Pneumatic extended-range logistics drone

Abstract

The present invention discloses an aerodynamic, range-extended logistics drone, comprising a fuselage, arms symmetrically arranged on either side of the fuselage, cabin-type struts connected to the arms, and landing gear disposed on the lower portion of the fuselage. The arms have a high-lift airfoil profile with a maximum relative thickness of 20.06% at 27.5% chord length and a maximum camber of 7.84% at 40.2% chord length. The present invention utilizes thick, high-lift wing-shaped arms, which not only provide structural support and ample internal space for the drone, but also provide the majority of the drone's lift during cruising. This significantly reduces the lift demand on the rotor power system, lowers rotor power consumption, significantly improves cruising efficiency and endurance, and increases cruising flight speed, thereby aerodynamically extending the drone's range.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a pneumatic extended-range logistics drone. Background Art

[0002] Currently, logistics drones primarily include large fixed-wing drones, compound-wing drones, and multi-rotor drones. Large fixed-wing drones have high requirements for runways and airspace, and are still in the early stages of exploratory application. The power unit of compound-wing drones used for vertical takeoff and landing becomes completely wasted weight during cruising. To compensate for this energy loss, compound-wing drones must be designed with a high aspect ratio to improve aerodynamic efficiency. As a result, compound-wing drones are significantly larger than multi-rotor drones for the same payload capacity. Furthermore, compound-wing drones have high requirements for landing and takeoff sites and space, have poor crosswind resistance, and are difficult to operate. Multi-rotor drones remain the dominant model in mainstream logistics applications both domestically and internationally, thanks to their compact size, ease of operation, and reliable control. However, their low aerodynamic efficiency and short flight time significantly limit the expansion of drone logistics applications.

[0003] To improve the endurance of multi-rotor drones, currently common range-extending solutions include hybrid electric and hydrogen fuel cell systems. However, hybrid electric systems pose risks of air pollution, high vibration and noise, poor heat dissipation, and uncontrolled explosions and fires. Hydrogen fuel cell systems, on the other hand, suffer from shortcomings such as inadequate hydrogen fuel acquisition infrastructure, high unit prices, and complex operation and maintenance. Consequently, neither approach has gained widespread adoption. Therefore, it is necessary to improve the structure of existing multi-rotor drones. Summary of the Invention

[0004] The present invention aims to propose a pneumatic extended-range logistics drone to solve the problems of low aerodynamic efficiency and short flight time of existing multi-rotor drones. To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A pneumatic extended-range logistics drone, comprising:

[0006] body;

[0007] Arms, the arms include a left front arm, a left rear arm, a right front arm, and a right rear arm, wherein the left front arm and the left rear arm are symmetrically arranged on both sides of the fuselage and the right front arm and the right rear arm, and the cross-section of the arms is a high-lift airfoil profile, with a maximum relative thickness of 20.06% at 27.5% chord length and a maximum camber of 7.84% at 40.2% chord length, and the positive direction of the airfoil facing the forward direction;

[0008] Landing gear, which is located on the lower part of the fuselage;

[0009] The cabin type strut comprises a left cabin type strut and a right cabin type strut, wherein the left cabin type strut is respectively connected to the ends of the left front machine arm and the left rear machine arm, and the right cabin type strut is respectively connected to the ends of the right front machine arm and the right rear machine arm.

[0010] Furthermore, arm sleeves are provided at the connections between the fuselage, the left cabin type strut, the right cabin type strut and the machine arm, and the arm sleeves are fixedly connected to the machine arm.

[0011] Furthermore, a mounting hole is provided on the arm sleeve, and a positioning hole is provided at the end of the machine arm. After the end of the machine arm is inserted into the arm sleeve, a locking pin is inserted into the mounting hole and the positioning hole to realize a fixed connection between the machine arm and the arm sleeve.

[0012] Furthermore, the arm sleeves are integrally formed with the fuselage, the left cabin type strut and the right cabin type strut respectively.

[0013] Furthermore, it also includes a rotor power system, with a total of 12 sets of rotor power systems, which are located at the left front upper, left front lower, left rear upper, and left rear lower at the front and rear ends of the left cabin-type strut; the right front upper, right front lower, right rear upper, and right rear lower at the front and rear ends of the right cabin-type strut; and the front upper, front lower, rear upper, and rear lower positions at the front and rear ends of the fuselage.

[0014] Furthermore, the rotor power system consists of a rotor and a motor.

[0015] Furthermore, the landing gear is detachably connected to the fuselage.

[0016] Furthermore, the landing gear includes a vertical rod connected to the fuselage and a cross rod arranged at the bottom of the vertical rod, and the length of the cross rod is adjustable in the extension direction of the aircraft arm.

[0017] Furthermore, the fuselage is integrally solidified and formed from carbon fiber composite materials, and the interior of the fuselage is hollow;

[0018] And / or, the arm is integrally formed by solidifying carbon fiber composite material, and its overall structure is a thin shell hollow structure supported by special-shaped I-beams;

[0019] And / or, the cabin-type strut is integrally formed by curing of carbon fiber composite material;

[0020] And / or, the landing gear is assembled by assembling a set of carbon fiber composite material tubes.

[0021] Furthermore, it also includes a navigation system, which is located inside the fuselage. The navigation system is a Beidou positioning and navigation module. The Beidou positioning and navigation module includes a Beidou navigation antenna, which is respectively arranged at the front and rear ends of the fuselage.

[0022] The beneficial effects of the present invention include:

[0023] The pneumatic range - extended logistics UAV of the present invention includes a fuselage, arms symmetrically arranged on both sides of the fuselage, a landing gear arranged at the lower part of the fuselage, a left cabin - type strut and a right cabin - type strut connected to the arms. The arm has a high - lift airfoil section with a maximum relative thickness of 20.06% at the 27.5% chord length and a maximum camber of 7.84% at the 40.2% chord length. This enables the arm to provide structural support and accommodation space for the UAV, meet the requirements of the arm's structural strength and stiffness, while also providing most of the lift for the UAV during the cruise phase. Thus, it greatly reduces the lift requirement for the rotor power system, reduces rotor power consumption, significantly improves the cruise efficiency and endurance time, and increases the cruise flight speed, achieving the range extension of the UAV in an aerodynamic way. The present invention ensures the acquisition of the lift required for cruising through a high - lift airfoil without significantly increasing the geometric size of the arm, making the whole machine not feel the size abruptness and inconvenience in use brought by the wing - type arm either in appearance or in actual use. The operation and flight mode are also the same as those of a conventional multi - rotor UAV, being simple, flexible, and reliable.

[0024] The cabin - type strut serves both as a structural support member and can install a battery system inside. When the UAV is flying, the weight of the battery installed in the cabin - type strut can balance part of the lift, reducing the bending moment formed on the arm root by the lift generated by the rotor system and the wing - type arm installed on the cabin - type strut, thus reducing the requirement for the structural strength of the UAV and reducing the overall structural weight.

[0025] The connection of the arm, the left and right cabin - type struts, and the fuselage significantly presents the shape of the Chinese character 'zhong', providing 12 sets of rotor installation positions for the UAV, thereby greatly improving the flight safety of the UAV through a redundant distributed power method.

[0026] The length of the landing gear is adjustable in the direction perpendicular to the fuselage. The landing gear can be adjusted according to the volume of the carried goods to meet different transportation requirements; a shock - absorbing device is provided inside the landing gear, which can effectively reduce the reaction force of the ground on the UAV during landing, protecting the fuselage and the carried goods.

[0027] The power system includes a storage battery and a solar thin - film component arranged on the outer surface of the fuselage. When the logistics UAV is cruising, it can use the solar thin - film component to charge the storage battery, and issue a warning prompt message when the battery power is insufficient, further improving the endurance time of the UAV. Brief Description of the Drawings

[0028] Appendix Figure 1 is a schematic structural diagram of the pneumatic range - extended logistics UAV of the present invention;

[0029] Appendix Figure 2 is a geometric shape diagram of the airfoil of the present invention;

[0030] Appendix Figure 3Polar curve diagram of the airfoil of the present invention;

[0031] Attachment Figure 4 This is a cross-sectional view of the arm of the pneumatic extended-range logistics drone of the present invention;

[0032] Attachment Figure 5 This is a schematic structural diagram of the arm sleeve located on the fuselage of the present invention;

[0033] Attachment Figure 6 This is a schematic structural diagram of the arm sleeve located on the starboard side support pole of the present invention;

[0034] Attachment Figure 7 It is a schematic structural diagram of the vertical rod of the landing gear of the present invention;

[0035] Attachment Figure 8 It is a structural schematic diagram of the crossbar of the landing gear of the present invention.

[0036] Description of reference numerals:

[0037] 1- fuselage, 2-1- left front arm, 2-2- left rear arm, 2-3- right front arm, 2-4- right rear arm, 3-1- left cabin strut, 3-2- right cabin strut, 4- landing gear, 4-1 vertical rod, 4-2 cross rod, 4-3 support rod, 5- rotor power system, 6- Beidou navigation antenna, 7- arm cover DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. It should be noted that the terms "front," "rear," "left," and "right" used in the following description are used with the nose of the aircraft as the front and the tail of the aircraft as the rear. Left and right are distinguished from the rear.

[0039] like Figure 1As shown, this embodiment provides a pneumatic extended-range logistics drone, including a fuselage 1, an arm, a landing gear 4, a cabin-type strut and a rotor power system 5. The fuselage 1 is the main load-bearing structure. The arms include a left front arm 2-1, a left rear arm 2-2, a right front arm 2-3 and a right rear arm 2-4. The left front arm 2-1 and the left rear arm 2-2 are arranged on the left side of the fuselage 1, and the right front arm 2-3 and the right rear arm 2-4 are arranged on the right side of the fuselage 1. The left front arm 2-1 and the left rear arm 2-2 are symmetrical with the right front arm 2-3 and the right rear arm 2-4 about the fuselage 1. The landing gear 4 is arranged at the lower part of the fuselage 1. The landing gear 4 also serves as the cargo carrying frame of the logistics drone. The cargo can be fixed in the cargo carrying frame formed by the landing gear 4 by strong Velcro. The pod struts include a left pod strut 3-1 and a right pod strut 3-2. The left pod strut 3-1 is located on the left side of the fuselage 1, with its front and rear ends fixedly connected to the ends of the left front arm 2-1 and the left rear arm 2-2, respectively, away from the fuselage 1. The right pod strut 3-2 is located on the right side of the fuselage 1, with its front and rear ends fixedly connected to the ends of the right front arm 2-3 and the right rear arm 2-4, respectively, away from the fuselage 1. The pod struts can be fitted with power systems and other avionics accessories. The cross-section of the arms is a high-lift airfoil, with a maximum relative thickness of 20.06% at 27.5% chord length and a maximum camber of 7.84% at 40.2% chord length. The forward direction of the airfoil is oriented in the forward direction.

[0040] The multi-rotor drone of the present invention utilizes a wing-type arm with a thick, high-lift airfoil profile. While providing structural support and accommodation space for the drone and ensuring the required strength and rigidity of the arm structure, it also provides the majority of the drone's lift during the cruise phase, thereby significantly reducing the lift demand on the rotor power system, reducing rotor power consumption, and significantly improving cruise efficiency and endurance. Simultaneously, a cruise mode similar to a fixed-wing aircraft can also significantly increase cruise flight speed, aerodynamically extending the drone's range. The present invention utilizes a high-lift airfoil to ensure the lift required for cruise without significantly increasing the arm's geometric dimensions. This ensures that the overall drone, both in appearance and in actual use, does not feel the awkward size and inconvenience of the wing-type arm. The control and flight methods are also consistent with conventional multi-rotor drones, making them simple, flexible, and reliable.

[0041] The geometrical shape of the airfoil of the present invention is as follows Figure 2 As shown in the figure, the arm has a maximum relative thickness of 20.06% at 27.5% chord length and a maximum camber of 7.84% at 40.2% chord length. The high-thickness airfoil section can significantly improve the arm strength, while facilitating the passage of wiring harnesses and the placement of cylindrical objects such as batteries inside the airfoil. Figure 3 As shown, where: c l is the lift coefficient, cd is the drag coefficient, which is determined by Figure 3 It can be easily seen that the maximum lift coefficient of the airfoil of the present invention exceeds 2.0, which is much higher than that of conventional airfoils. It can provide reliable lift for the UAV, reduce the lift demand on the rotor power system, and increase the endurance time.

[0042] The left cabin-type strut 3-1 and the right cabin-type strut 3-2 serve both as structural supports and can install a power system inside. When the UAV is flying, the weight of the power supply installed in the cabin-type strut can balance part of the lift, reducing the bending moment formed on the root of the strut by the lift generated by the rotor power system and the four wing-type struts, namely the left front arm 2-1, the left rear arm 2-2, the right front arm 2-3, and the right rear arm 2-4, which are installed on the cabin-type strut. Thus, the requirement for the structural strength of the UAV is reduced, and the overall structural weight is decreased. Preferably, the weight of the power supply in the cabin-type strut is evenly distributed at the two outermost ends of the UAV, effectively improving the balance of the UAV during flight and enhancing the wind resistance.

[0043] In this embodiment, the rotor power system 5 consists of a rotor and a motor. Preferably, a high-efficiency brushless motor and a high-efficiency carbon fiber composite rotor are adopted.

[0044] Preferably in this embodiment, the UAV has a total of 12 sets of rotor power systems 5. Among them, 4 sets of rotor power systems 5, namely the front upper, front lower, rear upper, and rear lower, are installed at the front and rear ends of the fuselage 1. 4 sets of rotor power systems 5, namely the left front upper, left front lower, left rear upper, and left rear lower, are installed at the front and rear ends of the left cabin-type strut 3-1. 4 sets of rotor power systems 5, namely the right front upper, right front lower, right rear upper, and right rear lower, are installed at the front and rear ends of the right cabin-type strut 3-2. As a type of UAV that is widely used daily, the logistics UAV has higher actual requirements for flight safety. The connection of the struts, cabin-type struts, and the fuselage 1 significantly presents the shape of the Chinese character "zhong", providing 12 installation positions for the rotors of the UAV, thereby greatly improving the flight safety of the UAV through a redundant distributed power method.

[0045] Preferably in this embodiment, the fuselage 1 is integrally formed by curing carbon fiber composite materials, and the key bearing areas are strengthened针对性地 to obtain a lightweight, high-strength, and high-rigidity fuselage structure. The inside of the fuselage 1 is hollow, providing installation space for the power system, flight control system, navigation system, and other avionics systems inside the fuselage 1, and providing an installation interface for connecting with the landing gear 4 at the bottom of the fuselage 1.

[0046] As Figure 4 shown, the arm is integrally formed by curing carbon fiber composite materials. Its overall structure is a thin-shell hollow structure supported by a special-shaped I-beam. The cavity inside the arm allows the wire harness to pass through, and the overall structure is simple and efficient.

[0047] The cabin-type strut is integrally solidified from carbon fiber composite materials, with targeted reinforcement in key load-bearing areas to achieve a lightweight, high-strength, and high-rigidity structure. The front and rear ends of the cabin-type strut provide installation locations for the rotor power system 5, and the interior provides installation space for the power supply system.

[0048] The landing gear 4 is assembled from a combination of carbon fiber composite material pipes and fittings. It is simple and reliable, and its strength and rigidity meet the requirements of use. While providing cushioning and support for the take-off, landing and parking of the UAV, it also serves as a frame for fixing and carrying cargo.

[0049] like Figure 5 and Figure 6 Arm covers 7 are provided on the sides of the fuselage 1, the left cabin strut 3-1, and the right cabin strut 3-2 for connection to the aircraft arm. The fuselage 1, the left cabin strut 3-1, and the right cabin strut 3-2 are fixedly connected to the aircraft arm via the arm covers 7. In a preferred embodiment, the arm covers 7 are provided with mounting holes, and the ends of the aircraft arm are provided with positioning holes. After the ends of the aircraft arm are adjusted and inserted into the arm covers 7, locking pins are inserted into the mounting holes and positioning holes to achieve a fixed connection between the aircraft arm and the arm covers 7. Specifically, the left front arm 2-1, the left rear arm 2-2, the right front arm 2-3, and the right rear arm 2-4 are inserted into the arm sleeves 7 at corresponding positions on both sides of the fuselage 1 and fixed by locking pins; the left front arm 2-1 and the left rear arm 2-2 are inserted into the arm sleeves 7 at corresponding positions on the right side of the left cabin-type strut 3-1 and fixed by locking pins; the right front arm 2-3 and the right rear arm 2-4 are inserted into the arm sleeves 7 at corresponding positions on the left side of the right cabin-type strut 3-2 and fixed by locking pins. In this embodiment, mounting holes are provided on the arm sleeves 7, and positioning holes are provided at the ends of the arms, so that the arms can be reliably connected to the fuselage 1 and the cabin-type struts; the arms can be combined or separated with the fuselage 1 and the cabin-type struts by the arm sleeves 7, making the disassembled pneumatic extended-range logistics drone easy to carry. Preferably, the arm sleeves 7 are integrally formed with the fuselage 1, the left cabin-type strut 3-1, and the right cabin-type strut 3-2, respectively.

[0050] like Figure 1 、 Figure 7-8 As shown, the landing gear 4 of this embodiment is detachably connected to the fuselage 1. The landing gear 4 includes a vertical rod 4-1 and a horizontal rod 4-2 arranged at the bottom of the vertical rod 4-1. The number of the vertical rods 4-1 is 4, which are respectively located at the front and rear of the fuselage 1 and are detachably connected to the fuselage 1; the number of the horizontal rods 4-2 is 2, and each horizontal rod 4-2 is fixedly connected to two vertical rods 4-1. Preferably, the landing gear 4 also includes a support rod 4-3, which is parallel to the fuselage 1 and is respectively arranged perpendicular to the horizontal rod 4-2 and the vertical rod 4-1. Preferably, a mounting interface that is mechanically fixed to the vertical rod 4-1 is provided at the bottom of the fuselage 1. The landing gear 4 of this embodiment also serves as a cargo carrying frame for the logistics drone, and the cargo is tightly fixed in the cargo carrying frame formed by the landing gear 4 by strong Velcro.

[0051] like Figure 7 As shown, in a preferred embodiment, the vertical rod 4-1 includes a rod sleeve, an inner rod, and a spring. The inner rod is slidably connected to the inner wall of the rod sleeve. One end of the spring is connected to the top of the rod sleeve, and the other end of the spring is connected to the top of the inner rod. The bottom of the inner rod is connected to the crossbar 4-2. When the logistics drone lands, the crossbar 4-2 contacts the ground, transmitting external force to the inner rod. Under the action of the spring, the inner rod and the rod sleeve slide relative to each other, mitigating the reaction force during landing and preventing damage to the cargo on the landing gear 4 due to the impact of landing.

[0052] like Figure 8 As shown, in another preferred embodiment, the crossbar 4-2 includes a telescopic rod, an outer sleeve that slides onto the telescopic rod, and a positioning pin. There are two telescopic rods, one located on either side of the outer sleeve. The outer sleeve is connected to the vertical rod 4-1 and the support rod 4-3. The outer sleeve is provided with multiple pin holes on the wall of the outer sleeve, and the wall of the telescopic rod is provided with a fixing hole. During use, after adjusting the crossbar 4-2 to the appropriate length, the positioning pin is inserted into the fixing hole and the pin hole to fix the telescopic rod to the outer sleeve. In this embodiment, the length of the crossbar 4-2 is adjustable in a direction perpendicular to the fuselage 1, that is, in the direction of extension of the arm, so that the logistics drone can be adjusted according to the volume of the cargo carried to meet different transportation needs.

[0053] The pneumatic extended-range logistics drone includes a power system, a flight control system, and a navigation system. The power system is located within the fuselage 1 and the cavity of the cabin-type struts, while the flight control system and navigation system are located within the fuselage 1. The power system is electrically connected to the rotor power system 5, the flight control system, and the navigation system to provide power. In a preferred embodiment, the power system includes a battery and a charging control system. The charging control system includes a controller, a charging port, and an indicator light. The charging port is located on the fuselage 1 and is used to charge the battery. The battery is electrically connected to the controller. When the controller detects a low battery level, the indicator light illuminates to remind the user to charge the battery. In another preferred embodiment, the power system also includes a solar film element. The solar film element is located on the outer surfaces of the fuselage 1 and the cabin-type struts and is connected to the battery. The navigation system is a Beidou positioning and navigation module, including Beidou navigation antennas 9, which are located at the front and rear ends of the fuselage 1. In this embodiment, the installation of antennas at the front and rear ends of the fuselage 1 enables the logistics drone to have differential positioning and dual-wire direction finding capabilities.

[0054] The above describes the preferred embodiments of the present invention, but those skilled in the art should understand that the above preferred embodiments are only used to illustrate the present invention and are not used to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pneumatic extended-range logistics drone, characterized by: include: A fuselage (1), wherein the interior of the fuselage (1) is hollow; The arm has an overall structure of a thin shell hollow structure supported by a special-shaped I-beam, and the arm comprises a left front arm (2-1), a left rear arm (2-2), a right front arm (2-3) and a right rear arm (2-4), wherein the left front arm (2-1) and the left rear arm (2-2) are symmetrically arranged on both sides of the fuselage (1) as are the right front arm (2-3) and the right rear arm (2-4), and the arm has a high-lift airfoil profile, wherein the airfoil has a maximum relative thickness of 20.06% at 27.5% of the chord length and a maximum camber of 7.84% at 40.2% of the chord length, and the positive direction of the airfoil faces the forward direction; A landing gear (4), the landing gear (4) being arranged at the lower part of the fuselage (1); A cabin-type strut comprises a left cabin-type strut (3-1) and a right cabin-type strut (3-2), wherein the left cabin-type strut (3-1) is respectively connected to the ends of the left front machine arm (2-1) and the left rear machine arm (2-2), and the right cabin-type strut (3-2) is respectively connected to the ends of the right front machine arm (2-3) and the right rear machine arm (2-4); The power system is installed inside the cabin-type support pole, and the weight of the power supply inside the cabin-type support pole is evenly distributed at the two outermost ends of the drone; The rotor power system (5) has 12 sets in total, which are respectively located at the left front upper, left front lower, left rear upper, and left rear lower positions at the front and rear ends of the left cabin type strut (3-1), the right front upper, right front lower, right rear upper, and right rear lower positions at the front and rear ends of the right cabin type strut (3-2), and the front upper, front lower, rear upper, and rear lower positions at the front and rear ends of the fuselage (1).

2. The pneumatic extended-range logistics drone according to claim 1, characterized in that: An arm sleeve (7) is provided at the connection between the fuselage (1), the left cabin type strut (3-1), the right cabin type strut (3-2) and the machine arm, and the arm sleeve (7) is fixedly connected to the machine arm.

3. The pneumatic extended-range logistics drone according to claim 2, characterized in that: The arm sleeve (7) is provided with a mounting hole, and the end of the machine arm is provided with a positioning hole. After the end of the machine arm is inserted into the arm sleeve (7), a locking pin is inserted into the mounting hole and the positioning hole to achieve a fixed connection between the machine arm and the arm sleeve (7).

4. The pneumatic extended-range logistics drone according to claim 2 or 3, characterized in that: The arm sleeve (7) is integrally formed with the fuselage (1), the left cabin-type strut (3-1), and the right cabin-type strut (3-2).

5. The pneumatic extended-range logistics drone according to claim 1, characterized in that: The rotor power system (5) consists of a rotor and a motor.

6. The pneumatic extended-range logistics drone according to claim 1, characterized in that: The landing gear (4) is detachably connected to the fuselage (1).

7. The pneumatic extended-range logistics drone according to claim 6, characterized in that: The landing gear (4) comprises a vertical rod (4-1) connected to the fuselage (1) and a cross rod (4-2) arranged at the bottom of the vertical rod (4-1); the cross rod (4-2) is adjustable in length in the extension direction of the aircraft arm.

8. The pneumatic extended-range logistics drone according to claim 1, characterized in that: The fuselage (1) is integrally formed by curing of carbon fiber composite material; And / or, the machine arm is integrally formed by curing of carbon fiber composite material; And / or, the cabin-type strut is integrally formed by curing of carbon fiber composite material; And / or, the landing gear (4) is assembled by assembling a set of carbon fiber composite material pipes.

9. The pneumatic extended-range logistics drone according to claim 1, characterized in that: It also includes a navigation system, which is located inside the fuselage (1). The navigation system is a Beidou positioning and navigation module. The Beidou positioning and navigation module includes a Beidou navigation antenna (6). The Beidou navigation antenna (6) is respectively arranged at the front and rear ends of the fuselage (1).

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