581results about How to "Ensure flight safety" patented technology

The invention discloses a multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and a control method. The system includes an environment information real-time detection module which carries out real-time detection on surrounding environment through adopting a multi-sensor fusion technology and transmits detected information to an obstacle data analysis processing module, the obstacle data analysis processing module which carries out environment structure sensing construction on the received information of the surrounding environment so as to determine an obstacle, and an obstacle avoidance decision-making module which determines an obstacle avoidance decision according to the output result of the obstacle data analysis processing module, so as to achieve obstacle avoidance of an unmanned aerial vehicle through the driving of power modules which is performed by a flight control system. According to the multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and the control method of the invention, binocular machine vision systems are arranged around the body of the unmanned aerial vehicle, so that 3D space reconstruction can be realized; and an ultrasonic device and a millimeter wave radar in an advancing direction are used in cooperation, so that an obstacle avoidance method is more comprehensive. The system has the advantages of high real-time performance of obstacle detection, long visual detection distance and high resolution.

The invention discloses a fault reconstruction method for a simple redundancy flight control system of a long-endurance unmanned aerial vehicle. The redundancy is formed for the measurement of key navigation information by using two devices of main and backup sensors on the basis of the non-similarity principle, and two redundancies are guaranteed on an execution mechanism, so that the simple redundancy flight control system is formed. A comparison is made between information of the main sensor and the information of the backup sensor; when the times of the deviation of the information of the main and backup sensors greater than the threshold in unit time are more frequency, one sensor is broken down; the fusion is implemented through other normal navigation information for locating the broken device; and when one execution mechanism is broken down, the influence of the broken mechanism is complemented through the rest normal execution mechanisms to guarantee the flight safety.

The invention relates to a terminal area flight conflict resolution method and a system. The method comprises the following steps: the information of all flights entering in the terminal area is acquired to form a flight buffer queue, and the inbound sequencing is performed to the flight buffer queue according to the estimated landing time of each inbound flight; one flight pair is withdrawn, whether the flight conflict exists in the flight pair or not is judged according to the inbound flight data, if the flight conflict exists in the flight pair, the conflict resolution is performed to the flight pair, the conflict resolution policy is obtained, and the conflict resolution policy is added to a resolution policy sequence, otherwise, the flight pair is added to the conflict-free flight sequence; and finally, the flight inbound plan is generated according to the conflict-free flight sequence and the resolution policy sequence. The conflict resolution is combined with the inbound sequencing. Therefore, not only the operating efficiency is improved, but also the flight safety is ensured.

The invention discloses a mid-term air traffic conflict detection method based on 4D flight path and radar data, which relates to air traffic control automation. In the method, accurate 4D flight path data and real-time radar data are projected onto a display panel of an air traffic control system, each aircraft pair is filtered according to the accurate 4D flight path data and the real-time radar data, and aircrafts which are unlike to come into conflict with other aircrafts in 30 minutes are determined; and the detection is focused on the aircraft pairs which have potential to run into conflicts, the covariance between the relative speed and relative position of the aircraft pairs is calculated by using coordinate transformation according to the vertical interval and time interval of two aircrafts, and then the probability that a predicted position interval is smaller than a safe interval at time t is calculated and a detection report is made. In the invention, the drawbacks of long-term and short-term conflict detection are overcome, and the long-term conflict detection, mid-term conflict detection and short-term conflict detection are combined to ensure flight safety. The average conflict detection time is about 0.028 seconds, and the method has high real-time performance.

The invention discloses an unmanned aerial vehicle flight range verification device and a verification method thereof. The device comprises a cloud end server (1), a positioning module (2) and a verification module (3), wherein the positioning module (2) and the verification module (3) are arranged on an unmanned aerial vehicle, the cloud end server (1) comprises a flight range database, the verification module (3) sends a machine code uniquely corresponding to the unmanned aerial vehicle to the cloud end server (1), the cloud end server (1) sends a legal unmanned aerial vehicle instruction to the verification module (3) after identifying that the machine code belongs to the flight range database, the verification module (3) sends the position information, detected by the positioning module (2), of the unmanned aerial vehicle to the cloud end server (1), and the cloud end server (1) sends allowed information to the verification module (3) when the position information belongs to the flight range.

The invention discloses a multi-UAV (Unmanned Aerial Vehicle) cooperation path planning method based on an ant colony algorithm. The method comprises the following steps of (1) analyzing a UAV flight environment, and building environment modeling based on a Voronoi diagram; (2) calculating consideration of an edge in the environment modeling based on the Voronoi diagram; (3) utilizing the ant colony algorithm to plan an initial path for a UAV; (4) smoothing the initial path of each UAV to judge whether cooperation is achieved or not, and carrying out corresponding operation according to the results. According to the multi-UAV cooperation path planning method based on the ant colony algorithm provided by the invention, multiple different kinds of unmanned aerial vehicles are mutually cooperated, intelligently and autonomously adapt to complicated and changeable war environment factors, and dynamically adjust self-strategies so as to cooperatively accomplish the combat mission.

The invention provides an aircraft landing frame comprising a plurality of machine wheel-wheel frame units and an unfolding and folding drive subassembly, wherein the machine wheel-wheel frame units are arrayed forwards and backwards, each machine wheel-wheel frame unit comprises a machine wheel subassembly and a wheel frame which is used for supporting, unfolding and folding the machine wheel subassembly, and the unfolding and folding drive subassembly is linked with each machine wheel-wheel frame unit and is used for driving the machine wheel-wheel frame units to carry out the folding/unfolding operation of the machine wheel subassembly. In the miniature retractable landing frame with multiple wheels and supporting posts, the supporting posts are folded and unfolded by adopting a simple linking device, and the landing frame can be contained into an internal limited space of a machine body of a miniature unmanned machine and has sufficient strength and rigidity and better practicability and reliability.

The invention discloses an air traffic collision avoidance method based on state prediction. The method comprises the following steps: continuously detecting motion state information of all current planes in a local air space through a native plane; calculating the flight condition of all the planes in a specified length of time in the future according to the motion state information of all the planes, and screening out a target plane approaching the native plane; judging whether the target plane and the native plane pose a conflict risk, and sending traffic alert information if there is a conflict risk; and judging whether the target plane and the native plane posing a conflict risk pose a collision threat, and sending decision warning information and providing a collision avoidance decision if there is a collision threat. According to the invention, the flight condition of all the planes in a specified length of time in the future is observed continuously, a target plane approaching the native plane is screened out, whether the target plane and the native plane pose a conflict risk or a collision threat is judged, and a collision avoidance decision is provided. Thus, the probability and frequency of flight conflict are reduced effectively, and the safety of flight is ensured.

The invention discloses a dynamic adjusting system and method for an air traffic control sector, which is designed mainly for realizing dynamic adjustment of the air traffic control sector according to the air traffic flow conditions to achieve the purpose of fully utilizing air traffic control resources. The dynamic adjusting system of the invention comprises a feasible sector combination generating module, a historical flight data analyzing module, a real-time radar data processing module, a daily flight plan processing module and a sector dynamic adjustment scheme formation module, wherein the feasible sector combination generating module generates a set of feasible sector combinations; the historical flight data analyzing module computes the historical control working load coefficient of each sector; the real-time radar data processing module computes the time when scheduled flights enter each sector and forecasts the scheduled flight flow of each sector; the daily flight plan processing module computes the time when the scheduled flights enter each sector according to the flight plan and forecasts the scheduled flight flow of each sector; and the sector dynamic adjustment scheme formation module computes the control working load of each sector and the optimal sector combination on the basis of the computed result of each module. The invention can fully utilize the air traffic control resources, and realizes uniform distribution of the control working load, thereby ensuring the safety of each scheduled flight.

The invention relates to an unmanned helicopter performance testing platform, belongs to the field of aerospace technologies and aims at solving the problems that the fixing structure is unstable, the balance performance in the movement process is poor and a testing table is damaged in the prior art. The unmanned helicopter performance testing platform comprises a platform body assembly and a flight simulator, wherein an unmanned helicopter is fixedly arranged on an upper platform of a six-degree-of-freedom moving platform, and lifting force data generated during the flight of the unmanned helicopter is transmitted to a computer through a lifting force sensor A which is fixedly arranged on the lower surface of a lower platform of the six-degree-of-freedom moving platform and a lifting force sensor B which is fixedly arranged on the lower surface of an iron plate module, so as to realize performance testing. The unmanned helicopter performance testing platform has the beneficial effects that the action of the unmanned helicopter is provided by virtue of the six-degree-of-freedom moving platform and a positioning sleeve can prevent the helicopter from flying away from the testing table when the flight control of the helicopter fails or an experiment fails; since the lower surface of the lower platform of the six-degree-of-freedom moving platform is seated on the upper surface of a shock absorbing plate, the balance of the unmanned helicopter is kept; the shock absorbing plate, a large compression spring and a small compression spring also play a certain role in buffering.

The invention provides an overall measurement system calibration method based on vision calibration and coordinate transformation. The overall measurement system calibration method comprises the following steps: calibrating internal parameters and external parameters of a camera; performing hand-eye calibration on the relationship Hrc between a turntable coordinate system and a camera coordinate system; calibrating the transformation relationship Hpr between the turntable coordinate system and a place coordinate system or the transformation relationship Hrg between the turntable coordinate system and a ground coordinate system; on the basis of the acquisition of the Hrg, the Hpr and the Hrc, unifying the four coordinate systems of a camera, a turntable, a place and the ground; controlling the turntable to shoot a target, and mapping related information about the target to a specific coordinate system by combining the information about turntable azimuth, pitch angle and lens focal length, thus realizing a scheduled mask. An overall automatic tracking and measurement system can be calibrated by adopting the method; during the tracking and measuring process, the measurement precision of the system is ensured, and effective guarantee is provided for flight safety.

The invention belongs to the technical field of aircraft flying load design, and relates to the improvement on a method for determining a wing structure load when a transportation aircraft drops goods. The method for determining the wing structure load is characterized by comprising the step of initializing aircraft air-dropping goods parameters, the step of analyzing aircraft limited element modals, the step of calculating an aircraft non-steady aerodynamic coefficient matrix, the step of calculating an aircraft air-dropping goods dynamic response, the step of calculating a wing structure load dynamic response, and the step of determining the design load of the wing structure in the process of air-dropping. By means of the improved method for determining the wing structure load when the transportation aircraft drops the goods, the determining precision of the wing structure load is improved, and the safety of the wing structure and the flying safety of the aircraft are guaranteed.

An autonomous-flight unmanned aerial vehicle system comprises a master controller and ground station equipment. The master controller comprises a data acquisition module, a data processing module anda communication module. Flight control and flight management functional requirements of unmanned aerial vehicles in different models can be realized through correction of an internal procedure and a peripheral circuit of the master controller. The system is characterized in that the ground station equipment is responsible for configuration parameter and flight route planning electronic fence setupand navigation mode configuration of each single unmanned aerial vehicle, and the master controller realizes autonomous flight including autonomous obstacle avoidance and breakpoint endurance of theunmanned aerial vehicles according to waypoint files, flight parameters and safety parameters generated by the ground station equipment.

The invention discloses an unmanned aerial vehicle autonomous inspection method based on power transmission channel three-dimensional radar scanning data, comprising the following steps: establishinga power transmission channel three-dimensional model, and realizing autonomous flight path optimization of unmanned aerial vehicle inspection by combining historical inspection and shooting point position features; and making an inspection photo storage path and an automatic naming rule according to the path book account and the routing inspection information. By optimizing the flight path of theunmanned aerial vehicle, the distance of flight of the unmanned aerial vehicle is reduced on the premise of guaranteeing flight safety, and the inspection efficiency of the unmanned aerial vehicle isgreatly improved; in addition, the automatic shooting points can be preset for inspection targets, and the inspection photos can be stored and named according to the rule, so that the unmanned aerialvehicle path inspection task which is completed by multiple persons in cooperation originally is completed only by one person, and the skill requirements of inspection personnel for the flight controloperation of the unmanned aerial vehicle are reduced.

The invention provides a communication method for an unmanned aerial vehicle, which comprises the steps of (A) periodically detecting the signal strength of a mobile communication link, (B) detecting whether the unmanned aerial vehicle needs to transmit data, and (C) selecting the mobile communication link and/or a big dipper short message communication link to transmit the data based on the periodically detected signal strength when the data needs to be transmitted.

The invention discloses a large-scale four-dimensional flight path dynamics prediction method and device, and belongs to the technical field of aerospace. The device comprises an information obtainingmodule, a data pre-processing module, a track clustering module, a dynamic data access module, an identification and prediction module, and a result feedback module. The information obtaining modulesamples aviation data to constitute flight path sequences. The data pre-processing module removes noise points on each flight path sequence and re-samples the flight path sequences without the noise points. The track clustering module is used for clustering the flight path sequences. The dynamic data access module accesses real-time data, to obtain a four-dimensional vector at equal time intervalsto form flight path sequences. The identification and prediction module recognizes the abnormal flight mode and carries out trajectory prediction. The result feedback module reports the real-time flight path prediction and abnormal recognition conditions to the air traffic management department to guide flight operation in the airspace. Airspace smooth and safe operation is achieved, and great importance is achieved.

The invention discloses an unmanned aerial vehicle positioning switching method, an unmanned aerial vehicle positioning switching device and an unmanned aerial vehicle and belongs to the unmanned aerial vehicle field. The method includes the following steps that: the current height of an unmanned aerial vehicle is detected; and if the current height of the unmanned aerial vehicle is larger than a first threshold value and is smaller than a second threshold value, weighting processing is performed on first position information provided by a GPS and second position information provided by an assistant positioning system, so that the weighed information is adopted as the position information of the unmanned aerial vehicle, wherein the first threshold value is smaller than the second threshold value. According to the unmanned aerial vehicle positioning switching method, the unmanned aerial vehicle positioning switching device and the unmanned aerial vehicle of the invention, data fusion is performed on GPS positioning and assistant positioning, so that the smooth transition of positioning data used by the unmanned aerial vehicle before and after positioning mode switching can be facilitated, and therefore, positioning accuracy can be ensured, large jitter of the positioning data can be avoided, and the flight safety of the unmanned aerial vehicle can be ensured.

The invention discloses an unmanned aerial vehicle (UAV) flight command auxiliary decision-making system based on expert knowledge and a design method thereof, and belongs to the technical field of UAV command control. According to the design method, data interface adaptation processing is carried out first, and then, danger disposal and information application processing are carried out based on an expert system. According to the invention, the artificial intelligence technology is applied to an UAV system, which can effectively improve the task performing efficiency of UAV operators and ensure the flight safety of UAVs to a larger extent. The method disclosed by the invention has certain universality, and can be applied to UAV systems of different models.

The invention relates to a RVSM airspace aircraft altitude holding performance monitoring system and method. And the system comprises: absolute altitude obtaining module; data collecting and preprocessing module; and altitude holding deviation data processing module. And the method comprises: collecting high-accuracy altitude, allowable flight altitude and actual flight altitude of an aircraft, obtaining altitude measuring reference differences corresponding to the sequence of flight trace points of the aircraft, and processing these messages to obtain the altitude holding deviation message. And the invention can obtain high-accuracy total vertical altitude deviation of the aircraft and the altitude deviation caused by artificial factors and the system altitude deviation caused by device accuracy, so as to more accurately and effectively monitor the aircraft altitude holding performance.

The invention discloses a detachable ring-pillar type hollow unmanned aerial vehicle and an operation method thereof. The unmanned aerial vehicle comprises a rack, a power and control mechanism and a central fastening device, wherein the rack comprises a fixing disc and at least two engine arms, the fixing disc has a double-layer, detachable and hollow structure, the starting end of each engine arm is fixed on the fixing disc and is symmetrically distributed along a detachable line on the fixing disc; the power and control mechanism comprises upper paddle rotor wings, upper paddle motors, upper paddle electronic speed regulators and flight control modules; the upper paddle rotor wings are arranged at the tail ends of the engine arms and are driven by the upper paddle motors, the downward wind power is generated by rotation, the flight control modules are used for controlling the rotation of the upper paddle motors through the upper paddle electronic speed regulators; the central fastening device is used for fastening an unmanned aerial vehicle on an operation trunk when the upper paddle rotor ring stops rotating. According to the detachable ring-pillar type hollow unmanned aerial vehicle, the fixing disc is sleeved on the outer diameter of the operation trunk to operate, and when the appointed height is reached, the fastening device is used for fastening the unmanned aerial vehicle on the operation trunk; and the detachable ring-pillar type hollow unmanned aerial vehicle has the advantage of energy saving.

The invention provides an aerial carrier flight control method and an aerial carrier flight control system, wherein the method comprises the steps of acquiring first obstacle information and a preset flight path which are determined according to a landform elevation map; performing real-time detection on obstacles in the flight process, and obtaining second obstacle information; performing real-time comparison on the first obstacle information and the second obstacle information; if the first obstacle information is same with the second obstacle information, making the aerial carrier fly according to the preset flight path; and if the first obstacle information does not accord with the second obstacle information, correcting the preset flight path according to the second obstacle information, and making the aerial carrier fly according to the corrected flight path. The aerial carrier flight control method and the aerial carrier flight control system effectively prevent collision between the aerial carrier and the obstacles and furthermore ensure high flight safety of the aerial carrier.