certain point 1～3)
● 93h surface pressure height
● the 9Bh magnetic inclination
● when flight path injected (input course line and starting point), packet sign indicating number E was: respectively corresponding 1～100 destination of 1d～100d, and (C1h～C7h) confirm, follow-up data are corresponding longitude and latitude, highly by content among the D in corresponding course line;
● when course line and starting point were set, packet sign indicating number E was: respectively corresponding 1～100 destination of 1d～100d, and corresponding course line is by (the C1h～C7h) confirm of content among the D;
● course line 1 is the autonomous flight course line;
● course line 2 is the bidirectional flight lines of logical flight;
● the course line of reclaiming the place and reclaiming is automatically flown to for accomplishing in course line 3.
The recorery parachute device of the utility model unmanned plane, as shown in Figure 7, comprise recorery parachute, umbrella cabin and umbrella hatchcover, hatchcover locking and opener, umbrella and aircraft bindiny mechanism, pilot-parachute parachute deployment means.Recorery parachute selects for use the criss-cross typing umbrella of Nanjing 513 factories to do suitably to improve, and its main performance index is:
A) reclaim speed 180km/h;
B) reclaim height＞100m;
C) reclaim quality 90kg;
D) the maximum parachute-opening overload of recorery parachute 3g;
E) maximum landing speed 6m/s;
F) the maximum overload 4g that lands;
G) recorery parachute quality≤2.5kg;
H) recorery parachute packaging volume≤0.01m3;
Pilot-parachute is designed to 0.5m
2Square parachute.The advantage of square parachute is that drag coefficient is bigger, and stability is better than circular parachute.Main chute is designed to 80m
2Cross parachute.Cross parachute stability is good especially, and manufacturing process is simple, and opening shock is less, but symmetry requires height, and weight and volume is bigger.Connecting band adopts high-strength Kai Fula fabric, and canopy adopts high-strength bright and beautiful silk fabrics, and the umbrella rope adopts the ultra-high strength polyethylene material, to alleviate the weight of umbrella.
Umbrella and aircraft bindiny mechanism: 2 connection modes before and after adopting, aircraft landing stability is better, and it is less to the aircaft configuration influence that connecting band moves towards design.
Pilot-parachute parachute deployment means: load onto pilot-parachute parachute deployment means at the back side of umbrella hatchcover, make pilot-parachute, reduce the interference of aircraft, improve the functional reliability of pilot-parachute to pilot-parachute etc. as far as possible away from aircraft.
Claims (7)
1. small multi-purpose unmanned aerial vehicle comprises body, power subsystem, flies to control subsystem, electric subsystem, tracking-telemetry and command subsystem, task subsystem and recorery parachute device, it is characterized in that said body comprises fuselage, wing, empennage, vertical tail; The fuselage cross section is an oblong; Wing is the straight wing with medium aspect ratio, asymmetric airfoil, high mounted wing layout, and wing divides inner wing and outer wing two parts, and outer wing is detachable; Empennage is asymmetric airfoil, rectangular planar shape, is arranged on fuselage afterbody, the 0o stagger angle, and trailing edge is provided with elevating rudder; Vertical tail is symmetrical airfoil, ladder plane shape, is arranged on the fuselage afterbody vertical symmetry plane.
2. small multi-purpose unmanned aerial vehicle according to claim 1 is characterized in that said fuselage interior is divided into a plurality of cabins section with the aviation laminate.
3. small multi-purpose unmanned aerial vehicle according to claim 1 is characterized in that said power subsystem comprises driving engine, screw propeller, starting device and oil-feeding device for engine; Said driving engine is the opposed double stroke air-cooled engine of twin-tub, is installed on fuselage head; Said screw propeller is the wooden spacing tension propellers of two leaves; Said starter gear is the hand electric starter; Said oil-feeding device for engine comprises oil burning arrangement and the quick apparatus for filling of ground fuel oil on the machine; Oil burning arrangement comprises fuel tank, fuel filter and fuel pipe on the machine; Fuel tank is soft fuel tank, and fuel tank is provided with oil outlet, oil drain cock, be communicated to the wing rear end and have the oil filling port of unidirectional self-enclosed function.
4. small multi-purpose unmanned aerial vehicle according to claim 1 is characterized in that, saidly flies to control subsystem and comprises vertical gyro, angular rate gyroscope, GPS receiver, flight control computer, electrical servo steering wheel and pressure-altitude sensor.
5. small multi-purpose unmanned aerial vehicle according to claim 1 is characterized in that said wing is a whole wing, and single-beam and many pairs of wall type structures, beam are metal and aviation laminate mixed system, and wall is cork wood and glass-felt plastic mixed system; Wing cover adopts the sandwich material of frp honeycomb to form and goes up lower wall panels; Carry out special reinforcement in aileron suspension place; Horizontal tail and vertical fin all adopt the sandwich glass fibre reinforced plastic structure of wooden single-beam foam, and upper and lower 2 wooden ribs are set, and trailing edge seals with the cork wood bar; Aileron is the sandwich glass fibre reinforced plastic structure of wooden single-beam foam, and each block construction jointing all adopts metallic article, bolt together.
6. small multi-purpose unmanned aerial vehicle according to claim 1 is characterized in that said underbelly is equipped with rocket booster, is positioned at the position of unmanned plane center of gravity after partially.
7. small multi-purpose unmanned aerial vehicle according to claim 1 is characterized in that said tracking-telemetry and command subsystem comprises MDS wireless digital broadcasting station and airborne vertical polarization center driven antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120455803 CN202574620U (en) | 2011-11-17 | 2011-11-17 | Small-sized multi-purpose unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120455803 CN202574620U (en) | 2011-11-17 | 2011-11-17 | Small-sized multi-purpose unmanned aerial vehicle |
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| CN202574620U true CN202574620U (en) | 2012-12-05 |
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| CN 201120455803 Expired - Fee Related CN202574620U (en) | 2011-11-17 | 2011-11-17 | Small-sized multi-purpose unmanned aerial vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501973A (en) * | 2011-11-17 | 2012-06-20 | 南京航空航天大学 | Small-sized multipurpose unmanned machine |
| CN105253293A (en) * | 2015-10-22 | 2016-01-20 | 镇江顺宇飞行器有限公司 | Small super-short-range unmanned aerial vehicle system provided with folding wings |
| CN106218906A (en) * | 2016-08-31 | 2016-12-14 | 河南翱翔航空科技有限公司 | Unmanned plane body fuel tank |
| CN108680158A (en) * | 2018-03-30 | 2018-10-19 | 南京航空航天大学 | Low coverage localization method in a kind of aircraft group sub based on polarizing field wave dyne |
-
2011
- 2011-11-17 CN CN 201120455803 patent/CN202574620U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501973A (en) * | 2011-11-17 | 2012-06-20 | 南京航空航天大学 | Small-sized multipurpose unmanned machine |
| CN105253293A (en) * | 2015-10-22 | 2016-01-20 | 镇江顺宇飞行器有限公司 | Small super-short-range unmanned aerial vehicle system provided with folding wings |
| CN106218906A (en) * | 2016-08-31 | 2016-12-14 | 河南翱翔航空科技有限公司 | Unmanned plane body fuel tank |
| CN108680158A (en) * | 2018-03-30 | 2018-10-19 | 南京航空航天大学 | Low coverage localization method in a kind of aircraft group sub based on polarizing field wave dyne |
| CN108680158B (en) * | 2018-03-30 | 2022-07-26 | 南京航空航天大学 | Polarization domain DOA (DOA) factor-based aircraft in-group near-distance positioning method |
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| 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: 20121205 Termination date: 20141117 |
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| EXPY | Termination of patent right or utility model |