Test flight method for autonomous front wheel lifting of twin-engine large fixed-wing propeller unmanned aerial vehicle
Patent Information
- Application Number
- CN202510433303.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-08
- Publication Date
- 2026-10-16
AI Technical Summary
[0003]但是，由于有人机与无人机在控制层面存在非常大的区别，同时考虑无人机链路上传、下传时间差导致的人工控制模式下的控制时间差的因素，无法借用有人机人工操纵无人机抬前轮试飞的成熟经验和试飞方法，需要自研一种在自主模式下的无人机抬前轮试飞方法
[0039]1. This application can fully verify whether the UAV has the ability to raise its front wheel by conducting test flights, and verify whether the settings of the UAV's wheel raising speed and interruption speed are reasonable by using test flight data.
Smart Images
Figure CN122915419A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) flight test technology, specifically relating to a method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV during test flights. Background Technology
[0002] As is well known, before the maiden flight of a new manned aircraft, in addition to conducting extensive ground low, medium, and high-speed taxiing tests, it is also necessary to conduct nose wheel lift-up test flights to verify whether the UAV has the ability to lift its nose wheel and the ground handling stability characteristics of the UAV when lifting its nose wheel, in order to support the maiden flight. Based on the experience of manned aircraft test flights, and considering that some UAV models have not undergone wind tunnel testing, nose wheel lift-up test flights in autonomous mode are necessary to ensure the safe conduct of the maiden flight.
[0003] However, due to the significant differences between manned and unmanned aircraft at the control level, and considering the control time difference caused by the uplink and downlink time difference in the unmanned aircraft link, it is not possible to use the mature experience and test flight methods of manned aircraft manually operating unmanned aircraft to lift the front wheel for test flights. It is necessary to develop a method for unmanned aircraft to lift the front wheel for test flights in autonomous mode. Summary of the Invention
[0004] Based on the characteristics of twin-engine fixed-wing propeller UAVs and autonomous flight of UAVs, this invention develops a method for autonomous nose-wheel-lifting flight testing of twin-engine large fixed-wing propeller UAVs by determining the control logic of the flight control system and establishing a matrix of test points for autonomous nose-wheel-lifting flight test subjects during the test flight of the UAV. It also identifies risk points, proposes measures to reduce risks, and provides a reasonable solution for autonomous nose-wheel-lifting flight test subjects of twin-engine large fixed-wing propeller UAVs.
[0005] The technical solution of this invention is implemented as follows:
[0006] The method for autonomously raising the nose wheel of a twin-engine large fixed-wing propeller UAV during test flights includes the following steps:
[0007] Preparations before the test: Pre-set the flight control logic of the UAV, and formulate the test state point matrix and risk control measures;
[0008] Test implementation: Preset rudder and elevator deflection, set taxiing speed for autonomous taxiing test, manual real-time monitoring, and flight control system makes autonomous judgment based on flight control logic;
[0009] Post-flight results consolidation: Collect flight test data, conduct data analysis, and iterate on key parameters of the flight control system software.
[0010] As a further aspect of the present invention, the pre-experiment preparation stage specifically includes the following steps:
[0011] a) Based on the results of the high-speed taxiing test in the autonomous mode of the UAV, complete the writing of the flight control logic and the implementation of the onboard software for the test flight of the UAV autonomously lifting the front wheel;
[0012] b) Based on the design characteristics of the UAV and the high-speed taxiing test data, formulate the test state point matrix;
[0013] c) Based on the content of the test flight subjects, identify the hazards in the test process and formulate risk control measures.
[0014] As a further aspect of the present invention, the experimental implementation phase specifically includes the following steps:
[0015] a) The flight control mode adopts an autonomous control mode;
[0016] b) Preset rudder and elevator deflection;
[0017] c) Constant throttle coasting speed setting;
[0018] d) The test was conducted using the autonomous ground-based gliding test method, with the user clicking to glide.
[0019] e) Monitor the drone's status during the takeoff process. When the drone's pitch angle exceeds 3° or it shows a lifting trend, manually and gently push the stick to bring the drone's front wheel to the ground.
[0020] f) When the flight control system determines that the UAV has met the judgment logic conditions, the UAV's elevator will automatically return to zero, the throttle will be reduced to slow speed, and the brakes will be automatically applied 1 second later until the UAV comes to a stop.
[0021] As a further aspect of the present invention, the rudder surface angle and the taxiing speed are both set based on the test state point matrix.
[0022] As a further aspect of the present invention, the post-flight results consolidation stage specifically includes the following steps:
[0023] a) Conduct data analysis based on flight test data implemented according to the test state point matrix, and iterate on key parameters of the flight control system software;
[0024] b) Solidify the key parameters of the flight control system software to form a test flight method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV.
[0025] As a further aspect of the present invention: the flight control logic is specifically as follows: when the flight control system identifies the judgment logic condition, the elevator automatically returns to the zero position, the throttle is reduced to idle, and 1 second later the UAV braking system automatically brakes until the UAV comes to a stop.
[0026] The judgment logic condition is as follows:
[0027] Judgment condition 1: Before the ground speed / indicated airspeed of the UAV reaches the preset speed value, the pitch angle is greater than a certain critical value;
[0028] Judgment condition 2: Before the UAV's ground speed / indicated airspeed reaches the preset speed value, the pitch rate is greater than a certain critical value;
[0029] Judgment condition 3: When the ground speed / indicated airspeed of the UAV reaches the preset speed value;
[0030] Among them, the ground speed / indicated airspeed of the drone is the larger of the two values.
[0031] As a further aspect of the present invention, the specific critical values of pitch angle and pitch angular velocity need to be determined in conjunction with the results of high-speed coasting tests.
[0032] As a further aspect of the present invention, the test state point matrix is specifically formed by varying three parameters—constant throttle taxiing speed, elevator deflection, and rudder deflection—according to the requirements of the first flight and the weight and center of gravity of the UAV, and the throttle setting of 100%, in a gradual manner to form the test state matrix.
[0033] As a further aspect of this invention: regarding the aforementioned hazards and risk control measures, the most specific hazards for the nose wheel lift test flight are unexpected takeoff and runway overrun. Regarding risk control measures:
[0034] First, control was implemented at the flight control logic level, and the test will terminate when the drone meets the judgment logic conditions.
[0035] Secondly, in terms of manual control, the test pilot needs to monitor the drone's status during the takeoff and landing process. When the drone's pitch angle exceeds 3° or it is on the rise, the pilot should gently push the stick to bring the drone's front wheel to the ground to prevent the drone from taking off unexpectedly. When the drone reaches its final speed but has not braked or decelerated autonomously, the pilot should lightly apply the brakes to slow down the drone until it comes to a complete stop.
[0036] As a further aspect of the present invention: after the decision logic is implemented in the UAV, in accordance with the UAV mantle gliding test method, the flight control autonomous control mode and constant throttle gliding mode are adopted, and the skewness of the rudder and elevator is set to the value of the matching test state matrix in the control surface fine adjustment.
[0037] After completing the above settings, the test pilot clicks "Take off" and monitors whether the drone lifts its front wheel or shows any signs of unexpected takeoff. The pilot then intervenes manually until the drone successfully lifts its front wheel, thus completing the autonomous drone front wheel lift test flight.
[0038] The beneficial effects of this application are as follows:
[0039] 1. This application can fully verify whether the UAV has the ability to raise its front wheel by conducting test flights, and verify whether the settings of the UAV's wheel raising speed and interruption speed are reasonable by using test flight data.
[0040] 2. Based on the test flight results and data analysis of the front wheel lift, this application can improve the safety level of the first flight of the new model UAV and ensure that the UAV can take off safely during its first flight.
[0041] 3. This application establishes a test flight method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV, which can be used as a reference for the entire industry.
[0042] 4. After completing the test flight of the UAV with its front wheel raised and verifying that the UAV has the ability to raise its front wheel, this application can better support the maiden flight of the new model UAV and improve the safety level of the test flight.
[0043] The present application will be further described in detail below with reference to the accompanying drawings of the embodiments. Attached Figure Description
[0044] Figure 1 A schematic diagram illustrating the steps for determining a test flight method for an autonomous nose wheel lifting maneuver of a twin-engine large fixed-wing propeller UAV.
[0045] Figure 2 A schematic diagram of the decision-making logic for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV.
[0046] Figure 3 This is a schematic diagram of a test flight implementation method for a twin-engine large fixed-wing propeller-driven unmanned aerial vehicle. Detailed Implementation
[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0048] The following is in conjunction with the appendix Figure 1-3 The embodiments of the present invention will be described in detail below.
[0049] Example 1
[0050] A method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV, comprising the following steps:
[0051] Preparations before the test: Pre-set the flight control logic of the UAV, and formulate the test state point matrix and risk control measures;
[0052] Test implementation: Preset rudder and elevator deflection, set taxiing speed for autonomous taxiing test, manual real-time monitoring, and flight control system makes autonomous judgment based on flight control logic;
[0053] Post-flight results consolidation: Collect flight test data, conduct data analysis, and iterate on key parameters of the flight control system software.
[0054] The aforementioned pre-experiment preparation phase specifically includes the following steps:
[0055] a) Based on the results of the high-speed taxiing test in the autonomous mode of the UAV, complete the writing of the flight control logic and the implementation of the onboard software for the test flight of the UAV autonomously lifting the front wheel;
[0056] b) Based on the design characteristics of the UAV and the high-speed taxiing test data, formulate the test state point matrix;
[0057] c) Based on the content of the test flight subjects, identify the hazards in the test process and formulate risk control measures.
[0058] The aforementioned trial implementation phase specifically includes the following steps:
[0059] a) The flight control mode adopts an autonomous control mode;
[0060] b) Preset rudder and elevator deflection;
[0061] c) Constant throttle coasting speed setting;
[0062] d) The test was conducted using the autonomous ground-based gliding test method, with the user clicking to glide.
[0063] e) Monitor the drone's status during the takeoff process. When the drone's pitch angle exceeds 3° or it shows a lifting trend, manually and gently push the stick to bring the drone's front wheel to the ground.
[0064] f) When the flight control system determines that the UAV has met the judgment logic conditions, the UAV's elevator will automatically return to zero, the throttle will be reduced to slow speed, and the brakes will be automatically applied 1 second later until the UAV comes to a stop.
[0065] The rudder surface angle and taxiing speed are both set based on the test state point matrix.
[0066] The post-flight results consolidation stage specifically includes the following steps:
[0067] a) Conduct data analysis based on flight test data implemented according to the test state point matrix, and iterate on key parameters of the flight control system software;
[0068] b) Solidify the key parameters of the flight control system software to form a test flight method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV.
[0069] The flight control logic is as follows: when the flight control system identifies the judgment logic condition, the elevator automatically returns to the zero position, the throttle is reduced to idle, and the UAV braking system automatically brakes 1 second later until the UAV comes to a stop.
[0070] The judgment logic condition is as follows:
[0071] Judgment condition 1: Before the ground speed / indicated airspeed of the UAV reaches the preset speed value, the pitch angle is greater than a certain critical value;
[0072] Judgment condition 2: Before the UAV's ground speed / indicated airspeed reaches the preset speed value, the pitch rate is greater than a certain critical value;
[0073] Judgment condition 3: When the ground speed / indicated airspeed of the UAV reaches the preset speed value;
[0074] Among them, the ground speed / indicated airspeed of the drone is the larger of the two values.
[0075] The specific critical values for pitch angle and pitch rate need to be determined based on the results of high-speed coasting tests.
[0076] The aforementioned test state point matrix is specifically formed by varying three parameters—constant throttle taxiing speed, elevator deflection, and rudder deflection—according to the UAV's weight, center of gravity requirements for the first flight, and throttle setting at 100%, following a gradual approach.
[0077] Regarding the aforementioned hazards and risk control measures, the most specific hazards for the nose wheel lift test flight are unexpected takeoff and runway overrun. The risk control measures are as follows:
[0078] First, control was implemented at the flight control logic level, and the test will terminate when the drone meets the judgment logic conditions.
[0079] Secondly, in terms of manual control, the test pilot needs to monitor the drone's status during the takeoff and landing process. When the drone's pitch angle exceeds 3° or it is on the rise, the pilot should gently push the stick to bring the drone's front wheel to the ground to prevent the drone from taking off unexpectedly. When the drone reaches its final speed but has not braked or decelerated autonomously, the pilot should lightly apply the brakes to slow down the drone until it comes to a complete stop.
[0080] After implementing the decision-making logic into the UAV, following the UAV mantle gliding test method, the flight control autonomous control mode and constant throttle gliding mode were adopted. In the control surface fine-tuning, the deflection of the rudder and elevator was set to match the values of the test state matrix.
[0081] After completing the above settings, the test pilot clicks "Take off" and monitors whether the drone lifts its front wheel or shows any signs of unexpected takeoff. The pilot then intervenes manually until the drone successfully lifts its front wheel, thus completing the autonomous drone front wheel lift test flight.
[0082] Example 2
[0083] This application discloses a method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV during test flights. The steps are described in [link to relevant documentation]. Figure 1 It includes three stages: the pre-test preparation stage, the test implementation stage, and the post-flight results consolidation stage.
[0084] The aforementioned pre-experiment preparation stage is characterized by including the following steps:
[0085] a) Based on the results of the high-speed taxiing test in the autonomous mode of the UAV, complete the writing of the flight control logic (i.e., decision control logic) and the implementation of the onboard software for the test flight of the UAV autonomously lifting the front wheel;
[0086] b) Based on the design characteristics of the UAV and the high-speed taxiing test data, formulate the test state point matrix;
[0087] c) Based on the content of the test flight subjects, identify the hazards in the test process and formulate risk control measures.
[0088] The aforementioned test implementation phase is characterized by including the following steps:
[0089] a) The flight control mode adopts an autonomous control mode;
[0090] b) Preset rudder and elevator deflection (rudder surface angles based on the test state point matrix);
[0091] c) Constant throttle coasting speed setting (coasting speed based on the test state point matrix);
[0092] d) The test was conducted using the autonomous ground-based gliding test method, with the user clicking to glide.
[0093] e) Monitor the drone's status during the takeoff process. When the drone's pitch angle exceeds 3° or it shows a lifting trend, manually and gently push the stick to bring the drone's front wheel to the ground.
[0094] f) When the flight control system determines that the judgment logic has been reached, the drone's elevator will automatically return to zero (0°), the throttle will be reduced to idle, and the brakes will be applied automatically after 1 second until the drone comes to a stop.
[0095] The post-flight results consolidation stage is characterized by including the following steps:
[0096] a) Conduct data analysis based on flight test data implemented according to the test state point matrix, and iterate on key parameters of the flight control system software;
[0097] b) Solidify the key parameters of the flight control system software to form a test flight method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV.
[0098] The flight control logic (i.e., decision control logic) for the autonomous nose wheel lift test flight of the UAV is characterized in that when the flight control system identifies the judgment logic condition, the elevator automatically returns to zero (0°), the throttle is reduced to idle, and the UAV braking system automatically brakes 1 second later until the UAV comes to a stop. The specific decision control logic is as follows (the specific values of pitch angle and pitch rate need to be determined in conjunction with the results of high-speed taxiing tests): the pitch angle is greater than a certain critical value (e.g., >1.5°) or the pitch rate is greater than a certain critical value (e.g., >5° / s), or the ground speed / indicated airspeed (whichever is greater) reaches a preset speed value.
[0099] See the logic for the autonomous front wheel lift test flight decision-making. Figure 2 If, before the UAV's ground speed / indicated airspeed (whichever is greater) reaches the preset speed value, judgment condition 1 (pitch angle greater than the critical pitch angle (e.g., >1.5°)) or judgment condition 2 (pitch rate greater than the critical pitch rate (e.g., >5° / s)) is triggered, the flight control system, according to the test termination condition, automatically returns the elevator to zero (0°), reduces the throttle to idle, and the UAV braking system automatically brakes 1 second later until the UAV comes to a stop. When the UAV's ground speed / indicated airspeed (whichever is greater) reaches the preset speed value, the flight control system, according to the test termination condition, automatically returns the elevator to zero (0°), reduces the throttle to idle, and the UAV braking system automatically brakes 1 second later until the UAV comes to a stop.
[0100] The aforementioned test state point matrix is characterized by varying three parameters—constant throttle taxiing speed (i.e., UAV decision speed), elevator deflection, and rudder deflection—according to the UAV weight, center of gravity requirements for the first flight, and throttle setting at 100%, and following a gradual principle (i.e., parameter values increasing from small to large)—to form the test state matrix. Table 1 below is an example.
[0101] Table 1 Example of Experimental State Point Matrix
[0102] When the three parameters in Table 1 are changed, the decision speed and elevator deflection directly affect the lift of the UAV, thus influencing the test results (whether the UAV's nose wheel lifts up). Therefore, it is necessary to change the above two parameters. However, when changing the parameters, one parameter needs to be fixed while the other is changed. This invention uses a fixed elevator deflection and an increased decision speed to conduct the test. Furthermore, since this invention is applicable to propeller-driven UAVs, due to the propeller effect, the flight control system uses differential braking to correct the UAV's direction at low speeds (i.e., when the rudder effect is weak), resulting in weak acceleration. Considering the length of general airport runways and flight test safety, a rudder deflection value has been added after number 6. In summary, the test state matrix in Table 1 is an example. Participants need to develop a test matrix that conforms to the characteristics of their respective UAVs.
[0103] The aforementioned hazards and risk control measures are characterized by the fact that the most specific hazards of the nose wheel lift test flight are accidental takeoff and runway overrun. Regarding risk control measures, firstly, control is implemented at the flight control logic level; the test will terminate when the UAV reaches the decision control logic. Secondly, in terms of manual control, the test pilot needs to monitor the UAV's status during the taxiing process. When the UAV's pitch angle exceeds 3° or it shows a takeoff trend, the pilot gently pushes the stick to bring the nose wheel to the ground to prevent accidental takeoff. If the UAV reaches its termination speed but has not braked autonomously, the pilot manually applies the brakes lightly to slow it down until it comes to a complete stop.
[0104] The test flight implementation method is as follows Figure 3 After implementing the decision-making logic into the UAV, following the UAV mantle taxiing test method, the flight control autonomous control mode and constant throttle taxiing mode (100% throttle) were adopted. However, the rudder and elevator deflections needed to be set to match the values of the test state matrix in the control surface fine-tuning. After completing the above settings, the test pilot clicked taxiing, monitoring whether the UAV lifted its nose wheel or showed any unexpected takeoff tendency, and manually intervening until the UAV successfully lifted its nose wheel, completing the autonomous UAV nose wheel lifting test flight.
[0105] Thus, the objective of this invention has been achieved.
[0106] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method for autonomously raising the nose wheel during test flights of a twin-engine large fixed-wing propeller-driven unmanned aerial vehicle, characterized in that: Includes the following steps: Preparations before the test: Pre-set the flight control logic of the UAV, and formulate the test state point matrix and risk control measures; Test implementation: Preset rudder and elevator deflection, set taxiing speed for autonomous taxiing test, manual real-time monitoring, and flight control system makes autonomous judgment based on flight control logic; Post-flight results consolidation: Collect flight test data, conduct data analysis, and iterate on key parameters of the flight control system software.
2. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to claim 1, characterized in that, The aforementioned pre-experiment preparation phase specifically includes the following steps: a) Based on the results of the high-speed taxiing test in the autonomous mode of the UAV, complete the writing of the flight control logic and the implementation of the onboard software for the test flight of the UAV autonomously lifting the front wheel; b) Based on the design characteristics of the UAV and the high-speed taxiing test data, formulate the test state point matrix; c) Based on the content of the test flight subjects, identify the hazards in the test process and formulate risk control measures.
3. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to claim 2, characterized in that, The aforementioned trial implementation phase specifically includes the following steps: a) The flight control mode adopts an autonomous control mode; b) Preset rudder and elevator deflection; c) Constant throttle coasting speed setting; d) The test was conducted using the autonomous ground-based gliding test method, with the user clicking to glide. e) Monitor the drone's status during the takeoff process. When the drone's pitch angle exceeds 3° or it shows a lifting trend, manually and gently push the stick to bring the drone's front wheel to the ground. f) When the flight control system determines that the UAV has met the judgment logic conditions, the UAV's elevator will automatically return to zero, the throttle will be reduced to slow speed, and the brakes will be automatically applied 1 second later until the UAV comes to a stop.
4. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to claim 3, characterized in that, The rudder surface angle and taxiing speed are both set based on the test state point matrix.
5. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to claim 4, characterized in that, The post-flight results consolidation stage specifically includes the following steps: a) Conduct data analysis based on flight test data implemented according to the test state point matrix, and iterate on key parameters of the flight control system software; b) Solidify the key parameters of the flight control system software to form a test flight method for autonomously raising the front wheel of a twin-engine large fixed-wing propeller UAV.
6. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to any one of claims 1-5, characterized in that, The flight control logic is as follows: when the flight control system identifies the judgment logic condition, the elevator automatically returns to the zero position, the throttle is reduced to idle, and the UAV braking system automatically brakes 1 second later until the UAV comes to a stop. The judgment logic condition is as follows: Judgment condition 1: Before the ground speed / indicated airspeed of the UAV reaches the preset speed value, the pitch angle is greater than a certain critical value; Judgment condition 2: Before the UAV's ground speed / indicated airspeed reaches the preset speed value, the pitch rate is greater than a certain critical value; Judgment condition 3: When the ground speed / indicated airspeed of the UAV reaches the preset speed value; Among them, the ground speed / indicated airspeed of the drone is the larger of the two values.
7. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to claim 6, characterized in that, The specific critical values for pitch angle and pitch rate need to be determined based on the results of high-speed coasting tests.
8. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to any one of claims 1-5, characterized in that, The aforementioned test state point matrix is specifically formed by varying three parameters—constant throttle taxiing speed, elevator deflection, and rudder deflection—according to the UAV's weight, center of gravity requirements for the first flight, and throttle setting at 100%, following a gradual approach.
9. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to any one of claims 1-5, characterized in that, Regarding the aforementioned hazards and risk control measures, the most specific hazards for the nose wheel lift test flight are unexpected takeoff and runway overrun. The risk control measures are as follows: First, control was implemented at the flight control logic level, and the test will terminate when the drone meets the judgment logic conditions. Secondly, in terms of manual control, the test pilot needs to monitor the drone's status during the takeoff and landing process. When the drone's pitch angle exceeds 3° or it is on the rise, the pilot should gently push the stick to bring the drone's front wheel to the ground to prevent the drone from taking off unexpectedly. When the drone reaches its final speed but has not braked or decelerated autonomously, the pilot should lightly apply the brakes to slow down the drone until it comes to a complete stop.
10. The method for autonomous nose wheel lifting test flight of a twin-engine large fixed-wing propeller UAV according to claim 4, characterized in that, After implementing the decision-making logic into the UAV, following the UAV mantle gliding test method, the flight control autonomous control mode and constant throttle gliding mode were adopted. In the control surface fine-tuning, the deflection of the rudder and elevator was set to match the values of the test state matrix. After completing the above settings, the test pilot clicks "Take off" and monitors whether the drone lifts its front wheel or shows any signs of unexpected takeoff. The pilot then intervenes manually until the drone successfully lifts its front wheel, thus completing the autonomous drone front wheel lift test flight.