WO2021074480A1 - Méthode d'approche et d'accrochage entre des plateformes vtol et htol, système autonome d'approche et d'accrochage et plateforme vtol associée - Google Patents
Méthode d'approche et d'accrochage entre des plateformes vtol et htol, système autonome d'approche et d'accrochage et plateforme vtol associée Download PDFInfo
- Publication number
- WO2021074480A1 WO2021074480A1 PCT/ES2020/070781 ES2020070781W WO2021074480A1 WO 2021074480 A1 WO2021074480 A1 WO 2021074480A1 ES 2020070781 W ES2020070781 W ES 2020070781W WO 2021074480 A1 WO2021074480 A1 WO 2021074480A1
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- WO
- WIPO (PCT)
- Prior art keywords
- platform
- vtol
- htol
- platforms
- landing
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000013459 approach Methods 0.000 title claims abstract description 18
- 230000008878 coupling Effects 0.000 title abstract description 12
- 238000010168 coupling process Methods 0.000 title abstract description 12
- 238000005859 coupling reaction Methods 0.000 title abstract description 12
- 210000000078 claw Anatomy 0.000 claims description 13
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000009977 dual effect Effects 0.000 abstract 1
- 230000005291 magnetic effect Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 3
- 230000005294 ferromagnetic effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000005312 nonlinear dynamic Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/30—Launching, take-off or landing arrangements for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/82—Airborne vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
- G08G5/025—Navigation or guidance aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Definitions
- This invention is part of the technical sector of coordinated automatic control and operation for multiple aircraft in real time, allowing to control the joint flight operation automatically and safely.
- the present invention defines a new vertical take-off and landing assistance system, "Vertical Take-Off and Landing” (hereinafter VTOL), for platforms lacking said capacity.
- VTOL Vertical Take-Off and Landing
- HTOL Horizontal Take-Off and Landing
- the object of the present invention is to allow the combined operation of two flight platforms, one VTOL and the other HTOL, in take-off and landing maneuvers.
- the control solution proposed in this invention solves an air navigation paradigm related to the aircraft take-off and landing method.
- HTOL aircraft such as airplanes
- HTOL aircraft conventionally use a take-off method based on wing lift, and therefore require reaching a certain initial speed on the ground to guarantee lift, prior to starting the climb maneuver.
- the landing maneuver also requires specific characteristics such as a landing strip and a specific approach and touchdown maneuver.
- alternative take-off and landing mechanisms such as catapult take-off or recovery or landing by parachute.
- An alternative solution consists of the manufacture of a hybrid aircraft that triples both capacities, that is, that includes vertical and horizontal propellers in its structure that allow it to have vertical lift capacities, regardless of the lift capacity derived from propulsion. Horizon.
- This characteristic solves the vertical take-off and landing problem, it represents an efficiency and load problem, since the entire flight time must carry the load associated with the VTOL system and can additionally penalize the aerodynamics of the aircraft.
- the present patent proposes to provide HTOL platforms with VTOL capabilities through the temporary coupling of a specific VTOL subsystem, such as a multirotor or multicopter system to assist take-off and landing maneuvers.
- auxiliary aircraft Although the fact of using auxiliary aircraft would not be the specific innovation object of this patent, the presented method does represent an important advance, since the permanent penalty of the VTOL subsystem is eliminated, which becomes a temporary coupling element and that It only intervenes during takeoff and landing maneuvers, decoupling and recovering independently and autonomously, at the end of said maneuvers.
- CACM-RL 1 allows to control any dynamic system, including non-linear real complex systems such as airplanes, satellites, RPAS and other vehicles.
- CACM-RL is a technology that integrates system dynamics techniques and intelligent learning schemes.
- CACM-RL The main advantages of using CACM-RL are: 1) to provide optimal solutions based on certain optimality criteria (time, distance or energy); two)
- the present invention proposes a double dynamic and controlled coupling and uncoupling system between two HTOL and VTOL platforms in the most critical take-off and landing maneuvers.
- the proposed solution consists of two key elements.
- the former provides a control method to perform the automatic and safe docking and undocking process between aircraft in flight.
- the second provides the system with the ability of a combined control to safely perform assisted take-off or landing operations.
- VTOL coupling and uncoupling system will be available for horizontal take-off platforms that will provide the following capabilities:
- the advantage of the proposed solution technique consists on the one hand in releasing the HTOL platform from the VTOL, since the former can perform its flight with better performance and independently after the take-off operation, and on the other hand the capture of the HTOL platform in the landing process by the VTOL platform, eliminating the characteristic risks of landing on the runway.
- the technique object of the invention patent comprises the sequential execution of the following phases:
- the invention therefore, relates to a method of approaching and lashing between VTOL and HTOL platforms.
- the HTOL platform consists of one or several engines, a fuselage, two wings and a tail, and necessarily comprises two ferromagnetic plates.
- the VTOL platform consists of a front landing gear with an electromagnet at its base, a rear landing gear with at least a pressure sensor at its base, and at least two legs, each of which comprises a pressure sensor.
- the position of the HTOL platform is sent to the VTOL platform and an optimal approach path is generated, so that the VTOL platform avoids the possible air turbulences that the HTOL platform may generate, preferably using CACM-RL technology, implemented in a self-pilot system of each of the HTOL and VTOL platforms.
- an approach maneuver is carried out with the VTOL platform following the optimal approach path and artificial vision images are processed in real time, using the VTOL platform, to identify visual marks fixed on the HTOL platform, which are preferably coded stickers or high intensity LEDs, this leads to correcting the position of the VTOL platform with respect to the HTOL platform to locate and stabilize on said HTOL platform, causing an automatic magnetic attraction between both platforms, activating, at that moment, the pressure detectors when magnetic contact occurs.
- the method of the invention can also comprise, to perform the landing maneuver, the steps of sending a command to the HTOL platform to execute a slight dive maneuver, raising the tail until the fuselage makes contact with the landing gear. rear of the VTOL platform, activating at least one pressure detector. Next, one or more claws, located on the rear landing gear of the VTOL platform, are actuated and hooked to the tail of the HTOL platform. Finally, a command is sent to the HTOL platform to stop its engines.
- the method of the invention may also comprise, to perform the takeoff maneuver, the steps of initiating a vertical takeoff maneuver until reaching a certain altitude, then initiating a trajectory in the opposite direction to the wind on the VTOL platform until reaching a speed minimum and send an order to start engines to the HTOL platform.
- the claws on the VTOL platform are then actuated to release the HTOL platform.
- the steps of sending commands are performed using telemetry.
- the invention also refers to an autonomous approach and lashing system, which makes use of a VTOL platform, which has a front landing gear and a rear landing gear, and an HTOL platform, which has engines, a fuselage, two wings and a tail.
- VTOL platform which has a front landing gear and a rear landing gear
- HTOL platform which has engines, a fuselage, two wings and a tail.
- the system of the invention comprises at least two ferromagnetic plates, intended to adhere to the HTOL platform and one or more visual marks, intended to adhere to the HTOL platform.
- the system comprises two legs, intended to be coupled to the VTOL platform and at least two lashing modules, located at the base of said legs and each comprising: an electromagnet, at least one pressure detector and at least one mechanical claw, which has an actuator to drive it, preferably a servomotor.
- the system also comprises a first positioning module, intended to be mounted on the HTOL platform, to obtain the position of the HTOL platform and a second positioning module, intended to be mounted on the VTOL platform, to obtain the position of the platform.
- VTOL both positioning modules using GPS technology.
- first communication module intended to be coupled to the VTOL platform
- second communication module intended to be coupled to the HTOL platform, so that the HTOL and VTOL platforms can send and receive information between them.
- the system comprises an image processing module; intended to be mounted on the VTOL platform, and configured to identify the visual marks of the HTOL platform and a calculation module, intended to be mounted on the VTOL platform, and configured to generate an optimal approach path to the HTOL platform, in based on the position of the HTOL and VTOL platforms, preferably using CACM-RL technology.
- At least two ferromagnetic plates and one or more visual markings are intended to adhere to the wings of the HTOL platform.
- the system of the invention may additionally comprise at least one pressure sensor intended to be located at the base of the landing gear of the VTOL platform.
- the invention also refers to a VTOL platform, which has a front landing gear and a rear landing gear and a fuselage, and further comprises two legs, coupled to the fuselage; at least two lashing modules, located at the base of the legs and each comprising an electromagnet, at least one pressure sensor and at least one mechanical claw, which has an actuator to actuate it.
- the VTOL platform also comprises a positioning module to obtain the position of the VTOL platform, a communication module to send and receive information, an image processing module configured to identify visual marks of an HTOL platform and a calculation module that uses CACM-RL technology to generate an optimal approach path to an HTOL platform.
- Figure 1 Shows a general diagram of the patented operating environment, in which the two platforms (VTOL and HTOL) are on the ground and have to be coupled for the VTOL takeoff of the HTOL platform.
- Figure 2. Shows a general diagram of the patented operating environment, in which the two platforms (VTOL and HTOL) are in flight and have to be coupled for the VTOL landing of the HTOL platform.
- Figure 3. Shows the approach maneuvers (with GPS) and precise aiming (with visual markings) in flight.
- Figure 4.- Shows the front lashing in flight (magnetic contact).
- Figure 5. Shows the front lashing in flight (mechanical fixation).
- Figure 6- Shows the rear lashing in flight (mechanical fixation).
- the present invention makes it possible to execute two coupling maneuvers between aerial platforms, during take-off and landing, each maneuver with a particular execution procedure.
- the VTOL platform in a first action, the VTOL platform must be coupled manually to the HTOL mechanically using the claws included in the VTOL platform.
- the servo motors that control the claws will begin to exert the necessary force to hold them, as seen in Figures 5 and 6.
- the VTOL begins takeoff vertically and reaches a certain altitude, it starts a trajectory in the opposite direction to the wind and reached a minimum speed, it sends the HTOL platform by telecommand the order to start engines to release it and start planning according to the mission entrusted.
- the HTOL platform is oriented facing the wind to achieve minimum speed and leveling in flight.
- the HTOL platform sends its position by telemetry to the VTOL platform so that it can trace an optimal approach path by GPS (with decimeter precision) that avoids possible air turbulence that the second may generate. about the first.
- CACM-RL technique implemented in its autopilots will be a relevant technological aspect, since only with it will it be possible to follow this optimal trajectory, as seen in Figure 3, regardless of the types of platforms or weather conditions.
- the VTOL platform performs artificial vision processing in real time for the recognition and identification of certain visual marks (coded stickers or high intensity LEDs) affixed on the wings of the HTOL platform, as seen in Figure 3. In this way and with millimeter precision, the VTOL platform corrects its relative position error to position itself and stabilize itself on the HTOL platform and be able to execute step 3.
- magnetic fixation and front lashing in flight To carry out this action, it is necessary for the HTOL platform to have 2 small metal plates on each of its wings and for the VTOL platform to integrate an electromagnet and a pressure detector into the base of its front landing gear. on each of its two legs.
- the pressure detectors are activated to fire two servomotors that move two mechanical claws to catch the HTOL platform by the edge of each wing mechanically and as a gripper, as seen in Figure 5.
- the VTOL platform For its execution, it will be necessary for the VTOL platform to integrate a pressure detector into the base of its rear landing gear. Thus and after the execution of step 3, the VTOL platform sends a remote control to the HTOL platform to execute a slight dive maneuver, and in this way, raise its tail until the fuselage makes contact with the rear landing gear of the VTOL.
- This contact is detected by the VTOL platform through the implanted pressure detectors and triggers the servomotor (s) to move the corresponding claw (s) and to mechanically catch the HTOL platform by the tail, as seen in the Figure 6.
- the VTOL platform sends a remote control to the HTOL so that it stops its engines.
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Transportation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
La présente invention concerne une méthode d'approche et d'accrochage entre des plateformes VTOL et HTOL, un système autonome d'approche et d'accrochage, et une plateforme VTOL associée. L'invention est constituée d'un système d'aide au décollage et d'atterrissage verticaux (VTOL) pour des plateformes dépourvues de cette capacité, telles que les plateformes HTOL, permettant le fonctionnement combiné de deux plateformes de vol, une VTOL et une autre HTOL. Pour ce faire, l'invention concerne un double système d'accouplement et de désaccouplement dynamiques et contrôlés entre les deux plateformes dans les manoeuvres de décollage et d'atterrissage. L'avantage consiste, d'un côté, à libérer la plateforme HTOL de la plateforme VTOL, une fois que la première peut voler avec une meilleure allure et de manière indépendante après l'opération de décollage, et, d'un autre côté, la capture de la plateforme HTOL dans le processus d'atterrissage de la part de la plateforme VTOL, éliminant les risques caractéristiques de l'atterrissage sur piste.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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ESP201930904 | 2019-10-14 | ||
ES201930904A ES2819325B2 (es) | 2019-10-14 | 2019-10-14 | Metodo de aproximacion y trincado entre plataformas vtol y htol, sistema autonomo de aproximacion y trincado y plataforma vtol asociada |
Publications (1)
Publication Number | Publication Date |
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WO2021074480A1 true WO2021074480A1 (fr) | 2021-04-22 |
Family
ID=75420278
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2020/070781 WO2021074480A1 (fr) | 2019-10-14 | 2020-12-10 | Méthode d'approche et d'accrochage entre des plateformes vtol et htol, système autonome d'approche et d'accrochage et plateforme vtol associée |
Country Status (2)
Country | Link |
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ES (1) | ES2819325B2 (fr) |
WO (1) | WO2021074480A1 (fr) |
Citations (9)
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US20160327945A1 (en) * | 2015-05-07 | 2016-11-10 | Insitu, Inc. (A Subsidiary Of The Boeing Company) | Methods and apparatus to deploy and recover a fixed wing unmanned aerial vehicle via a non-fixed wing aircraft |
US20170036762A1 (en) * | 2015-08-03 | 2017-02-09 | Dustin Gamble | Release and Capture of a Fixed-Wing Aircraft |
US20170274997A1 (en) * | 2016-03-22 | 2017-09-28 | Hood Technology Corporation | Rotorcraft-assisted system and method for launching and retrieving a fixed-wing aircraft into and from free flight |
US20180101173A1 (en) * | 2016-10-10 | 2018-04-12 | Qualcomm Incorporated | Systems and methods for landing a drone on a moving base |
WO2018107278A1 (fr) * | 2016-12-13 | 2018-06-21 | Ryan Evaristo Pinto | Système et procédé de capture et de libération d'aéronef à voilure fixe |
US20180327093A1 (en) * | 2017-05-11 | 2018-11-15 | Hood Technology Corporation | Aircraft-retrieval system |
CZ2017418A3 (cs) * | 2017-07-19 | 2019-01-30 | ÄŚeskĂ© vysokĂ© uÄŤenĂ technickĂ© v Praze | Bezpilotní prostředek |
US20190033889A1 (en) * | 2017-01-23 | 2019-01-31 | Hood Technology Corporation | Rotorcraft-assisted system and method for launching and retrieving a fixed-wing aircraft |
US20190248487A1 (en) * | 2018-02-09 | 2019-08-15 | Skydio, Inc. | Aerial vehicle smart landing |
-
2019
- 2019-10-14 ES ES201930904A patent/ES2819325B2/es active Active
-
2020
- 2020-12-10 WO PCT/ES2020/070781 patent/WO2021074480A1/fr active Application Filing
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US20160327945A1 (en) * | 2015-05-07 | 2016-11-10 | Insitu, Inc. (A Subsidiary Of The Boeing Company) | Methods and apparatus to deploy and recover a fixed wing unmanned aerial vehicle via a non-fixed wing aircraft |
US20170036762A1 (en) * | 2015-08-03 | 2017-02-09 | Dustin Gamble | Release and Capture of a Fixed-Wing Aircraft |
US20170274997A1 (en) * | 2016-03-22 | 2017-09-28 | Hood Technology Corporation | Rotorcraft-assisted system and method for launching and retrieving a fixed-wing aircraft into and from free flight |
US20180101173A1 (en) * | 2016-10-10 | 2018-04-12 | Qualcomm Incorporated | Systems and methods for landing a drone on a moving base |
WO2018107278A1 (fr) * | 2016-12-13 | 2018-06-21 | Ryan Evaristo Pinto | Système et procédé de capture et de libération d'aéronef à voilure fixe |
US20190033889A1 (en) * | 2017-01-23 | 2019-01-31 | Hood Technology Corporation | Rotorcraft-assisted system and method for launching and retrieving a fixed-wing aircraft |
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CZ2017418A3 (cs) * | 2017-07-19 | 2019-01-30 | ÄŚeskĂ© vysokĂ© uÄŤenĂ technickĂ© v Praze | Bezpilotní prostředek |
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Title |
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Also Published As
Publication number | Publication date |
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ES2819325A1 (es) | 2021-04-15 |
ES2819325B2 (es) | 2022-04-21 |
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