High-disturbance-rejection mooring multi-rotor unmanned aerial vehicle

Abstract

The invention discloses a high-disturbance-rejection mooring multi-rotor unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicles, and aims to design a multi-rotor wind-resistant pneumatic layout through an unconventional composite wing thought to remarkably improve the wind resistance and enhance the yaw control precision and response speed. The thunder and lightning protection device and the unmanned aerial vehicle structure are integrally designed, the comprehensive performance and anti-interference performance of the mooring unmanned aerial vehicle in the complex meteorological environment are improved, all-directional thunder and lightning protection is achieved, and the system integration degree and the structural reliability are improved. The use limitation of the mooring multi-rotor unmanned aerial vehicle in extreme wind conditions and thunder and lightning weather is solved, and all-weather stable and reliable work of the mooring multi-rotor unmanned aerial vehicle is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a highly resistant tethered multi-rotor UAV with a highly wind-resistant aerodynamic layout and lightning protection technology. Background Technology

[0002] Tethered multi-rotor drones are a new type of unmanned aerial vehicle that is continuously powered by a ground power source via a tethered cable, solving the bottleneck problem of short flight time in traditional electric drones. Due to their characteristics such as long endurance, high payload capacity, and ability to carry various mission payloads, they have demonstrated significant application value in recent years in fields such as emergency rescue, emergency lighting, border patrol, coastal defense monitoring, and key area surveillance.

[0003] In the practical application of tethered multi-rotor UAVs, weather adaptability is a key factor restricting their all-weather operational capabilities. On the one hand, mountainous areas, sea areas, islands, border regions, and disaster sites often experience complex wind fields such as gale-force winds (7-10 levels), gusts, and crosswinds, posing a severe challenge to the attitude stability and hovering accuracy of UAVs. On the other hand, during thunderstorms, UAVs, as aerial conductors, are highly susceptible to damage from direct or induced lightning strikes, which may lead to damage to electronic equipment, communication interruptions, or even aircraft crashes.

[0004] In existing technologies, the wind-resistant design of tethered multi-rotor UAVs mainly relies on the redundant layout of the multi-rotor power system and the PID control adjustment of the flight control algorithm. For example, an eight-rotor layout can improve power redundancy, but it still relies on the difference in rotor speed to adjust attitude, resulting in problems such as response lag and high energy consumption in strong wind environments. Another example is adding a fixed wing to provide some lift, but the rotor and fixed wing usually lack a coordinated control mechanism, resulting in poor yaw stability in crosswind environments. According to statistics from the China Meteorological Administration and the technical specifications of existing products, the maximum wind resistance level of existing tethered multi-rotor UAVs at home and abroad is generally level 7, which is difficult to meet the operational requirements in wind environments of level 8-10.

[0005] Furthermore, regarding lightning protection, most existing tethered drones do not have lightning protection designs or only have simple lightning rods installed on parts of the fuselage. Since tethered drones are connected to the ground via cables, if struck by lightning, the lightning current may be conducted along the tethering cable to ground equipment, causing serious safety accidents.

[0006] In summary, existing tethered multi-rotor drones have significant shortcomings in wind resistance and lightning protection, making it difficult to meet the all-weather usage requirements in complex weather conditions. There is an urgent need to provide a highly interference-resistant tethered multi-rotor drone with high wind resistance and all-round lightning protection. Summary of the Invention

[0007] In view of the above problems, the present invention provides a highly interference-resistant tethered multi-rotor unmanned aerial vehicle (UAV) for overcoming or at least partially solving the above problems.

[0008] This invention provides the following solution: A highly interference-resistant tethered multi-rotor unmanned aerial vehicle (UAV) includes: Fixed-wing fuselage, including a falcon-inspired shape and biomimetic fixed wings; The multi-rotor power unit adopts a four-shaft, eight-propeller, non-coaxial multi-rotor layout. The eight motors are respectively at a first installation angle to the arm plane and each motor can be controlled independently. The arm plane is at a second installation angle to the fixed-wing fuselage. The wind speed measurement module is used to measure wind speed and direction in real time. The flight control system is connected to the wind speed measurement module, the satellite navigation module, and the airborne IMU sensor, respectively. It is used to dynamically allocate the control quantities of the eight rotors and the fixed-wing ailerons based on the wind speed estimate and the UAV attitude information, so as to realize the coordinated control of the UAV. The lightning protection system includes lightning arresters distributed on the nose, back, wings, and landing gear, as well as a lightning protection structure installed at the rotor motor. The lightning arresters and the lightning protection structure are interconnected through a charge transfer device to form a lightning discharge path and constitute a Faraday cage to shield the internal electronic equipment.

[0009] Preferably, the second mounting angle is 20° to 30°.

[0010] Preferably, the first installation angle causes the motor thrust direction to be tilted relative to the arm plane, directly generating a yaw force component under crosswind conditions, thereby improving the yaw response speed.

[0011] Preferably, the flight control system includes: The extended state observer is used to fuse satellite ground speed, IMU acceleration and angular velocity, and wind speed data from the wind speed measurement module to estimate the mean wind speed and the proportional correction factor in real time. The control allocation module, based on the aerodynamic model and rotor dynamics model, establishes a control allocation matrix to rationally distribute the total torque requirement to the eight rotors and the left and right ailerons.

[0012] Preferably, the expression for the control allocation matrix is:

[0013] In the formula: For rotor torque, and For the left and right rudder surface deflection angles, For dynamic pressure, For wing reference area, , , is a dimensionless aerodynamic coefficient.

[0014] Preferably, the flight control system executes the following cooperative control strategy based on the wind speed: When the wind speed is below the set threshold, the attitude is controlled by the difference in rotor thrust, and the ailerons are only used for fine-tuning. When the wind speed reaches or exceeds the set threshold, the aileron actively adjusts the rudder deflection to generate additional rolling torque, which works in conjunction with the rotor to resist wind disturbance.

[0015] Preferably, the lightning protection structure at the rotor motor includes: An insulating pad is placed between the rotor and the motor mount; An equalizing base is installed above the motor protective cover, and the tilt angle of the equalizing base is consistent with the first mounting angle; A flow guide strip is installed on the top of the equalizing base. The flow guide strip is connected to the charge transport device and its surface is gold-plated.

[0016] Preferably, the lightning arrester installed at the landing gear is a leg lightning arrester, used to intercept direct lightning strikes from below the UAV.

[0017] Preferably, the charge transfer device is arranged along the inside or surface of the fuselage and is electrically isolated from the mooring cable to prevent lightning current from being conducted to the ground power source along the mooring cable.

[0018] Preferably, the falcon-inspired fixed-wing fuselage is equipped with left and right ailerons, which work in conjunction with the rotor to help maintain attitude stability in strong winds.

[0019] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This application provides a highly interference-resistant tethered multirotor UAV. Through an unconventional compound wing design, the multirotor's wind-resistant aerodynamic layout significantly improves wind resistance and enhances yaw control accuracy and response speed. The integrated lightning protection device with the UAV structure improves the overall performance and interference resistance of the tethered UAV in complex weather environments, achieving all-around lightning protection and improving system integration and structural reliability. This overcomes the limitations of tethered multirotor UAVs in extreme wind conditions and thunderstorms, ensuring stable and reliable operation of the tethered multirotor UAV around the clock.

[0020] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a highly interference-resistant tethered multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the planar mounting angle between the motor and the robotic arm provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the arm plane and the mounting angle of the fixed-wing fuselage provided in an embodiment of the present invention; Figure 4 This is a flowchart illustrating the determination of the arm plane and the mounting angle of the fixed-wing fuselage provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the rotor and fixed-wing coordinated control principle provided in an embodiment of the present invention; Figure 6 This is a diagram showing the installation location of the lightning arrester provided in an embodiment of the present invention; Figure 7 This is a structural diagram of the integrated lightning protection structure for the rotor motor provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the lightning protection principle for a highly interference-resistant tethered multi-rotor UAV provided in an embodiment of the present invention.

[0023] In the diagram: 1. Fixed-wing fuselage; 2. Multi-rotor power unit; 3. Wind speed measurement module; 4. Mooring cable; 5. Ground power supply; 6. Nose lightning arrester; 7. Back lightning arrester; 8. Wing lightning arrester; 9. Outrigger lightning arrester; 10. Lightning protection structure; 11. Guide strip; 12. Insulating pad; 13. Equalizing base. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0025] See Figure 1 This invention provides a highly interference-resistant tethered multi-rotor unmanned aerial vehicle (UAV), such as... Figure 1 As shown, the drone may include: Fixed-wing fuselage 1, including a falcon-like shape and a biomimetic fixed wing; The multi-rotor power unit 2 adopts a quadcopter, eight-propeller, non-coaxial multi-rotor layout. The eight motors are each at a first mounting angle to the arm plane, and each motor can be independently controlled. The arm plane is at a second mounting angle to the fixed-wing fuselage 1. In specific implementations, the second mounting angle in this application embodiment can be 20°–30°. The first mounting angle causes the motor thrust direction to be tilted relative to the arm plane, directly generating a yaw force component under crosswind conditions, thereby improving yaw response speed.

[0026] Wind speed measurement module 3 is used to measure wind speed and wind direction in real time; The flight control system is connected to the wind speed measurement module 3, the satellite navigation module, and the airborne IMU sensor, respectively. It dynamically allocates control inputs to the eight rotors and the fixed-wing ailerons based on wind speed estimates and UAV attitude information, thereby achieving coordinated control of the UAV. Specifically, in this embodiment, the flight control system may include: The extended state observer is used to fuse satellite ground speed, IMU acceleration and angular velocity, and wind speed data from the wind speed measurement module to estimate the mean wind speed and the proportional correction factor in real time. The control allocation module, based on the aerodynamic model and rotor dynamics model, establishes a control allocation matrix to rationally distribute the total torque requirement to the eight rotors and the left and right ailerons.

[0027] Furthermore, the expression for the control allocation matrix is:

[0028] In the formula: For rotor torque, and For the left and right rudder surface deflection angles, For dynamic pressure, For wing reference area, , , is a dimensionless aerodynamic coefficient.

[0029] The flight control system executes the following cooperative control strategy based on wind speed: When the wind speed is below the set threshold, the attitude is controlled by the difference in rotor thrust, and the ailerons are only used for fine-tuning. When the wind speed reaches or exceeds the set threshold, the aileron actively adjusts the rudder deflection to generate additional rolling torque, which works in conjunction with the rotor to resist wind disturbance.

[0030] Lightning protection systems, such as Figure 6As shown, it includes lightning arresters (nose lightning arrester 6, fuselage lightning arrester 7, wing lightning arrester 8, and landing gear lightning arrester 9) distributed on the nose, fuselage back, wings, and landing gear, and a lightning protection structure 10 installed at the rotor motor; the lightning arresters and the lightning protection structure 10 are interconnected through a charge transfer device to form a lightning discharge path and constitute a Faraday cage to shield the internal electronic equipment.

[0031] The lightning protection structure 10 at the rotor motor includes: An insulating pad 12 is placed between the rotor and the motor mount; The pressure equalizing base 13 is installed above the motor protective cover, and the tilt angle of the pressure equalizing base 13 is consistent with the first installation angle; A guide bar 11 is provided on the top of the equalizing base 13. The guide bar 11 is connected to the charge transport device and its surface is gold-plated.

[0032] Furthermore, the lightning arrester installed at the landing gear is a leg lightning arrester 9, used to intercept direct lightning strikes from below the UAV. The charge transfer device is arranged along the interior or surface of the fuselage and is electrically isolated from the tether cable 4 to prevent lightning current from being conducted to the ground power supply 5 along the tether cable 4. The falcon-like fixed-wing fuselage 1 is equipped with left and right ailerons, which work in conjunction with the rotor to help maintain attitude stability in strong winds.

[0033] The embodiments of this application provide a highly resistant tethered multi-rotor UAV with a high wind resistance aerodynamic layout and lightning protection technology. By designing a multi-rotor wind resistance aerodynamic layout and integrating lightning protection devices with the UAV structure using an unconventional compound wing concept, the tethered UAV improves its overall performance and anti-interference capabilities in complex weather environments, enabling it to work stably and reliably in various complex environments.

[0034] The following section uses BeiDou navigation as an example to provide a detailed description of the highly interference-resistant tethered multi-rotor UAV provided in the embodiments of this application.

[0035] The highly interference-resistant tethered multi-rotor UAV provided in this application embodiment comprises the following two parts: 1. High wind resistance technology To address the wind resistance control problem of tethered drones in complex wind field environments, this application proposes a high wind resistance control technology based on an unconventional multi-rotor aerodynamic layout and interference adaptive control, achieving adaptive headwind hovering in wind fields of at least level 10. The drone adopts an aerodynamic layout with a composite wing that resembles a falcon. The drone mainly includes a fixed-wing fuselage 1, a multi-rotor power assembly 2, a wind speed measurement module 3, a tether cable 4, a ground power supply 5, a nose lightning arrester 6, a back lightning arrester 7, a wing lightning arrester 8, a leg lightning arrester 9, a lightning protection structure 10, a flow guide 11, an insulating pad 12, and an equalizing base 13.

[0036] An unconventional compound wing, primarily powered by a quadcopter with eight non-coaxial multi-rotors and supplemented by a biomimetic fixed wing, such as... Figure 2 As shown, eight of the motors are mounted at a specific first angle to the plane of the robotic arm. And it can be controlled independently, such as Figure 3 As shown, the plane of the arm also forms a specific second mounting angle with the fixed-wing fuselage 1. The second mounting angle The typical range is 20–30°; see [link to method for determination] for details. Figure 4 .

[0037] The highly interference-resistant tethered multi-rotor UAV provided in this application utilizes incoming airflow to generate aerodynamic lift, thereby reducing the load on the multi-rotor. Simultaneously, it employs coordinated control of rotor thrust and fixed-wing control surfaces to rationally distribute the total thrust and torque requirements to eight rotors and two ailerons. The eight rotors are represented as follows: And left and right ailerons During wind resistance adjustment, the system can prioritize the use of ailerons, which have higher aerodynamic efficiency, for attitude adjustment. This is because aileron control is more energy-efficient and has a smoother response, while the rotor primarily undertakes lift compensation, avoiding the power waste and attitude fluctuations caused by the excessive reliance on rotor speed adjustment in ordinary tethered multirotors. The coordinated control strategy of the rotor and ailerons is flexible and adaptable to different flight conditions and mission requirements. This combined control relationship can be roughly divided into the following operating conditions: (1) Low wind speed or no wind environment: Mainly relies on rotor control: In this type of environment, due to the small amount of external wind disturbance, the UAV can mainly rely on the thrust difference between the rotors to achieve attitude adjustments such as roll, pitch and yaw. At this time, the ailerons are mainly used to fine-tune or maintain the initial lift distribution of the wings to optimize flight efficiency. The advantage is that the rotor control has a fast response speed, which can quickly adjust the attitude of the UAV, while reducing the frequent operation of the ailerons and extending the life of the servo motor.

[0038] (2) Moderate to strong wind environments: As wind speed increases, rotor control alone may not be sufficient to cope with the disturbances caused by strong winds. At this time, the role of ailerons becomes particularly important. By adjusting the aileron deflection, the lift distribution of the wing can be actively changed, generating additional roll torque. This torque, combined with the rotor thrust difference, enhances the attitude stability and wind resistance of the UAV. The advantage is that combined control can more effectively resist wind disturbances and maintain the flight stability and heading accuracy of the UAV. At the same time, the rotor can focus more on providing stable lift, reducing the extra energy consumed by attitude adjustments.

[0039] This collaborative control and allocation mechanism makes wind resistance adjustment more efficient and stable, improving overall wind resistance performance. The control principle is as follows: Figure 5 As shown, the control allocation matrix is:

[0040] in, For rotor torque, and For the left and right rudder surface deflection angles, For dynamic pressure, For wing reference area, , , The aerodynamic coefficient is dimensionless. , , , .

[0041] Yaw instability is a common problem for conventional tethered multirotors in crosswinds. Yaw control mainly relies on the differential adjustment of rotor counter-torque, which results in slow response and low adjustment accuracy. This invention significantly improves yaw control capability through motor mounting angle optimization and fixed-wing coordination: on the one hand, the tilted motor can directly generate the force component in the yaw direction without relying on the counter-torque difference, resulting in a more direct response; On the other hand, the aerodynamic characteristics of fixed-wing aircraft can help stabilize yaw attitude and reduce wind interference on yaw. This enhanced yaw control capability enables the UAV to quickly adjust its course and maintain attitude stability under crosswind conditions. This invention is equipped with a wind speed measurement module 3 working in conjunction with a Beidou navigation module and an onboard IMU sensor. The flight controller uses the output data to control the output yaw torque to adjust the UAV's attitude angle, prompting the nose to quickly align with the wind direction and preventing crosswinds, gusts, sudden winds, or turbulent winds from affecting the UAV's wind resistance performance. The process model combines the UAV's velocity dynamics equation, angle dynamics equation, first-order random walk (RW) equation of the mean wind field, and a scaling correction factor. The dynamic equation, i.e.:

[0042] in, This is a noise collection. Wind speed. Sum of proportion correction factors This represents the extended state of the original system to be estimated.

[0043] Observation model: The combined formula of the ground speed measured by the Beidou navigation module and the wind speed measured by the wind speed measurement module 3 is as follows:

[0044] The state vector, input vector, and observation vector are:

[0045] In the formula: and This indicates that the mean wind estimation fully utilizes the ground speed measured by the Beidou module, the acceleration and angular velocity measured by the IMU, and the wind speed measured by the wind speed measurement module 3.

[0046] 2. Lightning protection To address the lightning hazards suffered by tethered drones, the drone provided in this application employs a comprehensive technology combining direct lightning strike omnidirectional interception and electromagnetic pulse suppression. This constructs a multi-level collaborative mechanism of "physical interception - equipotential discharge - electromagnetic shielding - surge suppression," with integrated lightning arresters (nose lightning arrester 6, back lightning arrester 7, wing lightning arrester 8, and outrigger lightning arrester 9) integrated into the nose, back, wings, and landing gear. Figure 6 As shown, when lightning approaches the drone, it is intercepted by the lightning rod. The lightning current flows along the charge transport device to the far-end discharge rod for discharge. At the same time, the charge transport line forms a Faraday cage through connection, ensuring that the lightning current does not enter the drone or contact the mooring cable 4, thus achieving 360° direct lightning protection for the drone.

[0047] To address blind spots such as the landing gear, tail, and wings, a lightning protection structure is designed for the rotor motor. The rotor is used as a receiving point and the charge is transmitted to a distant lightning arrester via a charge transfer device using the principle of gap breakdown. An integrated lightning protection structure is designed for the rotor motor without changing the state of the UAV. An insulating pad 12 is added between the rotor and the motor mount, and an equalizing seat 13 is installed above the motor protective cover. The original mounting holes are used, so no additional drilling is required.

[0048] The tilt angle of the equalizing base 13 is consistent with that of the motor, meaning their planes are parallel. Therefore, their discharge gaps are consistent, and their breakdown voltages are equal. A guide strip 11 is installed at the top center of the equalizing base 13. The guide strip 11 is connected to the charge transport device. To slow down the oxidation of the guide strip 11, its surface is gold-plated. Figure 7 As shown.

[0049] For lightning protection of the fuselage underside, lightning arresters 9 are designed at the landing gear to intercept direct lightning strikes from below the drone, achieving all-around lightning protection for the fuselage. The principle of lightning protection is as follows: Figure 8 As shown.

[0050] In summary, the highly interference-resistant tethered multi-rotor UAV provided in this application has the following advantages: Significantly improves wind resistance: Adopting a falcon-inspired compound wing layout and a quadcopter-eight-rotor non-coaxial multi-rotor structure, combined with a coordinated control strategy of rotors and fixed-wing ailerons, it can achieve stable hovering and attitude maintenance in winds exceeding level 10. By optimizing the motor mounting angle and arm angle, it fully utilizes the aerodynamic lift generated by the incoming wind, reduces rotor load, improves energy utilization efficiency, and enhances the UAV's anti-interference capability in complex wind fields.

[0051] Enhance yaw control accuracy and response speed: By employing a tilting motor layout and fixed-wing aerodynamic assistance, yaw control force is directly generated, overcoming the slow response and low accuracy issues of traditional tethered multi-rotor drones that rely on rotor anti-torque differences. Combined with wind speed measurement module 3 and the BeiDou navigation system, wind field adaptive control is achieved, significantly improving the attitude stability of the UAV in complex wind environments such as crosswinds and gusts.

[0052] Achieve comprehensive lightning protection: A multi-layered lightning protection mechanism, comprising physical interception, equipotential discharge, electromagnetic shielding, and surge suppression, was designed. Lightning arresters were placed in key areas such as the nose, back, wings, and landing gear, combined with a rotor diversion structure and charge transfer device, to achieve omnidirectional direct lightning strike protection. An integrated lightning protection structure was adopted at the rotor motor to avoid impacting flight performance, significantly improving the UAV's survivability and safety in thunderstorms.

[0053] Improve system integration and structural reliability: The lightning protection device is integrated into the drone's structure, avoiding the need for additional drilling or modification and maintaining the integrity of the airframe. Optimized details such as the insulation design between the rotor and motor, and the gold plating of the equalizing base 13 and the guide strip 11, extend component life and reduce maintenance costs.

[0054] Expanding application scenarios and all-weather adaptability: This enables tethered multi-rotor drones to operate stably in all weather conditions in complex environments such as mountains, islands, border regions, and disaster sites.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0057] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A highly interference-resistant tethered multi-rotor unmanned aerial vehicle, characterized in that, include: Fixed-wing fuselage, including a falcon-inspired shape and biomimetic fixed wings; The multi-rotor power unit adopts a four-shaft, eight-propeller, non-coaxial multi-rotor layout. The eight motors are respectively at a first installation angle to the arm plane and each motor can be controlled independently. The arm plane is at a second installation angle to the fixed-wing fuselage. The wind speed measurement module is used to measure wind speed and direction in real time. The flight control system is connected to the wind speed measurement module, the satellite navigation module, and the airborne IMU sensor, respectively. It is used to dynamically allocate the control quantities of the eight rotors and the fixed-wing ailerons based on the wind speed estimate and the UAV attitude information, so as to realize the coordinated control of the UAV. The lightning protection system includes lightning arresters distributed on the nose, back, wings, and landing gear, as well as a lightning protection structure installed at the rotor motor. The lightning arresters and the lightning protection structure are interconnected through a charge transfer device to form a lightning discharge path and constitute a Faraday cage to shield the internal electronic equipment.

2. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The second installation angle is 20° to 30°.

3. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The first installation angle causes the motor thrust direction to tilt relative to the boom plane, directly generating a yaw force component under crosswind conditions, thereby improving the yaw response speed.

4. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The flight control system includes: The extended state observer is used to fuse satellite ground speed, IMU acceleration and angular velocity, and wind speed data from the wind speed measurement module to estimate the mean wind speed and the proportional correction factor in real time. The control allocation module, based on the aerodynamic model and rotor dynamics model, establishes a control allocation matrix to rationally distribute the total torque requirement to the eight rotors and the left and right ailerons.

5. The highly interference-resistant tethered multi-rotor UAV according to claim 4, characterized in that, The expression for the control allocation matrix is: In the formula: For rotor torque, and For the left and right rudder surface deflection angles, For dynamic pressure, For wing reference area, , , is a dimensionless aerodynamic coefficient.

6. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The flight control system executes the following cooperative control strategy based on wind speed: When the wind speed is below the set threshold, the attitude is controlled by the difference in rotor thrust, and the ailerons are only used for fine-tuning. When the wind speed reaches or exceeds the set threshold, the aileron actively adjusts the rudder deflection to generate additional rolling torque, which works in conjunction with the rotor to resist wind disturbance.

7. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The lightning protection structure at the rotor motor includes: An insulating pad is placed between the rotor and the motor mount; An equalizing base is installed above the motor protective cover, and the tilt angle of the equalizing base is consistent with the first mounting angle; A flow guide strip is installed on the top of the equalizing base. The flow guide strip is connected to the charge transport device and its surface is gold-plated.

8. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The lightning arrester installed on the landing gear is a leg lightning arrester, used to intercept direct lightning strikes from below the drone.

9. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The charge transfer device is arranged along the inside or surface of the fuselage and is electrically isolated from the mooring cable to prevent lightning current from being conducted to the ground power source along the mooring cable.

10. The highly interference-resistant tethered multi-rotor UAV according to claim 1, characterized in that, The falcon-inspired fixed-wing aircraft is equipped with left and right ailerons, which work in conjunction with the rotor to help maintain attitude stability in strong winds.

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