An unmanned adaptive mobile landing cushion platform

Abstract

The application discloses an unmanned self-adaptive mobile landing buffer platform, which comprises six main parts, i.e., a multi-ring reverse cone air bag, a high-pressure inflation gas cylinder, an inflation hose, an integrated platform, an intelligent driving system and an aviation wheel. The landing buffer platform receives the aerial position of a flying body in real time through the intelligent driving system, corrects the landing position of the flying body in real time, drives the platform to move to the landing position, and dissipates the landing impact energy of the flying body through the multi-ring reverse cone air bag and the aviation wheel, so that the flying body is recovered without damage. The application provides a novel landing solution for a recovery type flying body, and can improve the allowable landing speed of the flying body by cooperating with a parachute system, so as to effectively reduce the canopy area of the parachute, reduce the structural weight of the parachute system, and significantly reduce the launching or running cost of the flying body.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of parachute technology, and particularly relates to a mobile landing buffer platform for absorbing landing impact energy of a flying body by using an inflatable airbag structure. BACKGROUND

[0002] As an efficient decelerator, a parachute uses its flexible structure to expand in the air to form a wide resistance surface, thereby effectively decelerating an aircraft moving in the air, ensuring the aircraft to land at a safe speed, and ensuring the landing safety of personnel or load. As a long history aerodynamic deceleration device, the parachute is widely used in personnel lifesaving, air drop, stable deceleration of instrument aircraft, airplane landing brake, and lossless recovery of aircraft, etc.

[0003] The larger the parachute canopy area is, the better the deceleration effect is, but it will also cause the parachute opening dynamic load to increase, the parachute opening reliability to decrease, and the structure weight of the parachute system to increase significantly, thereby making the launch and operation cost of the aircraft system carrying the parachute increase significantly.

[0004] If the canopy area is reduced, the landing speed of the system will increase, the landing safety of the flying body cannot be ensured, and a landing buffer device needs to be installed to reduce the landing overload impact. At present, various landing buffer technologies have been developed and applied in the field of aviation and aerospace, mainly including a reverse rocket, a landing support, and a buffer airbag device. These technologies have different advantages and disadvantages, and are suitable for different landing scenes and types of flying bodies. However, the buffer device will increase the weight of the flying system, and the buffer effect is often affected by the landing attitude of the flying body, the terrain, and the weather environment, and in adverse conditions, may induce safety accidents such as rolling of the flying body.

[0005] Generally speaking, to ensure the safe landing of the flying body, there are mainly two technical solutions: one is a recovery object-parachute combined flying system, and the other is a recovery object-parachute-buffer device combined deceleration and landing system. The above two solutions will increase the weight of the flying body, increase the launch or operation cost of the flying body, and reduce the parachute opening reliability or landing safety.

[0006] Therefore, to solve the above problems, it is urgent to provide a new deceleration and landing solution for a lightweight, safe, and reliable recovery flying body. SUMMARY

[0007] The present application aims to reduce the weight of the recovery flying body, and provides a non-attached unmanned self-adaptive mobile landing buffer platform. The parachute system structure weight can be reduced and the parachute opening reliability can be improved.

[0008] The aerial position of the flying body is received in real time by the intelligent driving system, and the trajectory and landing point are calculated in real time accordingly, and the platform is driven discontinuously and timely to move to the latest landing position. When the flying body height drops to within 200m, the folded multi-ring inverted cone-shaped airbag is inflated and unfolded to form a wide supporting spread. At the same time, the mobile platform intelligent driving module built in the intelligent driving system starts to obtain the landing position in real time and drive the platform to adaptively move, so as to realize the accurate supporting and buffering of the flying body.

[0009] The basic working principle of the present application is as follows. For the recycling flying body, the formula for calculating the landing impact force F is F = mv 2 / 2S. Wherein, m is the mass of the flying body, v is the speed of the flying body, and S is the landing buffering distance. It can be seen from the analysis of the formula that for any flying body, when the maximum landing impact force F is determined, the allowed landing speed v of the flying body on the right side of the equation will increase with the increase of the landing buffering distance S.

[0010] As a key device for decelerating the flying body from the reentry speed to the allowed landing speed, the formula for calculating the aerodynamic drag area of the parachute is: CA = 2G / ρv 2 . According to the design formula, the aerodynamic drag area of the parachute is inversely proportional to the square of the landing speed.

[0011] In summary, the present application increases the landing buffering distance S, thereby improving the allowed landing speed v of the flying body, and further greatly reducing the aerodynamic drag area CA of the parachute. The reduction of the aerodynamic drag area of the parachute not only reduces the weight of the parachute system, but also improves the opening reliability. In addition, the buffering device of the present application does not need to be attached to the bottom of the flying body, which reduces the overall weight of the flying body system and reduces the cost of launching and flying in the air.

[0012] In order to achieve the technical purpose of the present application, the following technical solutions are adopted:

[0013] The unmanned self-adaptive mobile landing buffering platform comprises a multi-ring inverted cone-shaped airbag, a high-pressure inflation gas cylinder, an inflation hose, an integrated platform, an intelligent driving system and an aviation wheel. The integrated platform is internally arranged with a gas conveying pipeline and a power battery module, and the intelligent driving system is internally arranged with a driving control display system, a driving seat and a steering wheel.

[0014] For the multi-ring inverted cone-shaped airbag, the airbag is composed of an ellipsoidal air chamber and a multi-ring intersecting air chamber, which are not connected to each other and are inflated and unfolded by the high-pressure inflation gas cylinder. Under this air chamber design, the function of the airbag can be divided into two aspects: first, the airbag buffers and dissipates the landing impact force of the flying body; second, under the action of the inverted cone-shaped multi-ring intersecting air chamber, the airbag can effectively stabilize the landing attitude of the flying body and prevent the flying body from rolling over, so as to realize safe landing and lossless recovery of the flying body.

[0015] For the inflation process of the airbag, multiple circular air inlets are opened at the bottom end of the ellipsoidal air chamber, and the air inlets are connected with the air conveying pipeline laid inside the integrated platform. The two sides of the multi-ring intersecting air chamber are provided with symmetrically arranged circular air inlets, and the air inlets are connected with the high-pressure inflation cylinder through the inflation hose. The ellipsoidal air chamber and the multi-ring intersecting air chamber are inflated by the high-pressure inflation cylinder. An electromagnetic control one-way valve is installed at the joint of each air inlet and the air conveying pipeline or the inflation hose. The opening and closing of each one-way valve can be controlled by sending an electrical signal through the airbag inflation control module in the intelligent driving system, so as to control the start and end of the airbag inflation. In addition, a pressure sensor is installed inside the airbag, and when the pressure inside the airbag meets the preset condition, the airbag exhaust port will automatically open to start the exhaust and energy release process.

[0016] For the integrated platform, it is characterized in that the platform is integrated with a power battery module and multiple air conveying pipelines. The integrated platform provides a layout space for the high-pressure inflation cylinder and the multi-ring inverted cone airbag. At the same time, the integrated power battery module inside the platform provides power energy for the intelligent movement of the platform, the operation of the electromechanical equipment, and the signal actuation control, and the air conveying pipeline is responsible for connecting the cylinder and the airbag to realize reliable inflation of the airbag.

[0017] For the intelligent driving system, it is characterized in that it can be used for intelligent driving in unmanned or manned mode, and is internally arranged with auxiliary devices such as a driving control display system, a driving seat, and a steering wheel. At the initial moment, the intelligent driving system can reach the landing area near the target area in manned or unmanned mode. After reaching the task area, the driver leaves, and the intelligent driving system enters the unmanned mode, and through a series of steps such as real-time receiving of the aerial position of the flying body, real-time calculation of the trajectory and landing point, and intelligent driving of the platform, the target flying body is finally completed.

[0018] The intelligent driving system is built-in with three sub-modules, namely a flying body trajectory tracking calculation module, a mobile platform intelligent driving module, and an airbag inflation control module. Among them, the flying body trajectory tracking calculation module is responsible for real-time receiving of the aerial position of the target flying body, and real-time calculation of its falling trajectory and landing point. The airbag inflation control module is responsible for the opening and closing of each one-way valve, thereby controlling the start and end of the airbag inflation process. The mobile platform intelligent driving module has two working characteristics. In the early stage of work, the module discontinuously obtains the landing point position and timely drives the platform to move towards the landing point. In the later stage of work, the platform enters the error range of the target landing point, the module real-time obtains the landing point position and real-time drives the platform to adaptively move.

[0019] As a preferred, four groups of aviation type wheels are arranged below the integrated platform, which have durability and reliability, environmental adaptability, and maintenance convenience, and are used to support the platform weight, high-speed safe movement, and absorb a certain degree of impact load.

[0020] The unmanned self-adaptive mobile landing buffer platform of the present application works including the following steps:

[0021] Step one, after the flying body enters the predetermined height, open the parachute at t0 time, start the deceleration landing process. At the same time, the flying body trajectory tracking calculation module built-in the intelligent driving system starts to run, through the wireless signal real-time receives the flying body at t0 time relative to the ground speed v0 and the air position P0, and calculates the ideal falling trajectory P i -t and ideal landing point position P i,g .

[0022] Step two, at t0 time, the mobile platform intelligent driving module built-in the intelligent driving system also starts to run, receives the ideal landing point position P i,g from step one, and drives the buffer platform to move to the point. According to the preset time variation law Δt=[Δt1, Δt2…Δt n ], at t0+Δt1 time, the mobile platform intelligent driving module receives the latest landing point position P g,Δ1 after correction again, and drives the buffer platform to move to P g,Δ1 . This non-continuous receiving landing point and correction movement process lasts n times.

[0023] Step three, after several correction movements, when the flying body air height is reduced to 200m, the airbag inflation control module built-in the intelligent driving system starts to run, opens all the one-way valves, the high-pressure inflation cylinder inflates the airbag, and the multi-ring inverted cone airbag is quickly inflated and expanded.

[0024] Step four, when the airbag reaches the inflation pressure (generally not more than 1.5 local atmospheric pressure), the airbag inflation control module sends an electrical signal to close all the one-way valves, and the inflation process is completed. At the same time, the mobile platform intelligent driving module of step two continues to run, and becomes real-time receiving the landing point position and real-time driving the platform to adaptively move.

[0025] Step five, the platform finally realizes the precise support to the flying body, and uses the airbag compression exhaust to complete the buffer dissipation of the landing impact, and completes the lossless recovery of the flying body.

[0026] As preferred, in the non-continuous acquisition of the landing point process of the above mobile platform intelligent driving module, according to the flying trajectory calculation error characteristics, the time interval (Δt) gradually decreases from large to small. The variation law of the time interval (Δt) can be preset through the intelligent driving system 5, and the specific value will be determined according to the opening height, meteorological environment, aerodynamic characteristics, and flying body-parachute system weight and other factors, so as to improve the adaptability and flexibility of the present application to different task conditions.

[0027] As a preferred method, in the trajectory tracking calculation module of the flying object, the position tracking algorithm method is: the module receives the velocity v0 of the flying object relative to the ground at time t0 = (v x0 , v y0 , v z0 ) and the air position P0=(x0,y0,z0), during the deceleration landing process, the dynamic equation of the flying body is:

[0028]

[0029] Where c is the drag coefficient, ρ is the air density, s is the frontal area, θ and γ are the relative ground speed v and airspeed v of the flying body. c The angle between them, sinθ=v z / v c , Relative ground speed v and air speed v c All are measured by the aircraft's own instruments and returned to the module; at time t0, the module calculates the ideal falling trajectory P of the aircraft for this mission i -t and ideal landing position P i，g and store the information.

[0030] As a preferred method, in the flight trajectory tracking calculation module, the landing point correction method is: at time t0+1, the flight trajectory tracking calculation module receives the real-time position of the flight body as P1=(x1′, y1′, z1′), which is consistent with the ideal falling trajectory P i -t is the same as the aerial position at the height of y1′ By comparison, we get the trajectory deviation Δe=(Δx,Δz)=(x1′-x1,z1′-z1), and the landing position P at the previous moment i，g Make corrections, and update the landing point correction to P g，1 , expressed as:

[0031] P g，m =P g，m-1 +a1Δx+b1Δx 2 +c1Δx 3 +a2Δz+b2Δz 2 +c3Δz 3 ,

[0032] Where a1, b1, c1, a2, b2, and c2 are uncertainty coefficients, which are determined based on the deployment test and numerical simulation results before the execution of the specific task.

[0033] By adopting the above technical solution, the present invention has the following beneficial effects:

[0034] (1) The multi-ring reverse cone-shaped airbag can buffer and dissipate the landing impact force of the flight body, and under the action of the reverse cone-shaped multi-ring intersecting air chamber, the airbag can effectively stabilize the landing attitude of the flight body, prevent the flight body from rolling over, and thus realize safe landing and non-damage recovery.

[0035] (2) The present application solves the landing point error problem of the recovery type flight body through the correction movement and adaptive movement of the intelligent driving system driving platform. In addition, for the recovery type flight body, the present application is a non-attached device, and the two are relatively independent, with zero additional mass. By introducing the supporting and buffering process, the allowable landing speed of the flight body is improved, the aerodynamic characteristic area of the parachute is reduced, the structural weight of the parachute system is reduced, the parachute opening reliability is improved, and the launch operation cost of the flight body can be significantly reduced.

[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is the overall structure schematic diagram of the airbag in the folded state of an embodiment of the present application;

[0038] Figure 2 is the overall structure schematic diagram of the airbag in the full state of an embodiment of the present application;

[0039] Figure 3 is the structure schematic diagram of one half of the airbag in the folded state of an embodiment of the present application after being cut open;

[0040] Figure 4 is the structure schematic diagram of one half of the airbag in the full state of an embodiment of the present application after being cut open;

[0041] Figure 5 is the system structure schematic diagram of an embodiment of the present application except the airbag;

[0042] Figure 6 is the internal structure schematic diagram of the unmanned / manned intelligent driving system and integrated platform of an embodiment of the present application;

[0043] Figure 7 is the structure schematic diagram of the aviation wheel of an embodiment of the present application;

[0044] Figure 8 is the signal transmission diagram of each component module of the buffer platform of an embodiment of the present application.

[0045] Figure label name: 1 - multi-ring inverted cone-shaped airbag, 2 - high-pressure inflation cylinder, 3 - inflation hose, 4 - integrated platform, 5 - intelligent driving system, 6 - aviation wheels, 7 - driving display system in intelligent driving system, 8 - driving seat in intelligent driving system, 9 - steering wheel in intelligent driving system, 10 - multi-ring intersecting air chamber of multi-ring inverted cone-shaped airbag, 11 - ellipsoidal air chamber of multi-ring inverted cone-shaped airbag, 12 - airbag skin of multi-ring inverted cone-shaped airbag, 13 - circular air inlet of ellipsoidal air chamber, 14 - air inlet of inflation hose connected with high-pressure inflation cylinder, 15 - gas pipeline of ellipsoidal air chamber, 16 - power battery module. DETAILED DESCRIPTION

[0046] The technical solutions of the present application will be described in detail below in combination with the drawings:

[0047] As shown in Figure 1 and Figure 2 , the present application includes 6 main modules, which are multi-ring inverted cone-shaped airbag 1, high-pressure inflation cylinder 2, inflation hose 3, integrated platform 4, intelligent driving system 5 and aviation wheels 6. The present application receives the aerial position of the flight body in real time through the intelligent driving system, calculates the falling trajectory and landing point of the flight body in real time, and drives the platform to move adaptively to the landing point position. When the aerial height of the flight body is reduced to 200m, the airbag is inflated and deployed to realize precise support and buffering of the flight body. The present application cooperates with the parachute deceleration system to realize lossless recovery of the recovery type flight body, while greatly reducing the canopy area of the parachute, significantly reducing the weight and volume of the parachute system, effectively reducing the launch and operation cost of the flight body, and alleviating the problem of poor opening reliability caused by the excessive canopy area.

[0048] As shown in Figures 3-6 , the intelligent driving system 5 is internally arranged with a driving display system 7, a driving seat 8 and a steering wheel 9. The multi-ring inverted cone-shaped airbag 1 is composed of a multi-ring intersecting air chamber 10 and an ellipsoidal air chamber 11, the bottom of the ellipsoidal air chamber 11 is provided with a plurality of circular air inlets 13, and the connection part of the high-pressure inflation cylinder 2 and the inflation hose 3 is provided with a circular air inlet 14. The integrated platform 4 is internally arranged with a gas pipeline 15 of the ellipsoidal air chamber 11 and a power battery module 16.

[0049] In the airbag folded state, the structure of the system is shown in Figure 1 and Figure 3 . At this time, the airbag is folded and contracted, the surface is wrinkled, and the inflation hose 3 is in a non-tensioned natural hanging state. In the airbag deployed state, the structure of the system is shown in Figure 2 and Figure 4 . At this time, the inflation hose 3 is aerodynamically straightened, the multi-ring intersecting air chamber 10 and the ellipsoidal air chamber 11 of the airbag are both fully deployed, forming a wide spread area to realize the support and buffering of the flight body.

[0050] The composition and structure of the integrated platform 4 and the intelligent driving system 5 are shown in Figure 5 and Figure 6 . The intelligent driving system 5 is internally arranged with auxiliary equipment such as a driving control display system 7, a driving seat 8, and a steering wheel 9. At the same time, the intelligent driving system 5 is internally arranged with three software modules, namely a flight body trajectory tracking calculation module, a mobile platform intelligent driving module, and an airbag inflation control module. The integrated platform 4 is responsible for providing a flat space for the installation of airbags and gas cylinders, and internally integrating gas supply pipelines 15 and power battery modules 16 to ensure the reliable inflation of the airbag structure and the overall energy supply of the platform.

[0051] The structure of the aviation wheels 6 is shown in Figure 7 . The present application is equipped with four sets of aviation wheels 6, which are all located below the integrated platform 4. The functions of the aviation wheels 6 can be divided into two aspects. Firstly, the aviation wheels 6 have a certain degree of buffering effect, which can work together with the multi-ring inverted cone airbag 1 to absorb and dissipate the landing impact energy of the flight body. Secondly, the aviation wheels 6 are driven to work by the intelligent driving system 5, so that the buffer platform can be quickly moved and deployed, and has high mobility and flexibility.

[0052] Based on the above characteristics of the platform components, the working method of the technical scheme of the present application is as follows:

[0053] As shown in Figure 8 , when the recycled flight body enters the atmosphere, the parachute system is opened at t0 to start deceleration and descent, and the intelligent driving system 5 starts to run the built-in flight body trajectory tracking calculation module. The speed v0 of the flight body relative to the ground at t0 and the aerial position P0 are received in real time through radio signals, and the ideal falling trajectory P i -t of the flight body is calculated based on this. i,g According to the error between the actual aerial position and the ideal aerial position at each time, the landing point position is calculated and updated in real time.

[0054] In addition, starting from t0, the built-in mobile platform intelligent driving module of the intelligent driving system 5 also starts to run, and drives the buffer platform to move to the ideal landing point position P i,g based on the ideal landing point position P i,g . According to the preset time interval Δt = [Δt1, Δt2…Δt n ], the module discontinuously receives the flight body landing point position and timely drives the platform to move to the latest landing point. At t0+Δt1, the mobile platform intelligent driving module receives the latest landing point position P g,Δ1 after correction again, and drives the buffer platform to move to P g,Δ1 . This non-continuous receiving of the landing point and the correction movement process lasts for n times.

[0055] During the above-mentioned stage, the multi-ring inverted-cone-shaped airbag 1 will always be in a folded state to ensure that the platform has a relatively small resistance characteristic during movement.

[0056] After multiple corrective movements, when the aerial height of the flight body is reduced to 200 m, the intelligent driving system 5 starts to operate the built-in airbag inflation control module, sends an electrical signal to open the one-way valves, and inflates the multi-ring air chamber inverted-cone-shaped airbag 1 through the high-pressure inflation cylinder 2. The latter is quickly inflated and expanded.

[0057] Finally, after the multi-ring air chamber inverted-cone-shaped airbag 1 is fully inflated and expanded (generally not more than 1.5 local atmospheric pressures), the airbag inflation control module sends an electrical signal to close all the one-way valves, and the inflation process ends. The built-in mobile platform intelligent driving module of the intelligent driving system 5 continues to operate, starts to obtain the landing point position in real time, and drives the platform to adaptively move, thereby achieving precise support and buffering of the flight body. The landing impact energy of the flight body is buffered and dissipated under the joint action of the multi-ring intersection air chamber 10, the ellipsoidal air chamber 11, and the aviation wheels 6, and the lossless recovery is completed.

[0058] It is worth noting that the wireless signal reception and calculation in step one is always a real-time process, that is, the aerial position and speed of the flight body are updated every second. The main difference between steps two and four is the frequency of the landing point position received by the mobile platform intelligent driving module. In the early stage of work, the aerial height of the flight body is high, and the falling trajectory is greatly affected by external factors, so the landing point is received discontinuously, which is called a corrective movement process. As the height of the flight body continuously decreases, the stability of the falling trajectory gradually increases, and the change amplitude of the landing point position gradually decreases. As the landing process approaches, the deployment position of the buffering platform should gradually be accurate, so the time change law Δt = [Δt1, Δt2…Δt n ] presents a trend of gradually decreasing from large to small. When the height of the flight body decreases to 200 m, the corrective movement process ends, and the adaptive movement process begins. The mobile platform intelligent driving module starts to receive the landing point in real time, that is, the frequency of the landing point position becomes one per second.

[0059] For the flight body trajectory tracking calculation module, the position tracking algorithm and landing point correction program are as follows:

[0060] The flight body opens the parachute at t0 and enters the deceleration and descent process. This module receives the speed v0 = (v x0 , v y0 , v z0 ) and aerial position P0 = (x0, y0, z0) of the flight body relative to the ground at t0 in real time through wireless communication signals. During the deceleration and descent process, the recovery-type flight body is affected by its own gravity and air resistance, and its dynamics equation is:

[0061]

[0062] where c is the wind resistance coefficient, p is the air density, s is the windward area, and 0 and g are the angles between the flight body relative ground speed v and air speed v c z c , The relative ground speed v and air speed v c are measured by the flight body's own instruments and returned to the module. Therefore, at time t0, the module calculates the ideal falling trajectory P i -t of the flight body for this task and the ideal landing point position P i,g , and stores the information.

[0063] At time t0+1, the flight body trajectory tracking calculation module receives the real-time position of the flight body as P1=(x1',y1',z1'). By comparing the same air position P i =(x1,y1',z1) at the height of y1' in the ideal falling trajectory P iy' -t, the trajectory deviation Ae=(Ax,Az)=(x1'-x1,z1'-z1) is obtained. Considering the trajectory change caused by this error, the landing point position P i,g at the previous time is corrected, and the landing point correction is updated as P g，1 . The correction relationship is:

[0064] P g,m =P g,m-1 +a1Ax+b1Ax 2 +c1Ax 3 +a2Az+b2Az 2 +c3Az 3

[0065] Therefore, the landing point position is corrected based on the real-time deviation at each time, and is updated at a frequency of seconds from time t0, in turn as [P i,g ,P g,1 ,P g,2 ,...P g,m ,...P g,n ]. Due to the uncertainty of factors such as random wind field, weather changes, air properties, and flight body configuration, the coefficients a1, b1, c1, a2, b2, c2, etc. in the correction relationship have no specific numerical value, which will be determined according to the fitting results of the specific task before the launch test and numerical simulation.

[0066] ​​The above specific embodiments are further descriptions of the purposes, technical solutions and beneficial effects of the present application, and should not be understood as limitations of the present application. Any modifications, improvements, equivalent replacements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for operating an unmanned adaptive mobile landing buffer platform, characterized in that: The buffer platform includes a multi-ring inverted cone airbag, a high-pressure gas cylinder, an inflation hose, an integrated platform, and an intelligent driving system. Under the control of the intelligent driving system, the high-pressure gas cylinder inflates the multi-ring inverted cone airbag through the inflation hose, causing the multi-ring inverted cone airbag to be inflated and deployed. The working method includes the following steps: Step 1: After the aircraft reaches the predetermined altitude, At the same time, the parachute is opened at the same time, and the slowdown landing process begins. At the same time, the built-in flight trajectory tracking calculation module of the intelligent driving system starts to capture the air position of the flight object in real time, and receives the flight object's position in real time. Speed ​​relative to the ground at any moment and aerial position , and based on this, the ideal falling trajectory of the flying object is calculated And the ideal landing position ; Step 2, in At this moment, the intelligent driving module of the mobile platform built into the intelligent driving system starts to operate, driving the buffer platform to the ideal landing point. Move; change according to the preset time interval ,exist At this moment, the intelligent driving module of the mobile platform receives the latest corrected landing position again , and drives the buffer platform to move; Step 3: After n corrective maneuvers, when the aircraft's altitude drops below 200 meters, the airbag inflation control module in the intelligent driving system begins operating, opening all one-way valves and inflating the airbag with high-pressure gas cylinders. The multi-ring inverted cone airbag rapidly fills and deploys. Step 4: After the airbag is inflated and deployed, the airbag inflation control module sends an electrical signal to close all one-way valves, and the inflation process ends; at the same time, the mobile platform intelligent drive module continues to receive the landing point position in real time and drives the platform to move adaptively in real time; In step 5, the platform finally achieves precise support for the flying object, and uses the airbag compression and exhaust to buffer and dissipate the landing impact, completing the lossless recovery of the flying object.

2. The operating method of the unmanned adaptive mobile landing buffer platform according to claim 1, characterized in that: Time change pattern It shows a trend of changing from large to small.

3. The operating method of the unmanned adaptive mobile landing buffer platform according to claim 1, characterized in that: In the flight trajectory tracking calculation module, the position tracking algorithm is as follows: the module receives the flight trajectory of the flight object. The velocity and position in the air relative to the ground at any moment, during the deceleration and landing process, the dynamic equation of the flying body is: ， Where, is the drag coefficient, is the air density, is the windward area, and is the speed of the flying body relative to the ground and airspeed The angle between , , , ; Relative ground speed and airspeed All are measured by the aircraft's own instruments and returned to the module; At this moment, the module calculates the ideal descent trajectory and ideal landing point of the flight object in this mission and stores the information.

4. The operating method of the unmanned adaptive mobile landing buffer platform according to any one of claims 1 to 3, characterized in that: In the flight trajectory tracking calculation module, the landing point correction method is: At this moment, the trajectory tracking calculation module receives the real-time position of the flying object, and compares it with the aerial position at the same height in the ideal falling trajectory to obtain the trajectory deviation, and calculates the landing point position at the previous moment. Make corrections, and update the landing point correction to , expressed as: ， Where, is the uncertainty coefficient, which is determined by fitting the launch test and numerical simulation results before the execution of the specific task.

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