CN204833769U - Aircraft guidance and control laboratory glassware - Google Patents
Aircraft guidance and control laboratory glassware Download PDFInfo
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- CN204833769U CN204833769U CN201520325755.9U CN201520325755U CN204833769U CN 204833769 U CN204833769 U CN 204833769U CN 201520325755 U CN201520325755 U CN 201520325755U CN 204833769 U CN204833769 U CN 204833769U
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Abstract
The utility model discloses an aircraft guidance and control laboratory glassware, this laboratory glassware are disconnect -type teaching laboratory glassware, separable core board and bottom plate is included, and then the core board of multiple model, the cost and the application of adjustment test appearance can be set up, the core board includes microcontroller and connected peripheral hardware interface, the button that resets, IO contact pin etc. Respectively, the bottom plate include guidance control module, input module, actuating mechanism, display module, power module and IO jack etc. Through the input target position information of the input module on the bottom plate or change target position information, perhaps the input realize man -machine interdynamic through modes such as modified control algorithm, be convenient for study the internal connection between the various flight parameter, improve student's learning efficiency.
Description
Technical field
The utility model relates to the teaching test instrument under the Experimental Instruction Environment of Aero-Space class, is specifically related to a kind of aircraft guidance and Control release instrument.
Background technology
The complete Design of Digital System experiment device for teaching that current market is sold, although of a great variety, advanced technology, but because the requirement of experiment of most of user will be taken into account, and possess ubiquity, but the strong specific aim do not possessed in conjunction with field research requirement, is especially difficult to the Experimental Instruction Environment of applicable Aero-Space class; In addition, the Design of Digital System Teaching Experiment Box of selling on the market at present in structural design more adopts integration and closed design, core board and backplane pin binding, this structure can reduce the dirigibility of experimental box allomeric function, versatility and extendability greatly, experimental box cost is increased, adaptability weakens, and is unfavorable for the cultivation of Students ' Learning initiative, open up thinking and innovation ability, and later period maintenance is all more difficult with upgrading.
For above-mentioned reasons, the utility model people furthers investigate existing Aero-Space class instruments used for education, so that the portable teaching and experiment equipment of the low cost designing the Experimental Instruction Environment being applicable to Aero-Space class.
Utility model content
In order to overcome the problems referred to above, the utility model people has carried out studying with keen determination, design a kind of aircraft guidance and Control release instrument, this experimental apparatus is a kind of separate type teaching and experiment equipment, comprise separable core board and base plate, and then the core board of Multiple Type can be set, the cost of Adjustment Tests instrument and application; Described core board comprises microcontroller and difference connected Peripheral Interface, reset key, IO contact pin etc., described base plate comprises Guidance and control module, load module, topworks, display module, power module and IO jack etc., by the load module input target position information on base plate or change target position information, or input the modes such as improved control algolithm, realize human-computer interaction, be convenient to study the internal connection between various flight parameter, thus complete the utility model.
Specifically, the purpose of this utility model is to provide following aspect:
(1) a kind of aircraft guidance and Control release instrument, it is characterized in that, this experimental apparatus comprises core board and base plate that can be disconnected from each other, core board is used for calculating according to the aircraft parameters information received the steering order controlling aircraft in real time, base plate is used for collecting and sending Fetion device parameter information, receive flying vehicles control instruction and perform, described base plate is provided with load module.
(2) aircraft guidance according to above-mentioned (1) and Control release instrument, is characterized in that, described load module is for inputting initial target location information;
Described base plate also on be provided with Guidance and control module, described Guidance and control module comprises GPS module and inertia device, wherein, GPS module is used for the position of Real-time Obtaining aircraft, speed and course information, and the information of acquisition is passed to core board, inertia device is used for the angular speed of Real-time Obtaining aircraft, acceleration and earth magnetism component information, and the information of acquisition is passed to core board;
Described base plate is also provided with actuator module, and described actuator module controls aerodynamic force for receiving steering order and producing according to steering order, makes aircraft target.
(3) aircraft guidance according to above-mentioned (1) or (2) and Control release instrument, it is characterized in that, described core board comprises microcontroller, the position of aircraft of microcontroller for receiving GPS module and passing out, speed and course information, the angular speed of the aircraft that inertia device passes out, acceleration and earth magnetism component information, calculate attitude of flight vehicle, position, the optimal estimation value of course information, again according to the target position information of load module input, calculate steering order, and actuator module steering order is sent on base plate.
(4) aircraft guidance according to above-mentioned (3) and Control release instrument, it is characterized in that, described core board is also provided with oscillatory circuit, reset circuit, JTAG emulation interface circuit and IO contact pin, described base plate is also provided with the IO jack matched with described IO contact pin, is removably connected by IO contact pin and IO jack between described core board with described base plate.
(5) aircraft guidance according to above-mentioned (3) and Control release instrument, is characterized in that, the height configuration core board of described core board to be the computation rate that can perform complicated floating-point operation be 150 ~ 600MHz;
Or the middle configuration core board of described core board to be the computation rate that can perform simple floating-point operation and complicated fixed-point arithmetic be 50 ~ 150MHz;
Or described core board is the computation rate of logic combination computing and simple fixed point calculation to be the low configuration core board of 8 ~ 32MHz.
(6) aircraft guidance according to above-mentioned (3) and Control release instrument, it is characterized in that, the microcontroller of core board calculates the optimal estimation value of attitude of flight vehicle, position, course information by Kalman filtering algorithm, passing ratio guidance law algorithm navigates again, produces steering order.
(7) aircraft guidance according to above-mentioned (6) and Control release instrument, it is characterized in that, described load module also for inputting algorithm in described core board, the algorithm stating input is optionally revised by user or improves, and the algorithm of described input comprises Kalman filtering algorithm and proportional guidance law algorithm.
(8) aircraft guidance according to above-mentioned (2) and Control release instrument, is characterized in that, described load module is also for input in real time or change target position information.
(9) aircraft guidance according to above-mentioned (1) and Control release instrument, is characterized in that, described base plate is also provided with display module, and described display module is used for the state of flight information of display Fetion device in real time.
(10) aircraft guidance according to above-mentioned (1) and Control release instrument, is characterized in that, described base plate is also provided with the power module of powering to whole experimental apparatus.
The beneficial effect that the utility model has comprises:
(1) aircraft guidance provided according to the utility model and Control release instrument, there is separable core board and base plate, make experimental apparatus can regulate model and cost along with applying different with demand, and then improve the scope of application of experimental apparatus;
(2) aircraft guidance provided according to the utility model and Control release instrument, there is load module, can input target position information at any time, and then the flight of change of flight device is put to state of flight information such as, flight attitudes, and then provide Research foundation for the research of field of human-computer interaction;
(3) aircraft guidance provided according to the utility model and Control release instrument, there is load module, can input and the computing method changed in core board and correlation computations parameter, be convenient to user's designed, designed flying quality, adjustment steering order, strengthen human-computer interaction performance, be more convenient for the internal connection that user understands the various correlation parameters of aircraft, improve the learning efficiency of user;
(4) aircraft guidance provided according to the utility model and Control release instrument, flexible design, easy to operate, clear in structure, improve experimental teaching efficiency, the research work of the cultivation for Navigation, Guidance and Control relevant speciality student and the Navigation, Guidance and Control theory and technology for advanced person provides experiment condition.
Accompanying drawing explanation
Fig. 1 illustrates the core board structural representation according to a kind of preferred implementation of the utility model;
Fig. 2 illustrates the base arrangement schematic diagram according to a kind of preferred implementation of the utility model;
Fig. 3 illustrates the oscillatory circuit structural representation according to a kind of preferred implementation of the utility model;
Fig. 4 illustrates the reset circuit structural representation according to a kind of preferred implementation of the utility model;
Fig. 5 illustrates the JTAG emulation interface electrical block diagram according to a kind of preferred implementation of the utility model.
Drawing reference numeral illustrates:
100-core board
110-microcontroller
120-reset circuit
130-oscillatory circuit
140-IO jack
150-JTAG emulation interface circuit
200-base plate
210-display module
220-actuator module
230-power module
240-data transmission module
250-load module
260-Guidance and control module
Embodiment
Below by drawings and Examples, the utility model is further described.Illustrated by these, feature of the present utility model and advantage will become more explicit.
Word " exemplary " special here means " as example, embodiment or illustrative ".Here need not be interpreted as being better than or being better than other embodiment as any embodiment illustrated by " exemplary ".Although the various aspects of embodiment shown in the drawings, unless otherwise indicated, accompanying drawing need not be drawn in proportion.
The aircraft guidance provided according to the utility model and Control release instrument, as Fig. 1, shown in Fig. 2, this experimental apparatus comprises core board 100 and base plate 200 that can be disconnected from each other, core board is used for calculating according to the aircraft parameters information received the steering order controlling aircraft in real time, base plate is used for collecting and sending Fetion device parameter information, receive flying vehicles control instruction and perform, by arranging separable core board and base plate, realize being separated of hardware components and calculating section, be convenient to the control terminal choosing suitable model according to demand, thus avoid waste, cost-saving.
In one preferred embodiment, described base plate also on be provided with Guidance and control module 260, described Guidance and control module comprises GPS module, inertia device and data recordin module, wherein, GPS module is used for the position of Real-time Obtaining aircraft, speed and course information, and the information of acquisition is passed to core board, inertia device is used for the angular speed of Real-time Obtaining aircraft, acceleration and earth magnetism component information, and the information of acquisition is passed to core board, data recordin module can be divided into again real-time clock and temperature two modules.
In further preferred embodiment, GPS module can select model to be u-bloxNEO-6M receiving processing module, GPS module is sent to single-chip microcomputer by receiving the locating information of satellite by serial ports, and can be communicated by serial port setting GPS module and the parameter such as reception; Inertia device can be integrated chip MPU6050, contains three axle rate gyroscope and three axis accelerometers, and carries after programmable filter carries out filtering to image data and export; The data that GPS module and inertia device obtain both can be used alone, and were exactly so-called GPS navigation and inertial navigation; Can be carried out fusion and the process of data by navigational computer, the two is combined into GPS/INS integrated navigation, greatly can improve the precision of navigation; Described real-time clock can be the DS1302 chip of Maxim, be equipped with one piece of 30mA rechargeable battery, DS1302 be DALLAS company of the U.S. release a kind of high-performance, low-power consumption, band RAM real time clock circuit, it can to year, month, day, Sunday, time, minute, second carries out timing, there is leap year compensate function, operating voltage is 2.5V ~ 5.5V, adopts three-wire interface and CPU to carry out synchronous communication, and burst mode can be adopted once to transmit clock signal or the RAM data of multiple byte; Thermal module can be DS18b20 integrated chip, adopt unique one-wire interface mode with; Single-chip microcomputer only needs a Tiaokou line to realize both-way communication when connecting.Working power: 3.0 ~ 5.5V, measurement result is with 9 ~ 12 bit digital quantity mode serial transfers, and precision is ± 0.5 DEG C.
In real-time clock module in data recordin module, temperature-measuring module and core board, microcontroller together constitutes digital data recording system, carries out record to every test figure of aircraft during flying.Wherein, real-time clock module, for the record of all data provides time reference; Temperature-measuring module, can the temperature situation of change in time of each system on Real-Time Monitoring aircraft, and above-mentioned data are via data recordin module process and be stored in the storer of self, carries out record, be convenient to follow-up data analysis to flying quality.
In one preferred embodiment, described base plate is provided with actuator module 220, described actuator module controls aerodynamic force for receiving steering order and producing according to steering order, make aircraft target, further, actuator module comprises direct current generator, stepper motor and steering wheel, and what direct current generator adopted is 545 direct current generators, and what driver module adopted is the H bridge power amplification circuit that triode is built; What stepper motor adopted is 28YBJ-48 stepper motor, and ULN2003 driving chip during corresponding with it driving circuit, that steering wheel module adopts is MG996R, and corresponding driving circuit is the power amplification circuit that the triode of a positive-negative-positive is built.
In one preferred embodiment, described base plate is provided with load module 250, described load module may be used for input initial target location information and initial Aircraft position information, to provide the basic initial parameter of simulated experiment, described positional information comprises the information parameter etc. that the longitude of target location, latitude and height etc. can determine particular location, and initial target location information and initial Aircraft position information are the initial position message of input before simulated experiment starts, described load module can also be used for input in real time or change target position information, core board can recalculate steering order according to this positional information after receiving the new target position information of change, due to the change of target location, the steering order information calculated generally also can change to some extent, can change of flight device heading particularly by change target position information, the correlation parameters such as flight attitude, can observation analysis aircraft moving law further, be convenient to user and understand learning objective positional information and attitude of flight vehicle in depth, the relevant knowledges such as the inner link in direction, improve professional skill, further, described load module can also be used for inputting or external condition information in change of flight device flight course, so that user studies the impact of external condition on flight attitude and correlation parameter, when not inputting external condition information, system default is according to the condition calculating aircraft attitude affected without external condition, change or input external condition after, system can be revised on the original basis to attitude of flight vehicle, more virtual condition is close to make it, described external condition information comprises extraneous temperature, wind speed, air pressure, magnetic field, the information that gravitation etc. can have an impact to attitude of flight vehicle, in the utility model preferably, load module comprises analog input portion, 4x4 matrix keyboard and digital input part, wherein, analog input portion is slide rheostat knob, be mainly used in analog input amount, 4x4 matrix keyboard carries out gated sweep by 8 I/O ports, reduces I/O port and takies, numeral input part is waver, is mainly used in analog digital input quantity 0 and 1.
In one preferred embodiment, described base plate is provided with display module 210, described display module is used for the state of flight information of display Fetion device in real time, display module comprises touch LCD screen and charactron, what LCD MODULE adopted is EzUIVXX_043_V10 serial ports touch screen liquid crystal, carries out exchanges data by serial ports and control core; Numeral method module adopts 8 red common cathode numeral method modules, and single-chip microcomputer carries out sheet choosing by latch 74HC138 logarithmic code pipe and selects with section thus control light on and off.
In one preferred embodiment, described base plate is also provided with the power module 230 of powering to whole experimental apparatus, in experimental box, needs the multiple different voltage such as+12V ,+9V ,+5V ,+3.3V.Whole experimental box adopts civil power 220V AC-powered, by Switching Power Supply, 220V alternating current is converted to+12V direct current.Be converted into+9V and+5V respectively by 7809 and 7805 chips to power to multiple peripheral hardware, be+3.3V voltage eventually through AMS1117-3.3 by+5V voltage transitions, power to single-chip microcomputer.
In one preferred embodiment, described base plate is also provided with data transmission module 240, described data transmission module comprises 2.4GHz wireless transport module, Bluetooth communication modules, USB turns serial port module three part, wherein, what 2.4GHz wireless transport module adopted is nRF2401 integrated chip, nRF2401 is monolithic radio frequency transceiving chip, work in 2.4 ~ 2.5GHzISM frequency range, built-in chip type frequency synthesizer, power amplifier, the functional module such as crystal oscillator and modulator, output power and communication channel are configured by program, chip energy consumption is very low, during power emission with-5dBm, working current only has 10.5mA, during reception, working current only has 18mA, multiple low-power working mode, energy-saving design is more convenient, be connected with the SPI hardware module of single-chip microcomputer by 4 line SPI communication protocols, complete the transmission-receiving function of data, what Bluetooth communication modules adopted is HC-06 module, is connected, completes the transmitting-receiving of data by asynchronous communication interface UART with single-chip microcomputer, USB turns serial port module, what adopt is CH340T and MAX232 two pieces of integrated chips, and the Transistor-Transistor Logic level of rs 232 serial interface signal is converted to RS232 level by MAX232 by single-chip microcomputer, then is converted into usb communication agreement by CH340T, communicate with host computer, complete exchanges data.
In one preferred embodiment, as shown in fig. 1, described core board comprises microcontroller 110, microcontroller is for the position of the aircraft that receives GPS module and pass out, speed and course information, the angular speed of the aircraft that inertia device passes out, acceleration and earth magnetism component information, calculate the optimal estimation value of attitude of flight vehicle, position, course information, again according to the target position information of load module input, calculate steering order, and steering order is sent to the actuator module on base plate.
In one preferred embodiment, described core board is also provided with oscillatory circuit 130, reset circuit 120, JTAG emulation interface circuit 150 and IO contact pin 140, described base plate is also provided with the IO jack matched with described IO contact pin, is removably connected by IO contact pin and IO jack between described core board with described base plate.
In further preferred embodiment, the super low-power consumption series monolithic MSP430F5438A type mixed-signal processor of what described microcontroller 110 adopted is TI company, or be the dsp chip TMS320F28335 of TI company; Described oscillatory circuit adopts and comprises 25MHz crystal oscillator circuit as shown in Figure 3; Described reset circuit adopts circuit as shown in Figure 4; As shown in Figure 5, the jtag interface of standard is 4 lines to described JTAG emulation interface circuit: TMS, TCK, TDI, TDO, is respectively model selection, clock, data input and DOL Data Output Line.Relevant JTAG pin is defined as: TCK is test clock input; TDI is test data input, and data are by TDI pin input jtag interface; TDO is that test data exports, and data are exported from jtag interface by TDO pin; TMS is that test pattern is selected, and TMS is used for arranging jtag interface and is in certain specific test pattern; TRST is test reset, input pin, Low level effective.
In one preferred embodiment, the height configuration core board of described core board to be the computation rate that can perform complicated floating-point operation be 150 ~ 600MHz; Or the middle configuration core board of described core board to be the computation rate that can perform simple floating-point operation and complicated fixed-point arithmetic be 50 ~ 150MHz; Or described core board is the computation rate of logic combination computing and simple fixed point calculation to be the low configuration core board of 8 ~ 32MHz.According to the consideration of the demand in different calculated amount and cost aspect, the core board of different configuration can be selected, thus avoid waste, have more specific aim.
In one preferred embodiment, the microcontroller of core board calculates the optimal estimation value of attitude of flight vehicle, position, course information by Kalman filtering algorithm, then passing ratio guidance law algorithm navigates, and produces steering order; Described load module also for inputting algorithm in described core board, the algorithm of described input is optionally revised by user or improves, the algorithm of described input comprises Kalman filtering algorithm and proportional guidance law algorithm, automatic selecting system is provided with in core board, when the algorithm of extraneous input being detected, automatically perform the algorithm of extraneous input, during the boundary's algorithm inputted if outer, just can automatically select the algorithm given tacit consent in system.Input computational algorithm by user's designed, designed, enhance the property of participation of user, enhance the human-computer interaction performance of this experimental apparatus, be convenient to improve user to the understanding of aircraft guidance control field and understanding, can learning interest be improved, can learning efficiency be accelerated again.
The aircraft guidance that the utility model provides and Control release instrument gather initial as target location, position of aircraft, attitude, on the isoparametric basis of external condition, the attitude of real-time calculating aircraft, user can by changing correlation parameter as target location in the process of human-computer interaction, the information such as external condition observe the impact of this information on flight attitude and net result, can also by changing the relation that algorithm in core board comes between observation flight device attitude parameter and algorithm and net result, can repetition test, abundant observation and record, by the system emulation of theory calculate, study the inner link understanding aircraft guidance and control in depth, improve learning efficiency, arouse the interest in study.
In one preferred embodiment, described aircraft guidance becomes box shape with Control release instrument designing, further preferably be arranged to be similar to the portable of notebook computer and renovate form, optionally can also be configured with dummy vehicle, corresponding attitudes vibration can be made along with the attitude of flight vehicle information calculated.
The beneficial effect that the utility model has comprises:
(1) aircraft guidance provided according to the utility model and Control release instrument, there is separable core board and base plate, make experimental apparatus can regulate model and cost along with applying different with demand, and then improve the scope of application of experimental apparatus;
(2) aircraft guidance provided according to the utility model and Control release instrument, there is load module, can input target position information at any time, and then the flight of change of flight device is put to state of flight information such as, flight attitudes, and then provide Research foundation for the research of field of human-computer interaction;
(3) aircraft guidance provided according to the utility model and Control release instrument, there is load module, can input and the computing method changed in core board and correlation computations parameter, be convenient to user's designed, designed flying quality, adjustment steering order, strengthen human-computer interaction performance, be more convenient for the internal connection that user understands the various correlation parameters of aircraft, improve the learning efficiency of user;
(4) aircraft guidance provided according to the utility model and Control release instrument, flexible design, easy to operate, clear in structure, improve experimental teaching efficiency, the research work of the cultivation for Navigation, Guidance and Control relevant speciality student and the Navigation, Guidance and Control theory and technology for advanced person provides experiment condition.
More than combine and preferred embodiment the utility model is illustrated, but these embodiments are only exemplary, only play illustrative effect.On this basis, can carry out multiple replacement and improvement to the utility model, these all fall in protection domain of the present utility model.
Claims (8)
1. an aircraft guidance and Control release instrument, it is characterized in that, this experimental apparatus comprises core board and base plate that can be disconnected from each other, core board is used for calculating according to the aircraft parameters information received the steering order controlling aircraft in real time, base plate is used for collecting and sending Fetion device parameter information, receive flying vehicles control instruction and perform, described base plate is provided with load module.
2. aircraft guidance according to claim 1 and Control release instrument, is characterized in that, described load module is for inputting initial target location information;
Described base plate also on be provided with Guidance and control module, described Guidance and control module comprises GPS module and inertia device, wherein, GPS module is used for the position of Real-time Obtaining aircraft, speed and course information, and the information of acquisition is passed to core board, inertia device is used for the angular speed of Real-time Obtaining aircraft, acceleration and earth magnetism component information, and the information of acquisition is passed to core board;
Described base plate is also provided with actuator module, and described actuator module controls aerodynamic force for receiving steering order and producing according to steering order, makes aircraft target.
3. aircraft guidance according to claim 1 and 2 and Control release instrument, it is characterized in that, described core board comprises microcontroller, microcontroller is for the position of the aircraft that receives GPS module and pass out, speed and course information, the angular speed of the aircraft that inertia device passes out, acceleration and earth magnetism component information, calculate the optimal estimation value of attitude of flight vehicle, position, course information, again according to the target position information of load module input, calculate steering order, and steering order is sent to the actuator module on base plate.
4. aircraft guidance according to claim 3 and Control release instrument, it is characterized in that, described core board is also provided with oscillatory circuit, reset circuit, JTAG emulation interface circuit and IO contact pin, described base plate is also provided with the IO jack matched with described IO contact pin, is removably connected by IO contact pin and IO jack between described core board with described base plate.
5. aircraft guidance according to claim 3 and Control release instrument, is characterized in that, the height configuration core board of described core board to be the computation rate that can perform complicated floating-point operation be 150 ~ 600MHz;
Or the middle configuration core board of described core board to be the computation rate that can perform simple floating-point operation and complicated fixed-point arithmetic be 50 ~ 150MHz;
Or described core board is the computation rate of logic combination computing and simple fixed point calculation to be the low configuration core board of 8 ~ 32MHz.
6. aircraft guidance according to claim 2 and Control release instrument, is characterized in that, described load module is also for input in real time or change target position information.
7. aircraft guidance according to claim 1 and Control release instrument, is characterized in that, described base plate is also provided with display module, and described display module is used for the state of flight information of display Fetion device in real time.
8. aircraft guidance according to claim 1 and Control release instrument, is characterized in that, described base plate is also provided with the power module of powering to whole experimental apparatus.
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| CN201520325755.9U CN204833769U (en) | 2015-05-19 | 2015-05-19 | Aircraft guidance and control laboratory glassware |
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| CN201520325755.9U CN204833769U (en) | 2015-05-19 | 2015-05-19 | Aircraft guidance and control laboratory glassware |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104809934A (en) * | 2015-05-19 | 2015-07-29 | 北京理工大学 | Aircraft guidance and control experimental apparatus |
| CN107885230A (en) * | 2016-09-29 | 2018-04-06 | 北京理工大学 | Depopulated helicopter control system and its control method with laser guided weapon |
| CN110807963A (en) * | 2018-08-06 | 2020-02-18 | 吴焕 | Chemical experiment instrument teaching mould and practical training teaching system |
| CN111220031A (en) * | 2018-11-26 | 2020-06-02 | 北京理工大学 | Remote guidance aircraft with full range coverage |
-
2015
- 2015-05-19 CN CN201520325755.9U patent/CN204833769U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104809934A (en) * | 2015-05-19 | 2015-07-29 | 北京理工大学 | Aircraft guidance and control experimental apparatus |
| CN104809934B (en) * | 2015-05-19 | 2018-05-04 | 北京理工大学 | Aircraft guidance and control laboratory apparatus |
| CN107885230A (en) * | 2016-09-29 | 2018-04-06 | 北京理工大学 | Depopulated helicopter control system and its control method with laser guided weapon |
| CN110807963A (en) * | 2018-08-06 | 2020-02-18 | 吴焕 | Chemical experiment instrument teaching mould and practical training teaching system |
| CN111220031A (en) * | 2018-11-26 | 2020-06-02 | 北京理工大学 | Remote guidance aircraft with full range coverage |
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