A rocket-assisted launching system for unmanned aerial vehicles

Abstract

The application relates to the technical field of unmanned aerial vehicle launching, and discloses a rocket-assisted launching system for unmanned aerial vehicles, which comprises a launching device and a rocket-assisted assembly. The launching device is provided with an angle adjusting mechanism composed of an inclination sensor, a controller and an electrically-driven supporting leg assembly, and can automatically adjust the launching inclination; front and rear supports are hinged through a push rod and used for supporting the unmanned aerial vehicle body and wings; a locking mechanism is connected with a constant force rod and a pull-off pin, and realizes automatic unlocking through push force triggering; and the rocket-assisted assembly transmits the push force through a jacking rod and a push seat. The system can realize real-time sensing of the posture based on an inertial measurement unit, supports roll compensation control, can complete leveling and angle setting in one key on a non-horizontal ground, and can realize synchronous dumping of the front and rear supports after launching, so that the flight channel is ensured to be unobstructed. The scheme realizes rapid deployment, high-precision angle adjustment and safe release, and significantly improves the reliability and response efficiency of the unmanned aerial vehicle launching on complex terrains.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle launching, and in particular to a rocket-assisted launching system for unmanned aerial vehicles. BACKGROUND

[0002] Unmanned aerial vehicles are widely used in fields such as civilian surveying and mapping and logistics transportation. In particular, for medium and large unmanned aerial vehicles with relatively large weight, takeoff usually relies on runways or auxiliary launching devices. In the absence of runways or under complex terrain conditions, rocket-assisted takeoff (RATO) is an important means to achieve short or zero-length takeoff. Currently, existing rocket-assisted launching devices usually need to have two basic functions to achieve an ideal launching trajectory: first, to provide a stable support base for the launching device; and second, to adjust the unmanned aerial vehicle to an appropriate launch angle. For example, Chinese Utility Model Patent CN212605876U discloses a rocket fixing structure for an unmanned aerial vehicle launching device, which involves angle adjustment, but the adjustment method is still at the level of manual or mechanical fine adjustment. For complex field environments such as unknown slopes and other non-horizontal positions, it is often necessary to first manually assess the launch angle offset and then adjust the angle. The adjustment amount is often not accurate enough, which can easily cause launching failures and fail to solve the fundamental problem of quickly, accurately, and automatically setting the launch angle on unknown slopes. For example, Chinese Invention Patent CN119408777A discloses an adjustable launching rack for rocket-assisted unmanned aerial vehicles. The inclination adjustment uses a scheme of first horizontal adjustment and then angle adjustment. Although this scheme can first level the horizontal and then launch in complex field environments, the two independent adjustment steps double the operation time, which seriously reduces the deployment efficiency and does not meet the needs of rapid deployment in the field. Therefore, the launching devices in the prior art have not effectively solved the technical problem of quickly, accurately, and automatically setting the launch angle in non-horizontal initial terrain. This seriously restricts the deployment efficiency and launch reliability of medium and large unmanned aerial vehicles in completely unsupported field environments. SUMMARY

[0003] The present application discloses a rocket-assisted launching system for unmanned aerial vehicles to solve the technical problems of low deployment efficiency in complex environments and poor launch reliability of existing unmanned aerial vehicle auxiliary launching devices in related technologies.

[0004] To solve the above problems, the present application adopts the following technical solutions:

[0005] The unmanned aerial vehicle rocket boost launch system comprises a launching device and a rocket booster assembly; the launching device comprises a launching frame serving as the main support structure of the system, and the rocket booster assembly is installed on the launching frame; an angle adjusting mechanism is arranged at the front of the launching frame and comprises an inclination sensor, a controller and an electric leg assembly; the inclination sensor is arranged on the launching frame and is parallel to the horizontal plane in the initial state; the controller is signal-connected with the inclination sensor, and the electric leg assembly is electrically connected with the controller and can be extended and retracted according to the control signal of the controller to adjust the inclination of the launching device.

[0006] As a preferred embodiment, the electric leg assembly comprises two electric front legs arranged at the front of the launching frame, and the rear of the launching frame is supported by rear legs of a fixed height; wherein the electric front leg comprises a telescopic front leg composed of an inner layer profile and an outer layer sleeve, and a separately arranged driving motor, and the outer layer sleeve is provided with a fixing member for fixing the relative position of the inner layer profile and the outer layer sleeve after the angle adjustment is completed.

[0007] As a preferred embodiment, the inclination sensor is an inertial measurement unit, and the controller is provided with a control algorithm which compensates the roll angle in the real-time absolute attitude into the independent control instruction of the driving motor.

[0008] As a preferred embodiment, the unmanned aerial vehicle rocket boost launch system further comprises an unmanned aerial vehicle platform support mechanism arranged on the launching frame and comprising a front support for supporting the unmanned aerial vehicle body and a rear support for supporting the unmanned aerial vehicle wing, and the front support and the rear support are hinged through a push rod; the front support and the rear support are arranged on the launching frame through a hinge support.

[0009] As a preferred embodiment, the front support is provided with a conformal support member matched with the shape of the unmanned aerial vehicle body, and the rear support is provided with a wing support plate, and the rear edge of the wing support plate is provided with anti-skid protrusions; a spring is further connected between the rear support and the launching frame, and the elastic force direction of the spring is directed to the front end of the launching frame.

[0010] As a preferred embodiment, the unmanned aerial vehicle rocket boost launch system further comprises a locking mechanism comprising a constant force rod and a pull-off pin, one end of the constant force rod is hinged with the launching frame, and the other end is hinged with the rocket booster assembly through the pull-off pin; the locking mechanism further comprises a safety pin, and the launching frame and the rear support are respectively provided with a sandwich plate and a fixed plate, and the fixed plate can be fixed in the sandwich plate through the detachable safety pin.

[0011] As a preferred implementation, the constant force rod is an adjustable connecting rod with positive and negative threads at both ends, and one end of the constant force rod is connected with the break pin through a fish-eye bearing.

[0012] As a preferred implementation, the rocket booster assembly comprises a rocket booster, a push seat, a jacking rod and a rocket support plate, one end of the push seat is connected with the UAV body through bolts, the other end is connected with the locking mechanism, the push seat is further connected with the thrust end of the rocket booster through the jacking rod, and the rocket support plate is arranged at the rear of the launching frame.

[0013] As a preferred implementation, a jacking mechanism is arranged between the rocket support plate and the launching frame, the jacking mechanism comprises a jacking screw and a support, the support is mounted on the launching frame and the rocket support plate is hinged on the support, the jacking screw abuts against the rocket support plate and can be adjusted in stroke, a tension spring is further connected between the rocket support plate and the jacking mechanism, and the jacking screw and the rocket support plate form a lever structure with the support as the fulcrum.

[0014] As a preferred implementation, the thrust end of the rocket booster is provided with an inner recessed conical surface, and a conical mounting connector is correspondingly arranged at the end of the jacking rod close to the rocket booster to cooperate with the inner recessed conical surface to transmit force.

[0015] The technical solution adopted by the present application can achieve the following beneficial effects:

[0016] The present application provides a UAV rocket booster launching system, which automatically adjusts the launching angle by integrating an inclination sensor and a controller and combining an electric landing leg assembly; the locking mechanism composed of a break pin and a constant force rod is automatically unlocked when the thrust reaches a threshold value; the front and rear supports are linked through a push rod and can be tilted forward synchronously after launching, avoiding obstruction of the flight path. Since the system has attitude sensing capability based on an inertial measurement unit and can compensate the roll angle into the control logic, one-key automatic leveling and angle setting on a non-horizontal ground are realized, automatic and rapid angle positioning according to the specified launching elevation angle preset in the controller is achieved, the angle setting is accurate, and the problem of low deployment efficiency caused by step-by-step leveling and angle adjustment in traditional devices is solved. At the same time, the overall structure is modularized and lightweight, and is matched with conformal support, anti-slip protrusions and spring preloading design, thereby improving the deployment speed, safety and reuse reliability in the field environment. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0018] Figure 1 is a perspective structural schematic view of a UAV rocket booster launching system disclosed by some embodiments of the present application;

[0019] Figure 2 is a side view of a UAV rocket booster launching system disclosed by some embodiments of the present application;

[0020] Figure 3 is Figure 1 is an enlarged view of part A in FIG. 1;

[0021] Figure 4 is Figure 2 is an enlarged view of part B in FIG. 1;

[0022] Figure 5 is a partial structural sectional view of a UAV rocket booster launching system disclosed by some embodiments of the present application;

[0023] Figure 6 is a schematic view of a UAV launching state of a UAV rocket booster launching system disclosed by some embodiments of the present application.

[0024] in the figure:

[0025] 1, UAV rocket booster launching system; 2, UAV;

[0026] 10, launching device; 11, rocket booster assembly; 12, launching frame; 13, angle adjusting mechanism; 14, UAV platform support mechanism; 15, locking mechanism; 16, rocket booster; 17, push seat; 18, top rod; 19, rocket support plate;

[0027] 120, hinge support; 121, sandwich plate; 130, inclination sensor; 131, controller; 132, electric leg assembly; 133, electric front leg; 134, rear leg; 135, fixing piece; 136, driving motor; 137, insertable footing; 140, front support; 141, rear support; 142, push rod; 150, constant force rod; 151, breakaway pin; 152, safety pin; 153, fish eye bearing; 160, concave conical surface; 180, conical mounting joint; 190, jacking mechanism;

[0028] 1300, inner layer profile; 1301, outer layer sleeve; 1400, conformal support; 1410, wing support plate; 1411, anti-skid protrusion; 1412, spring; 1413, fixing plate; 1900, top screw; 1901, support; 1902, tension spring. DETAILED DESCRIPTION

[0029] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0030] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0031] The existing support for complex terrain unmanned aerial vehicle rocket boost launch system in practical application usually adopts step-by-step, manual dominant adjustment strategy: first, "horizontal leveling" must be carried out: by manually rotating a plurality of supporting feet, and relying on the operator to observe the level, the base of the entire launcher is adjusted to a horizontal state. This process is extremely time-consuming and laborious on rugged terrain, and the accuracy completely depends on the experience and eyesight of the operator. Then, "angle adjustment" is carried out: on the horizontal base, another independent angle adjustment mechanism is used to adjust the pitch angle of the launch platform to meet the preset launch angle.

[0032] However, the inventors of this application, through in-depth research, discovered that this traditional "leveling first, then angle adjustment" model has the following inherent defects: Low deployment efficiency: Two independent adjustment steps double the operation time, failing to meet the stringent requirements of "rapid deployment" in modern battlefields or emergency responses. Finding a horizontal reference point is already extremely difficult in complex terrain. Complex operation and high professional requirements: Operators need to simultaneously manage level calibration and angle setting, resulting in a cumbersome process, prone to errors, and high training costs. Difficulty in guaranteeing accuracy: Any minute error generated in the initial "leveling" step will be directly transmitted and accumulated in the final launch angle, causing the actual launch angle to deviate from the expected value, affecting takeoff safety and mission success rate. Functional redundancy and structural complexity: To achieve two sets of adjustment functions, the launcher must integrate two independent adjustment mechanisms (such as leveling feet and pitch screws), resulting in a complex overall structure and increased weight, contradicting the lightweight and portable requirements for field use.

[0033] Therefore, this application proposes a rocket-assisted launch system for unmanned aerial vehicles (UAVs).

[0034] The following is in conjunction with the appendix Figures 1 to 6 The present application provides a detailed description of a drone rocket booster launch system 1 through specific embodiments and application scenarios.

[0035] The present invention provides a rocket-assisted launch system 1 for unmanned aerial vehicles (UAVs), comprising a launch device 10 and a rocket booster assembly 11. The launch device 10 includes: a launch frame 12, constituting the main support structure of the system; and an angle adjustment mechanism 13, located at the front of the launch frame 12, including a tilt sensor 130, a controller 131, and an electric outrigger assembly 132. The tilt sensor 130 is mounted on the launch frame 12, and in the initial state, the tilt sensor 130 and the launch frame 12 are parallel to the horizontal plane. The controller 131 is signal-connected to the tilt sensor 130, and the electric outrigger assembly 132 is electrically connected to the controller 131, and can extend and retract according to the control signal from the controller 131 to adjust the tilt angle of the launch device 10. The support mechanism 14 is mounted on the launch frame 12 and includes a front support 140 for supporting the UAV fuselage and a rear support 141 for supporting the UAV wings. The front support 140 and the rear support 141 are hinged together by a push rod 142. The locking mechanism 15 includes a retaining rod 150 and a break pin 151. One end of the retaining rod 150 is hinged to the launch frame 12, and the other end is hinged to the rocket booster assembly 11 via the break pin 151. The rocket booster assembly 11 is mounted on the launch frame 12 and includes a rocket booster, a thrust base 17, and a push rod 18. One end of the thrust base 17 is connected to the UAV fuselage by bolts, and the other end is connected to the locking mechanism 15. The thrust base 17 is also connected to the thrust end of the rocket booster via the push rod 18.

[0036] It can be understood that the present application provides a whole technical scheme of the unmanned aerial vehicle rocket booster launch system 1, which realizes the zero-length launch support of a medium-large fixed-wing unmanned aerial vehicle under the condition of not relying on external auxiliary facilities by integrating the launching device 10 and the rocket booster assembly 11. The system adopts modular design, has the characteristics of compact structure, flexible deployment and high automation, and is suitable for unmanned aerial vehicle rapid take-off and landing tasks in various complex scenes such as military reconnaissance, emergency response and border patrol. Among them, the launching frame 12 is the bearing basis of the whole system, and bears the installation and mechanical transmission functions of all subsystems; the angle adjusting mechanism 13 realizes the automatic setting of the launch angle; the unmanned aerial vehicle platform support mechanism 14 ensures that the unmanned aerial vehicle is stably supported before launch and adapts to its aerodynamic shape; the locking mechanism 15 ensures that the system is in a reliable locked state before ignition; and the rocket booster assembly 11 is responsible for providing the main thrust required for take-off, and efficiently transmitting the thrust to the unmanned aerial vehicle body through a mechanical interface.

[0037] Among them, the launching frame 12 is an overall truss structure spliced from high-strength aluminum alloy profiles, has the advantages of light weight, high stiffness and easy disassembly and transportation, and can withstand the transient impact load and continuous thrust generated when the rocket is ignited. The frame constitutes the main support structure of the system, provides the installation reference surface and mechanical fulcrum for the angle adjusting mechanism 13, the unmanned aerial vehicle platform support mechanism 14 and the locking mechanism 15, and ensures the stable and reliable relative position between the components.

[0038] Specifically, the angle adjusting mechanism 13 is arranged at the front of the launching frame 12 and is used for realizing automatic and accurate adjustment of the launch angle. The mechanism includes an inclination sensor 130, a controller 131 and an electric leg assembly 132, which form a closed-loop control system. The inclination sensor 130 is installed at the top of the launching frame 12 or near the center of gravity. In the initial state, the inclination sensor 130 and the launching frame 12 are parallel to the horizontal plane, and in the initial state, the inclination sensor 130 is zeroed. After that, the real-time acquisition device collects the absolute attitude information in the three-dimensional space, especially the pitch angle data. The controller 131 receives the attitude signal from the inclination sensor 130 and calculates the required extension stroke of the front electric leg according to the preset target launch angle. The electric leg assembly 132 performs extension and retraction action under the driving of the electric signal output by the controller 131, so as to change the height of the front end of the launching frame 12 and complete the angle adjustment. This process does not require manual intervention and can complete the angle setting on different inclined ground at one time, greatly improving the field deployment efficiency.

[0039] Specifically, the unmanned aerial vehicle platform support mechanism 14 is arranged on the launching frame 12 and is used for stably supporting the unmanned aerial vehicle in a launching preparation stage; the mechanism includes a front support 140 and a rear support 141, the front support 140 is used for supporting a key stress area below a machine body of the unmanned aerial vehicle, and the rear support 141 is used for supporting a wing section, and the two are hingedly connected through a rigid push rod 142. The structure design enables the front and rear supports 141 to move coordinately at a launching moment: when the rocket is ignited, the unmanned aerial vehicle moves forward at a high speed, a forward friction force is generated between the wing and the rear support 141, the rear support 141 is tilted forward around a hinge point, the movement is transmitted to the front support 140 through the push rod 142, the front support 140 is tilted synchronously, and thus the overall folding of the support structure is realized, the launching channel is timely released, and collision interference with a flight track is prevented.

[0040] Specifically, the locking mechanism 15 is used for firmly connecting the rocket booster assembly 11 and the launching frame 12 before launching, to prevent the system from loosening due to wind load, vibration or accidental touch. The mechanism mainly includes a constant force rod 150 and a break pin 151: one end of the constant force rod 150 is hingedly connected to the launching frame 12, and the other end is connected to the push seat 17 on the rocket booster assembly 11 through the break pin 151. The constant force rod 150 can exert a pre-tightening force, so that the whole system is in a tension state, and the unmanned aerial vehicle is kept stable in a standby stage; and the break pin 151 is a key safety unlocking element, the breaking strength of which is accurately calibrated and is set to be slightly higher than the weight of the unmanned aerial vehicle but lower than an initial thrust threshold of the rocket after ignition. When the rocket is ignited and reaches the predetermined thrust, the break pin 151 is broken instantaneously, the thrust transmission path is released, automatic unlocking is realized, and a sliding program is started.

[0041] Further, the rocket booster assembly 11 is installed on the launching frame 12 and is a core component for providing take-off power. The assembly includes a rocket booster 16, a push seat 17 and a top rod 18. The rocket booster 16 usually adopts a solid fuel propeller and has characteristics of high specific impulse, fast response and stable storage; the push seat 17 is directly connected to a structure interface reserved in the machine body of the unmanned aerial vehicle through standard bolts, without the need of structural modification of the machine body, and the integrity of the original aerodynamic shape is maintained; the top rod 18 is connected to the push seat 17 at one end and is inserted into a recessed conical surface in a thrust end of the rocket booster at the other end, to form a reliable conical surface matching force transmission structure and ensure that the thrust is effectively transmitted to the unmanned aerial vehicle along an axial direction.

[0042] It can be understood that the above components cooperate with each other to complete the whole process from site layout, angle adjustment, unmanned aerial vehicle loading, system locking to automatic ignition and launching. Specifically, for example, in a certain field emergency mapping task, the operator deploys the system in a slightly inclined mountainous area. After starting the angle adjustment mechanism 13, the tilt sensor 130 detects that the current ground has a 3° lateral slope and a 2° longitudinal negative inclination. The controller 131 automatically calculates the corresponding lengthening of the front electric legs in combination with the target launch angle of 16°, and drives the motor to complete the adjustment. Then hoist the unmanned aerial vehicle into position, install the rocket booster and apply pre-tightening force through the constant force rod 150, insert the break pin 151 to complete locking. After all the checks are completed and the personnel are evacuated, send the ignition command remotely, the rocket ignites instantly to generate thrust, which exceeds the designed breaking load of the break pin 151, and the break pin 151 immediately breaks, the system is unlocked, and the unmanned aerial vehicle starts to accelerate under the boost. At this time, the wings generate forward friction force on the rear support 141, overcoming the spring resistance, driving the rear support 141 to tilt forward, and through the push rod 142 linkage, the front support 140 is folded synchronously, and the whole support mechanism is completed in 0.5 seconds. The folding completely avoids the flight path.

[0043] Further, the electric leg assembly 132 includes two electric front legs 133 arranged at the front of the launch frame 12, and the rear of the launch frame 12 is supported by a rear leg 134 of fixed height; wherein the electric front leg 133 includes a telescopic front leg composed of an inner layer profile 1300 and an outer layer sleeve 1301, and a separately arranged driving motor 136, and the outer layer sleeve 1301 is provided with a fixing piece 135 for fixing the relative position of the inner layer profile 1300 and the outer layer sleeve 1301 after the angle adjustment is completed.

[0044] Specifically, the electric leg assembly 132 is specifically configured as two electric front legs 133 symmetrically arranged on both sides of the front of the launch frame 12. This bilateral arrangement can provide uniform support force distribution during adjustment, avoiding the risk of frame distortion or overturning due to single-point force. Each electric front leg 133 adopts a telescopic structure composed of an inner layer profile 1300 and an outer layer sleeve 1301, forming a linear telescopic motion unit. The inner layer profile 1300 can slide axially inside the outer layer sleeve 1301, thereby changing the overall length of the leg and adjusting the height of the front end of the launch frame 12, realizing continuous change of the launch angle. The telescopic structure can be made of high-strength aluminum alloy material, taking into account light weight and carrying capacity, while meeting the structural rigidity, facilitating transportation and on-site assembly.

[0045] Specifically, the driving motor 136 is independently arranged and in transmission connection with the inner profile 1300 as a power source to drive the inner profile 1300 to stably extend or retract. The driving motor 136 receives an electrical signal instruction from the controller 131, automatically performs an extension and retraction action according to a preset target elevation angle, and realizes accurate angle adjustment under closed-loop control. Since each electric front leg 133 is provided with an independent driving motor 136, the system has differential adjustment capability, that is, the two side legs can be asymmetrically extended and retracted, which reserves an execution basis for subsequent introduction of roll angle compensation function.

[0046] Specifically, the outer sleeve 1301 is provided with a fixing member 135 for locking the relative position between the inner profile 1300 and the outer sleeve 1301 after the angle adjustment is completed. The fixing member 135 can be selected as a locking screw, a pin shaft type positioning pin or a hydraulic clamping device.

[0047] Specifically, the rear part of the launching frame 12 is supported by the rear leg 134 with a fixed height, forming a support layout of “front moving and rear fixing”. This design simplifies the overall structural complexity, reduces the manufacturing cost and maintenance difficulty, and reduces the number of degrees of freedom to be controlled, which is beneficial to improve the system response speed and reliability.

[0048] As can be understood, through the above arrangement, the electric and accurate adjustment of the elevation angle of the launching device 10 is realized. Since the double-sided independent driving telescopic front leg structure is adopted, and the mechanical locking mechanism after adjustment is matched, the problems of traditional manual adjustment mode such as complicated operation, low precision and easy to be affected by human factors are solved. In actual use, when the launching device 10 is arranged on a slightly inclined ground, the operator starts the control system, and the two side electric front legs 133 can be synchronously elongated or shortened according to the instruction, quickly adjust the launching frame 12 to the predetermined elevation angle range, and then complete the locking through the fixing member 135. The whole process does not need manual measurement and repeated calibration, which significantly improves the operation efficiency and consistency of launch preparation. The structure not only enhances the adaptability of the system to complex terrain, but also provides a good hardware foundation for subsequent integration of intelligent attitude compensation function.

[0049] Specifically, in order to improve the launch stability, the electric front leg 133 and the rear leg 134 are also provided with a plug-in type footing 137 for quick and convenient complex deployment in the field.

[0050] Further, the inclination sensor 130 is an inertial measurement unit, and the controller 131 is provided with a control algorithm, which calculates the roll angle compensation in the real-time absolute attitude into the independent control instruction of the driving motor.

[0051] Specifically, the inertial measurement unit (IMU) is a multi-sensor fusion device that can simultaneously collect three-axis acceleration and three-axis angular velocity information, and is usually composed of a micro-electro-mechanical system (MEMS) accelerometer, a gyroscope, and an optional magnetometer. The IMU is installed at the top center area of the launch frame 12 or a key position with high structural rigidity to ensure that the measured attitude data truly reflects the spatial orientation of the entire launch device 10. By integrating a digital signal processing module, the IMU can output high-precision pitch, roll, and yaw absolute attitude parameters, with the advantages of fast response speed, strong anti-interference ability, long-term stability, and suitability for real-time attitude monitoring tasks in complex electromagnetic environments in the field.

[0052] Specifically, the controller 131 is an embedded master control unit that establishes a bidirectional data link with the IMU through a standard communication interface (such as SPI or CAN bus) and continuously receives attitude sampling values from the IMU. The controller 131 internally runs a dedicated control algorithm that is designed based on closed-loop feedback principles to analyze real-time three-dimensional attitude information provided by the IMU and incorporate the roll angle as a dynamic compensation factor into the control logic of the drive motors in the electric leg assembly 132. Specifically, the algorithm uses angular velocity data measured by the gyroscope as a short-term reference and the gravity acceleration vector measured by the accelerometer as a long-term reference, filters out high-frequency vibration interference and low-frequency drift errors through frequency domain complementation or time domain optimal estimation, and finally outputs stable and accurate real-time pitch and roll angles. Then, the controller 131 determines the target extension amount of each electric leg through spatial geometric solving based on the real-time absolute attitude and the target launch angle to directly adjust the launch frame 12 from any slope attitude to the target launch attitude. During the adjustment process, the controller 131 uses a closed-loop control algorithm, preferably a PID control algorithm, to dynamically adjust the output of the drive motors based on the deviation between the target extension amount of each leg and the real-time feedback extension amount until the attitude deviation and the extension amount deviation are within the pre-set tolerance range.

[0053] Specifically, the inertial measurement unit (IMU) collects real-time three-dimensional acceleration (ax, ay, az) and three-dimensional angular velocity (ωx, ωy, ωz) of the launch frame, with a sampling frequency of 50 Hz, which balances real-time performance and data stability. The collected raw data is filtered using a sliding average filter (window size of 5 sampling points) to suppress high-frequency noise interference caused by wind load and structural vibration, ensuring reliable attitude data.

[0054] The algorithm fuses the accelerometer and gyroscope data of the IMU by using complementary filtering: first, the gyroscope is integrated to obtain the initial attitude angle; then, the accelerometer is used to calculate the attitude angle based on the gravity vector; finally, the above-mentioned complementary filtering is used to obtain the fused attitude angle.

[0055] In the embodiment, the allowable deviation of the attitude angle is set to ±0.1°, and the allowable deviation of the leg extension amount is set to ±0.2 mm; in a specific application scenario, the deviations can also be set according to the controller 131, which is not limited herein.

[0056] Specifically, when the system is deployed on a ground surface with a transverse slope, even if the initial heights of the left and right legs of the front support 140 are the same, the ground inclination will cause the launch frame 12 to have a non-zero roll angle, which will affect the accuracy of subsequent pitch angle setting. At this time, the controller 131 identifies the current roll angle deviation through an algorithm, and calculates the different extension strokes required for the left and right electric front legs 133 in combination with the target launch pitch angle requirement, to generate differentiated motor driving instructions, thereby realizing integrated automatic adjustment of the transverse leveling and longitudinal pitch angle setting of the launch frame 12.

[0057] In some specific embodiments, for example, if it is detected that the left side of the ground is lower than the right side, forming a positive roll angle of +3°, the controller 131 will issue instructions to relatively lengthen the left electric front leg 133 and appropriately shorten the right electric front leg 133 until the roll angle is zero; on this basis, the pitch angle adjustment action is continued to be performed, to ensure that the final launch trajectory not only meets the preset pitch angle (such as 16°), but also remains in the horizontal reference plane without lateral inclination. This process does not require manual intervention and does not require step-by-step operation, significantly improving the deployment efficiency and attitude consistency on non-horizontal terrain.

[0058] As can be understood, the complete spatial attitude information of the launch device 10 is obtained by using a high-precision inertial measurement unit, and the roll angle deviation is taken as a compensation variable and integrated into the independent control instructions of the driving motor by using an intelligent control algorithm, so that the left and right electric front legs 133 can cooperatively complete the synchronous adjustment of the transverse leveling and longitudinal pitch angle setting. Since the system can eliminate the pitch and roll errors caused by the ground inclination in one adjustment process, the problem of repeated calibration in the traditional “leveling first, then adjusting the angle” mode is avoided, thereby effectively solving the technical problem of difficult rapid establishment of an accurate launch attitude on an unknown inclination terrain, and achieving the technical effects of improving the launch preparation efficiency, enhancing the controllability of the flight trajectory, and enhancing the safety of the operation.

[0059] Further, the front support 140 and the rear support 141 are arranged on the launch frame 12 through the hinge support 120.

[0060] The front support 140 and the rear support 141 are respectively installed on the launching frame 12 through independent hinge supports 120, which are rotation support structures and allow the front support 140 and the rear support 141 to rotate around a horizontal axis in a vertical plane with one degree of freedom. The hinge support 120 is composed of a pair of symmetrically arranged ear plates and a rotating shaft penetrating between the ear plates. The ear plates are fixed to the side beams or cross beams of the launching frame 12, and the rotating shaft is rotatably connected to the through holes in the ear plates. The columnar parts of the front support 140 and the rear support 141 are fixed to the rotating shaft through connecting pieces, so as to realize the tiltable assembly of the supports relative to the launching frame 12.

[0061] It can be understood that the hinge support 120 enables the front support 140 and the rear support 141 to have necessary rotation freedom. After the rocket booster 16 is ignited and the pin 151 is broken, the unmanned aerial vehicle 2 starts to accelerate and slide, and the wings generate forward friction force between the wing support plates 1410 of the rear support 141, so as to drive the rear support 141 to tilt forward around the hinge support 120. At the same time, the push rod 142 connecting the front support 140 and the rear support 141 is pressed, so as to drive the front support 140 to tilt forward synchronously. During the whole process, the hinge support 120 serves as a rotation fulcrum, so as to ensure the stability and timeliness of the movement of the supports and avoid the phenomenon of jamming or stress concentration caused by rigid fixation.

[0062] In addition, the structure enables the front support 140 and the rear support 141 to be rotatably installed on the launching frame 12 and has dynamic avoidance capability. Since the front support 140 and the rear support 141 are connected through the hinge support 120, they can quickly complete the tilting action after being stressed at the moment of launching, timely clear the flight path of the unmanned aerial vehicle 2, effectively avoid the risk of collision with aerodynamic surfaces such as propellers and tail wings, and improve the safety and reliability of the launching process. The structure design is simple and rapid in response, and is suitable for rapid deployment tasks of various medium and large fixed-wing unmanned aerial vehicles 2 in complex terrain conditions.

[0063] Further, the front support 140 is provided with a conformal support 1400 matched with the shape of the fuselage of the unmanned aerial vehicle 2, and the rear support 141 is provided with a wing support plate 1410, the rear edge of the wing support plate 1410 is provided with anti-skid protrusions 1411. The rear support 141 and the launching frame 12 are further connected with a spring 1412, and the elastic force direction of the spring 1412 is directed to the front end of the launching frame 12.

[0064] Specifically, the conformal support 1400 on the front support 140 is used to realize the surface contact support of the unmanned aerial vehicle 2 body. The conformal support 1400 is designed according to the specific body surface profile of the target unmanned aerial vehicle 2, can closely fit the lower surface of the body, significantly increase the support contact area, and avoid the problem of local stress concentration caused by point or line contact. Further, the conformal support 1400 is made of a foam board material with light weight and good cushioning performance, such as closed-cell polyethylene foam or polyurethane foam, with a density range of 30-80 kg / m³, and the thickness is determined according to the actual load distribution, usually between 20-50 mm. This structure not only has good mechanical adaptability, but also can absorb part of the impact energy during hoisting to protect the unmanned aerial vehicle 2 body structure. As an optional embodiment, the conformal support 1400 can also be replaced by a flexible support pad composed of a silica gel layer and an elastic fabric, which is suitable for multi-model quick switching scenes, and can be replaced and adapted to unmanned aerial vehicles 2 with different aerodynamic shapes through modularization.

[0065] The wing support plate 1410 provided on the rear support 141 is used to lift the main wing of the unmanned aerial vehicle 2, and ensure that the wing is in a stable force-bearing state before take-off. The upper surface of the wing support plate 1410 is a plane or a micro-arc structure, which matches the shape of the lower surface of the wing of a typical medium-large fixed-wing unmanned aerial vehicle 2, and improves the support stability. In particular, a anti-skid protrusion 1411 extending upward is arranged at the rear edge of the wing support plate 1410, and the height of the protrusion is 10-30 mm, which can effectively prevent the unmanned aerial vehicle 2 from sliding backward due to wind disturbance, ground slope or engine vibration in the standby state. The anti-skid protrusion 1411 can be a metal welded part or an integrally formed reinforcing rib structure, which can be made of aluminum alloy or engineering plastic and has a certain elastic deformation ability, which can not only provide a blocking effect, but also smoothly give way when the unmanned aerial vehicle 2 starts to taxi, to avoid jamming.

[0066] Specifically, the spring 1412 is connected between the rear support 141 and the launch frame 12, and the spring 1412 is arranged along the axial direction of the launch frame 12, and the elastic force direction always points to the front end of the frame, that is, towards the head direction of the unmanned aerial vehicle 2. The spring 1412 is in a pre-stretched state after the system is installed, and stores a certain elastic potential energy. When the rocket booster 16 is ignited and reaches a predetermined thrust, the pull-off pin 151 is broken, and the locking mechanism 15 is released. At this time, the unmanned aerial vehicle 2 starts to accelerate and move forward. As the friction force between the wing and the wing support plate 1410 gradually overcomes the static friction threshold, the rear support 141 tends to tilt forward around its hinge support 120, and the spring 1412 provides auxiliary driving force in this process, accelerates the response speed of the rear support 141 to tilt, and ensures that it quickly leaves the flight envelope; in addition, after the launch task is completed, the spring 1412 can also assist the rear support 141 to recover to the initial vertical attitude in the reset operation, which is beneficial to the reuse and rapid redeployment of the system.

[0067] It can be understood that, through the above structural design, the unmanned aerial vehicle 2 fuselage and the wing are non-invasively and highly adhered, without the need to add a special connecting structure on the fuselage; meanwhile, the anti-slip protrusion 1411 prevents static slip and ensures safety before launch; and the spring 1412 preloading mechanism enhances the dynamic response capability of the rear support 141, so that it can quickly tilt forward after the rocket thrust is started, and timely clear the flight path. Therefore, the embodiment effectively solves the problems of unstable support, easy slip and slow support action in the prior art, improves the safety and automation level of the launching process, and is especially suitable for the rapid and zero-length take-off task of the medium and large fixed-wing unmanned aerial vehicle 2 in the field without runway.

[0068] Further, the locking mechanism 15 further comprises a safety pin 152, and the launch frame 12 and the rear support 141 are respectively provided with a sandwich plate 121 and a fixed plate 1413, and the fixed plate 1413 can be fixed in the sandwich plate 121 through the detachable safety pin 152.

[0069] Specifically, the locking mechanism 15 adds a safety pin 152 as an auxiliary locking element on the basis of the original constant force rod 150 and the pull-off pin 151 to realize the main locking function, which is used to prevent the rear support 141 from accidentally falling during the system assembly stage. The safety pin 152 is a detachable mechanical bolt structure, usually made of high-strength alloy steel, which has sufficient shear strength to withstand abnormal external forces; the sandwich plate 121 is provided on the launch frame 12 and is composed of two parallel metal plates to form a containing space; the fixed plate 1413 is located on the rear support 141, and its thickness matches the gap between the sandwich plate 121, when the rear support 141 is in a vertical support state, the fixed plate 1413 can be accurately embedded between the sandwich plate 121, and after the two are aligned, a through hole is formed for the safety pin 152 to pass through and lock.

[0070] Specifically, the installation position of the safety pin 152 is close to the hinged support point area of the rear support 141, which can effectively limit the rotational motion of the rear support 141 relative to the launch frame 12 in the direction of freedom. Since the rear support 141 is connected to the launch frame 12 through the hinge support 120, it may have a tendency to tilt forward during the hoisting process of the unmanned aerial vehicle 2 due to the shift of the center of gravity, wind disturbance or human touch, and the presence of the safety pin 152 can physically block this rotation path, thereby avoiding the support mechanism from being unlocked or falling in advance, and ensuring the personal safety and equipment integrity of the on-site operators.

[0071] Further, the constant force rod 150 is an adjustable connecting rod with positive and negative threads at both ends, and one end of the constant force rod 150 is connected with the pull-off pin 151 through a fish-eye bearing 153.

[0072] Specifically, the constant force rod 150, as the key force transmission component of the locking mechanism 15, bears the function of exerting pre-tightening force on the entire UAV platform before launch. Its structural design directly affects the assembly adaptability, stress uniformity, and reliability of long-term use of the system. The constant force rod 150 is set as an adjustable connecting rod with positive and reverse threads at both ends, allowing the operator to continuously fine-tune the length by rotating the rod body, thereby accurately controlling the pre-tightening degree in the locking system, ensuring a stable and reliable compression state between the front and rear supports and the UAV 2 fuselage, and avoiding abnormal displacement or vibration before ignition due to initial looseness. At the same time, a fisheye bearing 153 is introduced at one end of the constant force rod 150 as the connection mode with the pull-off pin 151, giving the connection node multiple degrees of freedom of swinging, which can effectively absorb and compensate the axis misalignment caused by processing errors, assembly deviations, or frame deformation, reduce the generation of additional bending moments, make the pull-off pin 151 mainly bear axial tension, and improve the consistency and reliability of its fracture response.

[0073] It can be understood that "two ends with positive and reverse threads" means that the two threaded ends of the constant force rod 150 have opposite rotation directions, i.e., one end is right-handed thread and the other end is left-handed thread, and the middle is connected by a section of unthreaded rod body or adjusting nut to form an integral adjustable connecting rod. When the length needs to be adjusted, only the rod body needs to be rotated, and the two threads on both sides will synchronously elongate or shorten by the same amount, achieving equal-distance bidirectional adjustment, which not only improves the adjustment efficiency but also ensures the symmetrical stress of the connection point. This structure is particularly suitable for application scenarios that require high-precision pre-tightening force control but have limited space. Alternatively, the positive and reverse thread sections can be made of high-strength alloy steel and surface galvanized or blackened to enhance corrosion resistance; or they can be replaced by adjusting rod structures with external threads at both ends and double-nut locking, which has slightly lower adjustment efficiency but higher structural stiffness and shear resistance, suitable for alternative solutions in high-thrust working conditions.

[0074] Specifically, the fisheye bearing 153 is installed at the connection end between the constant force rod 150 and the pull-off pin 151, serving as a flexible transition element that can automatically adjust the attitude in the case of slight misalignment between the rocket booster assembly 11 and the launch frame 12, maintaining the smoothness of the force flow transmission path. This connection method significantly reduces the risk of local stress concentration, prolonging the service life of key vulnerable components such as the pull-off pin 151. Alternatively, universal joints or articulated joints with elastic bushings can be used as alternative connection forms at this location, providing better damping characteristics while meeting certain angle compensation capabilities, especially suitable for use in environments with frequent disassembly or transportation vibrations.

[0075] It can be understood that the combination of the constant force rod 150 and the fish-eye bearing 153 constitutes a locking force transmission chain with precise adjustment capability and good self-adaptability. In actual operation, first, the constant force rod 150 is preliminarily connected with the launching frame 12 and the break pin 151 at both ends, then the gap is gradually tightened by rotating the rod body until the support system reaches the ideal pre-tightening state. At this time, the fish-eye bearing 153 will automatically adjust the contact surface according to the actual stress direction, so that uniform pressure distribution is formed between the inner ball head and the race, and unilateral wear is avoided. This cooperative working mechanism not only guarantees the static stability during the launching preparation stage, but also improves the predictability of the dynamic unlocking process.

[0076] Further, the rocket booster assembly 11 further comprises a rocket support plate 19 arranged at the rear of the launching frame 12, and the tail of the rocket booster 16 is placed on the rocket support plate 19.

[0077] Specifically, the rocket support plate 19, as a special supporting structure for the tail section of the rocket booster 16, is arranged in the rear area of the launching frame 12 and is used to stably support the tail weight of the rocket booster 16 during the launching preparation stage. The support plate is usually made of a metal plate material with certain strength and rigidity, such as aluminum alloy or steel material, and the surface thereof can be treated for anti-slip or provided with positioning grooves to adapt to the shape profile of different types of rocket boosters 16, so as to prevent lateral displacement or tilting of the rocket booster 16 due to vibration, wind load or accidental touch during installation, debugging and standby. The position layout is reasonable, avoids key force transmission components such as the push rod 142 and the ejector rod 18, and ensures that the assembly and movement freedom of other components are not affected.

[0078] Further, a jacking mechanism 190 is arranged between the rocket support plate 19 and the launching frame 12, the jacking mechanism 190 comprises a jacking screw 1900 and a support 1901, the support 1901 is installed on the launching frame 12 and the rocket support plate 19 is hinged on the support 1901, the jacking screw 1900 abuts against the rocket support plate 19 and can adjust the stroke, a tension spring 1902 is further connected between the rocket support plate 19 and the jacking mechanism 190, and the jacking screw 1900 and the rocket support plate 19 form a lever structure with the support 1901 as the fulcrum.

[0079] Specifically, by arranging the jacking mechanism 190, reliable support and pre-tightening fixation of the tail of the rocket booster 16 are achieved, so that stable contact between the thrust end of the rocket booster 16 and the ejector rod 18 is maintained, and interruption of the thrust transmission path due to assembly gap or vibration is avoided. The jacking mechanism 190 adopts a mechanical lever amplification design, which can generate sufficient jacking force with small acting force, and is convenient and controllable to operate; at the same time, the jacking screw 1900 with adjustable stroke and the tension spring 1902 for resetting make the whole mechanism have good adaptability and reusability;

[0080] The support 1901 is fixed to the rear structure of the launching frame 12 as a base installation component of the jacking mechanism 190, which can be made of high-strength steel or aluminum alloy and has sufficient rigidity and fatigue resistance to withstand repeated jacking counterforce. The support 1901 is firmly installed on the launching frame 12 by bolt connection or welding to ensure that no displacement or deformation occurs during jacking. The rocket support plate 19 is hinged to the support 1901 by a pin shaft or hinge structure to form a movable connection that can rotate around the fulcrum, so that it can swing upward under the action of the jacking screw 1900 to exert an upward support force on the tail of the rocket booster 16.

[0081] Specifically, the jacking screw 1900 is arranged in the horizontal direction, one end of which is provided with a handle or an internal hexagonal interface for easy manual adjustment, and the other end is screwed through the support 1901 or the adjacent support structure and abuts against the lower surface of the rocket support plate 19. By rotating the jacking screw 1900, the position of the end can be gradually advanced to push the rocket support plate 19 to rotate around the support 1901, thereby achieving progressive jacking of the rocket booster 16. This structure allows the operator to accurately control the jacking degree according to the actual assembly situation to prevent overpressure damage to the equipment or looseness caused by underpressure.

[0082] Meanwhile, through the tension of the tension spring 1902, the rocket support plate 19 can abut against the tail of the rocket booster 16, so that the rocket booster 16 abuts against the pusher 17 through the aforementioned jacking rod 18 to ensure the stability of the overall structure, realize the complete transmission of the thrust of the rocket booster 16, and ensure the stability of the launch boost.

[0083] Further, the thrust end of the rocket booster 16 is provided with an inner recessed conical surface 160, and the end of the jacking rod 18 close to the rocket booster 16 is correspondingly provided with a conical mounting connector 180 to cooperate with the inner recessed conical surface 160 to transmit force.

[0084] Specifically, the inner recessed conical surface 160 is arranged at the center position of the thrust output end of the rocket booster 16, which is a conical counterbore that contracts inward and is used to receive and position the conical mounting connector 180. The taper angle of the inner recessed conical surface 160 is designed to be between 60° and 90°, which can be selected as 75° to balance the assembly guiding performance and axial bearing capacity; the surface is precisely machined or ground to ensure stable contact with the conical mounting connector 180 and improve the uniformity of force transmission. The inner recessed conical surface 160 can be made of metal material and designed to adapt to the specific model of the rocket booster 16 to ensure the standardization and interchangeability of the interface.

[0085] Optionally, the matching mode between the inner concave conical surface 160 and the conical mounting joint 180 can be a transition fit or a slight interference fit, which not only ensures the stability of the connection, but also facilitates disassembly and maintenance. In some variant embodiments, anti-loosening lines or wear-resistant coatings can be added to the conical surface contact area to enhance vibration resistance and durability; O-rings can also be installed at the interface to prevent external dust or moisture from entering, suitable for long-term storage and rapid deployment in harsh outdoor environments.

[0086] It can be understood that the matching of the inner concave conical surface 160 and the conical mounting joint 180 together constitutes an efficient and reliable thrust transmission interface structure. During system operation, when the rocket booster 16 is ignited to generate axial thrust, the thrust first acts on the bottom of the inner concave conical surface 160, and the force is transmitted to the outer conical surface of the conical mounting joint 180 through the conical wall, and then conducted to the push rod 18, the push seat 17 and the drone 2 body; solves the problems of eccentric force, loosening and disconnection that are prone to occur in traditional flat docking or pin shaft connection, making the thrust transmission path more direct and uniform, avoiding the risk of thrust loss or flight attitude loss of control due to connection failure, and at the same time, due to the large effective pressure-bearing area of the conical surface contact, it can smoothly transmit instantaneous thrust of several tons, and can resist the influence of vibration, impact and eccentric load during launching, significantly improving the reliability and safety of the connection.

[0087] Specifically, the specific steps of launching a drone by using the unmanned aerial vehicle rocket booster launching system provided in the embodiment are as follows:

[0088] Launch preparation: check the launch site, equipment and rocket booster state.

[0089] Launch device setting: arrange the launch device, adjust the launch pre-offset angle to the required angle through the angle adjusting mechanism, fix the ground pegs, and insert the safety pin.

[0090] Drone installation: hoist the drone onto the launch device, so that the body is placed on the conformal support of the front support, and the wings are placed on the wing support plate of the rear support.

[0091] Rocket installation: install the rocket booster on the drone, so that the rocket tail is supported by the rocket support plate, and use the jacking screw to tighten the rocket to ensure that it is in close contact with the push rod.

[0092] Locking connection: install the breakaway pin and constant force rod, adjust the length of the constant force rod to generate a pre-tightening force, and reliably lock the drone on the launch device.

[0093] Circuit connection: connect the ignition power supply line to the rocket booster ignition interface, and all personnel retreat to the rear of the safety shelter at least 50 meters away, and the ignition personnel are at least 200 meters away.

[0094] Final check and unlock: Final state check is made, and after confirming no error, the safety pin on the front support is pulled out.

[0095] Ignition launch: Remote ignition is made within 15 seconds after the UAV engine reaches full load operation; the rocket thrust breaks the break pin, pushing the UAV to accelerate and taxi; the rear support is the first to fall forward under the action of friction and auxiliary spring, and the front support is synchronized to fall by the push rod, leaving a safe channel for the UAV and the rocket.

[0096] Separation and recovery: After the rocket fuel is burned out, its shell falls off by itself, and the UAV turns into autonomous flight; the site is cleaned up and the equipment is recovered.

[0097] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0098] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted, or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0099] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An unmanned aerial vehicle rocket boost launch system, comprising: The system comprises a launching device and a rocket booster assembly; the launching device comprises: a launching frame constituting a main support structure of the system, and the rocket booster assembly is installed on the launching frame; an angle adjusting mechanism arranged at the front of the launching frame, comprising an inclination sensor, a controller and an electric leg assembly; the inclination sensor is arranged on the launching frame and is parallel to the horizontal plane in the initial state; the controller is signal-connected with the inclination sensor, and the electric leg assembly is electrically connected with the controller and can be extended and retracted according to the control signal of the controller to adjust the inclination of the launching device; a UAV platform support mechanism arranged on the launching frame, comprising a front support for supporting the UAV fuselage and a rear support for supporting the UAV wing, and the front support and the rear support are hinged through a push rod; the front support and the rear support are arranged on the launching frame through a hinge support; a locking mechanism comprising a constant force rod and a break pin, one end of the constant force rod is hinged with the launching frame, and the other end is hinged with the rocket booster assembly through the break pin; the electric leg assembly comprises two independently driven electric front legs, and the two electric front legs can be asymmetrically extended and retracted; the inclination sensor is an inertial measurement unit, and the controller has a built-in control algorithm which compensates the roll angle in the real-time absolute attitude into the independent control instructions of the two electric front legs respectively; the controller further combines the target launch elevation requirement to calculate the different extension strokes required by the left and right electric front legs respectively and generates differentiated motor driving instructions; the thrust end of the rocket booster is provided with an inner recessed conical surface, and the rocket booster assembly further comprises a top rod, one end of the top rod near the rocket booster is correspondingly provided with a conical mounting joint for force transmission with the inner recessed conical surface; one end of the constant force rod is connected with the break pin through a fisheye bearing.

2. The UAV rocket boost launch system of claim 1, wherein, the electric front leg comprises a telescopic front leg composed of an inner layer profile and an outer layer sleeve and a separately arranged driving motor, and the outer layer sleeve is provided with a fixing member for fixing the relative positions of the inner layer profile and the outer layer sleeve after the angle adjustment is completed.

3. The UAV rocket boost launch system of claim 1, wherein, the front support is provided with a conformal support member matched with the shape of the UAV fuselage, and the rear support is provided with a wing support plate, and the rear edge of the wing support plate is provided with an anti-skid protrusion; the rear support is further connected with a spring between the launching frame, and the elastic force direction of the spring is directed to the front end of the launching frame.

4. The UAV rocket-assisted launch system of claim 1, wherein, the locking mechanism further comprises a safety pin, and the launching frame and the rear support are respectively provided with a sandwich plate and a fixed plate, and the fixed plate can be fixed in the sandwich plate through the detachable safety pin.

5. The UAV rocket-assisted launch system of claim 1, wherein, the constant force rod is an adjustable connecting rod with positive and negative threads at both ends.

6. The UAV rocket-assisted launch system of claim 1, wherein, The rocket booster assembly comprises a rocket booster, a push seat, a top rod and a rocket support plate, one end of the push seat is connected with the unmanned aerial vehicle body through bolts, the other end is connected with the locking mechanism, the push seat is further connected with the thrust end of the rocket booster through the top rod, the rocket support plate is arranged at the rear of the launching frame, and the tail of the rocket booster is placed on the rocket support plate.

7. The UAV rocket-assisted launch system of claim 6, wherein, A jacking mechanism is arranged between the rocket support plate and the launching frame, the jacking mechanism comprises a jacking screw and a support, the support is mounted on the launching frame, the rocket support plate is hinged on the support, the jacking screw abuts against the rocket support plate and can adjust the stroke, a tension spring is further connected between the rocket support plate and the jacking mechanism, and the jacking screw and the rocket support plate form a lever structure with the support as the fulcrum.

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