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Coaxial dual-rotor unmanned aerial vehicle

An unmanned aerial vehicle, coaxial dual-rotor technology, applied in the field of unmanned aerial vehicles, can solve the problems of integral feedback side effects, the "weighted sum" strategy is not necessarily the best, and the error method, etc., to achieve simple use, simplified mechanical structure, advantages obvious effect

Pending Publication Date: 2022-07-29
沈阳飞机设计研究所扬州协同创新研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Disadvantages of PID: ①How to take the error; ②The method of extracting de / dt from the error e; ③The "weighted sum" strategy is not necessarily the best; ④Integral feedback has many side effects

Method used

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  • Coaxial dual-rotor unmanned aerial vehicle
  • Coaxial dual-rotor unmanned aerial vehicle
  • Coaxial dual-rotor unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Embodiment 1: The autonomous task execution of the present invention in an environment with GNSS signals will be further described below with reference to the accompanying drawings.

[0034] like Figure 11 As shown in the figure, power on the aircraft, detect the GNSS signal and complete the self-check, the operator plans the mission route through the handheld portable ground station, forms multiple three-dimensional waypoints and stores them in the flight control computer, after sending the execution command, the aircraft takes off autonomously, Fly according to the mission route, and after arriving at the mission area to perform the mission, return home according to the mission route and land autonomously. When obstacles are encountered during the flight of the mission route, the route is guided to the blank area through random sampling points in the state space, so as to find a planned path from the starting point to the target point, and solve the problem of the ai...

Embodiment 2

[0036] Embodiment 2: The autonomous task execution of the present invention in an environment without GNSS signals will be further described below with reference to the accompanying drawings.

[0037] like Figure 11 As shown in the figure, the aircraft is powered on, and no GNSS signal is detected, the aircraft automatically switches to the visual positioning and navigation mode, the operator plans the mission route through the handheld portable ground station, loads the waypoint configuration file, and sends the take-off command. The front-mounted visual positioning device solves and generates the global coordinate system positioning information with the take-off position as the origin, and guides the aircraft to fly according to the loaded mission route. After arriving at the mission area and performing the mission, it returns to the mission route and autonomously landed. When obstacles are encountered during the flight of the mission route, the route is guided to the blank...

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PUM

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Abstract

The invention discloses a coaxial dual-rotor unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. A vertical cylindrical fuselage and coaxial double propellers are adopted to provide power, and the aircraft is controlled by changing the pulling force direction and the rotating speed difference of the double rotors. According to the invention, a GNSS positioning device and a visual positioning device can also be adopted to be fused with an IMU to form an inertial satellite integrated navigation and visual-inertial navigation synchronous positioning and mapping VI-SLAM navigation and positioning system, and autonomous flight can be realized no matter in an open environment covered by a GNSS or in a closed and GNSS denial environment. The aircraft has the attributes of generalization, informatization, autonomy, intelligence and the like, is simple in structure, low in cost, high in cost-effectiveness ratio, firm, durable and convenient to carry, can provide global situation information of parts, such as streets, indoor places, jungles and the like, which cannot enter, cannot be reached and cannot be seen, and can complete detection or search and rescue tasks of closed and shielded spaces, such as cities, jungles, indoor places and the like.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, more particularly, to the technical field of micro-miniature unmanned aerial vehicles, and provides a coaxial double-rotor unmanned aerial vehicle. Background technique [0002] Micro-miniature UAVs have the characteristics of low cost, small size, and high maneuverability. In the past two or three decades, they have received widespread attention and attention around the world, and have a large number of applications in military and civilian fields. In the military field, a large number of various types of unmanned aerial vehicle systems are used to complete various combat missions such as battlefield reconnaissance, surveillance, temptation, harassment, target search and positioning, firepower and result assessment, anti-radiation, and attack, and have achieved remarkable results. 's results. In the civil field, unmanned aerial vehicles can be used in aerial photography, remote...

Claims

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Application Information

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IPC IPC(8): B64C27/10B64C27/12B64C27/00B64C27/14B64C27/52B64C13/24B64C13/28G01C21/16G01C21/20B64C27/50
CPCB64C27/10B64C27/12B64C27/14B64C27/001B64C27/52B64C13/24B64C13/28G01C21/165G01C21/20G01C21/206B64C27/50B64U2201/00B64U50/19B64U10/10
Inventor 刘彪王志刚李毅波杨永文孙卫华林李李
Owner 沈阳飞机设计研究所扬州协同创新研究院有限公司