235 results about "Airplane mode" patented technology

The invention relates to the field of unmanned aerial vehicle monitoring, in particular to a low-altitude unmanned aerial vehicle flight monitoring method and system. A low-altitude unmanned aerial vehicle flight monitoring system comprises an obstacle sensing module, a confidence coefficient calculation module, a risk assessment module, an obstacle avoidance distance adjustment module and a flight mode switching module. According to the invention, by quantifying the rainfall interference index, the visibility index, the illumination intensity index, the obstacle complex index and the electromagnetic interference index, the confidence coefficient weight of the millimeter wave radar, the visual sensor and other multi-element sensing equipment is calculated in real time, so that the limitation of traditional fixed priority fusion is broken through; the optimal sensor data can be automatically selected as an obstacle avoidance decision basis according to actual environmental conditions, misjudgment or delayed response caused by sensor conflicts is avoided, the obstacle avoidance decision precision is improved, and the method is particularly suitable for high-reliability flight in complex environments such as urban canyons.

The invention discloses an aircraft intelligent trajectory planning and cooperative control method based on offline optimization-intelligent learning-online guidance, and the method comprises the steps: firstly building an aircraft motion model and an aircraft-target relative motion model, and constructing a full-airspace and full-feature-point optimal trajectory data set; secondly, parameterized representation is carried out on the three-dimensional optimal trajectory, and a proportional guidance coefficient data set is constructed; then neural network training fitting is carried out on the proportional guidance coefficient data set, and a multi-constraint guidance method based on a neural network is designed; and finally, designing a three-dimensional collaborative guidance law by combining a multi-constraint guidance method and a residual time accurate estimation technology. According to the invention, the problems of insufficient real-time performance, incapability of meeting index optimality, incapability of coping with multiple constraints, difficulty in realizing multiple flight modes and the like of the existing trajectory planning and collaborative guidance technology are solved; the multi-constraint and optimality of the trajectory are realized through offline optimization, the global adaptability and small calculation amount of the trajectory are realized through intelligent learning, and a multi-cooperative flight mode is realized through online cooperative guidance.

The invention relates to the technical field of flight control, in particular to a hybrid control FPV unmanned aerial vehicle flight control system and method. The method comprises the following steps: acquiring triaxial angular velocity data of the unmanned aerial vehicle in real time by using an inertial navigation system, eliminating high-frequency noise and performing zero offset calibration; constructing a corresponding linear extended state observer to adjust a gain parameter in real time based on an absolute value of an observation error, and filtering tiny noise disturbance through a dead zone function to realize high-precision estimation of the system state and total disturbance of the unmanned aerial vehicle so as to obtain an error and an error change rate; and designing a self-adaptive PID control law to dynamically adjust PID control quantities corresponding to proportion, integral and differential gains, carrying out dynamic weighted stacking according to a flight mode, generating a three-axis control quantity, carrying out flight control on the FPV unmanned aerial vehicle, and meanwhile, realizing real-time visual verification of a control effect corresponding to the flight control. According to the invention, high-precision and high-robustness attitude control can be realized.

The invention discloses an automatic control method of a four-power-source tiltable aircraft, relates to the technical field of flight control of tiltable aircrafts, is realized based on a PX4 flight control system, and is suitable for a tiltable aircraft provided with four independent tiltable power sources and corresponding tilting execution mechanisms. According to the method, through configuration of a tilting angle control module, a power distribution module and a full-stage flight logic scheduling module, full-stage automatic control of vertical take-off and landing, suspension, horizontal take-off, fixed-point horizontal flight, automatic cruise, one-key return flight, fixed-angle flight, power source fault handling and the like is achieved. Smooth transition of all flight modes is achieved, the stability of the attitude, the height and the position of the tiltable aircraft in different flight stages is maintained, meanwhile, the functions of automatic obstacle avoidance, fault emergency and the like are integrated, flight safety is guaranteed, flight stability and applicability are improved, and the method can be widely applied to various tiltable aircraft operation scenes.

The invention discloses a fuselage-free unmanned aerial vehicle, an aviation container and a modular transportation system and method, and aims to solve the problems of high transportation cost of traditional aviation goods and low transportation efficiency of land goods. The aircraft is not provided with a warehouse and adopts a flying wing type layout or a conventional layout, wings in the flying wing type layout or the conventional layout are used for generating lift force and enter a straight wing flight mode after taking off, and the wings are provided with power systems, flight control systems and mounting structures used for being detachably connected with the streamline aerodynamic configuration aviation containers. Through the dynamic combination mode of the aircraft and the containers, the single aircraft can achieve the operation cycle of circularly transporting at least three containers. Through continuous container reloading operation, the aircraft can keep a continuous flight state without waiting for a loading and unloading process. And meanwhile, the container can be quickly circulated among different aircrafts through the modular design. According to the transportation mode, optimal configuration of transportation resources is achieved through efficient cooperation of the aircraft and the container.

The invention discloses an unmanned aerial vehicle formation flight control method and device, an unmanned aerial vehicle and a storage medium. The method comprises the steps that formation parameters, flight task instruction data and flight state data of other unmanned aerial vehicles in a formation are acquired or updated; judging a control mode according to the flight task instruction data, wherein the control mode comprises at least one of the following modes: a normal control enabling and conventional flight mode, a calculation mode, a suspended hovering mode or a disintegration mode; according to the judgment result of the control mode, based on an L1 guide algorithm of self-adaptive track tracking, fusing unmanned aerial vehicle spacing control logic and / or formation control logic of formation dynamic adjustment to obtain a control instruction of an expected track and / or attitude, and executing the control instruction; and circularly executing the steps to ensure the continuity and dynamic adaptability of the unmanned aerial vehicle and the formation flight thereof. According to the scheme, a completely decentralized distributed control architecture is adopted, and a fault-tolerant mechanism is matched, so that the reliability and survivability of the formation system are remarkably improved.

The application discloses a fusion positioning algorithm based on low-orbit satellite Doppler measurement, DME and VOR, relates to the technical field of satellite navigation, and comprises the following steps: acquiring the Doppler frequency shift of a low-orbit satellite, the slant range information of a DME and the azimuth angle data of a VOR, constructing a combined observation equation, and obtaining a corresponding Jacobian matrix; based on a geometric dilution of precision, selecting stations and stars through a genetic algorithm, optimizing the selection of the DME, the VOR and the low-orbit satellite, and obtaining an optimal navigation source combination; constructing a motion model under different flight modes, and dynamically estimating the state of an aircraft by using an interactive multiple model Kalman filter, and updating the position information in real time. Therefore, the real-time positioning of the aircraft under complex conditions is realized, the anti-interference capability of the system is improved, and the overall positioning precision and stability of the system are improved.

The invention discloses an unmanned aerial vehicle anti-wind disturbance controller and a control method, and belongs to the technical field of unmanned aerial vehicle flight control. The method runs on an independent processing module which is connected in series between a main flight controller and an electronic speed regulator of the unmanned aerial vehicle, a dynamic reference is constructed by collecting motor current in real time, deviation is calculated, and wind disturbance equivalent disturbance torque is estimated in a prospective mode through a third-order linear extended state observer (LESO) with bandwidth parameterization design; in combination with a'user operation state + flight mode 'two-dimensional intelligent decision compensation strategy, a'look-ahead wind resistance + attitude backup' dual-redundancy channel is matched, so that the wind disturbance is compensated in advance, and the flight stability in a complex scene is ensured. A corresponding controller adopts a standardized independent hardware design, the adaptability is high, the integration cost is low, and the method can be widely applied to high-precision operation scenes of various multi-rotor unmanned aerial vehicles.

The invention discloses an intelligent flight path planning method for an unmanned aerial vehicle in a multi-type scene, and the method comprises the following steps: 1, building task input and task type recognition: setting the unmanned aerial vehicle to be in a fixed-height flight mode, and obtaining space information required by a task, including a take-off point position, a task point coordinate set and a task region boundary, the system identifies the task type through analysis; if the input is a discrete point set, the task is judged as a point task; if the structure is a broken line structure, judging the task as a line task; if the boundary is a task area boundary, the task is judged to be a surface task, and if the boundary width L is small, the task is still judged to be a line task. The method has the advantages that a fitness function is improved, the shortest total time of multiple unmanned aerial vehicle tasks is used as an optimization target, and task real-time weight parameters are introduced, so that a planning result meets task timeliness and energy consumption optimization at the same time; the coverage of planar tasks is realized in combination with a cattle farming algorithm, dynamic planning of electric quantity and a battery swap station is performed in combination with a greedy algorithm, and path optimization and improvement of energy management are realized.

Aspects presented herein may enable a tracking device to disable its transmitter based on determining whether the wireless device is within the vicinity or a threshold distance of an airport and / or based on information or measurements obtained from its modem receiver. In one aspect, a wireless device detects whether the wireless device is within a threshold distance of a target location or whether the wireless device is airborne. The wireless device disables a transmitter of the wireless device based on detecting that the wireless device is within the threshold distance of the target location or that the wireless device is airborne.

An aeronautical vehicle performs horizontal flight and / or vertical flight, and has a fuselage, a wing assembly having a first wing part and a second wing part rigidly coupled to one another, a rotor assembly, a horizontal thruster, and an attitude control system. The wing assembly is arranged rotatably with respect to the fuselage to rotate about a vertical pivot axis between a stow position and an active position. The rotor assembly includes two vertical thrust rotors arranged on a rotor support rotatably with respect to the fuselage to rotate the rotor assembly between a stow position and an active position. In a horizontal flight mode the wing assembly is in the active position and the rotor assembly is in the stow position, and in a vertical flight mode the wing assembly is in the stow position and the rotor assembly is in the active position.

The invention discloses an air-ground power multiplexing hovercar adopting electric wheel angle modules. The air-ground power multiplexing hovercar integrates electric wheels, a suspension system, a steering system, a car body and a support system. The hovercar has the dual-mode function of a land mode and a flight mode, and switching between the land mode and the flight mode is completed through cooperative work of the electric wheels, the steering system and the support system. Wherein the electric wheels and the steering system both adopt high-integration power multiplexing design, that is, a land mode and a flight mode multiplex the same set of execution motor and planetary gear train, so that the problems that too many actuators are introduced due to switching of the flight mode and the dual modes, the light weight level is low due to miscellaneous equipment, and the power consumption is low are solved to a great extent. And the problem of low-efficiency carrying of invalid loads caused by two sets of independent power is solved. The electric wheel angle module of the hovercar adopts a modular design and is also suitable for four-wheel, six-wheel and other multi-axle vehicle frameworks, and proper electric wheel angle modules can be matched and mounted according to vehicle performance requirements.

A flight mode transitioning device, method and system configured to facilitate transitioning between vertical flight mode and horizontal flight mode in a vertical take-off and landing (VTOL) aircraft, the device comprising at least one actuator mediated member capable of limiting the movement the aircraft wing so as to enable both forward fight and vertical flight.

The invention provides a multi-duct cooperative ground effect aircraft control method, and relates to the technical field of ground effect aircraft control, and the method comprises the steps: collecting flight parameters in real time, including aircraft attitude parameters, environmental parameters and / or duct operation parameters; matching a current flight mode according to the flight parameters, and calling a corresponding duct group according to a flight mode demand; based on a six-degree-of-freedom kinetic model and a ground effect lift force formula, calculating the total thrust and torque demand of the ground effect aircraft in combination with a flight mode, and calculating the optimal thrust output and angle parameters of each duct group by controlling a distribution matrix; and controlling the flight state of the ground effect aircraft according to the optimal thrust output and angle parameters of each duct group, and continuously collecting the flight parameters. The problem that in the prior art, the flight state of the ground effect aircraft is difficult to accurately control according to different flight mode working conditions under the three environments of water, land and air is solved.

The invention discloses a simulation test evaluation system for an intelligent decision algorithm of an unmanned aerial vehicle. The simulation test evaluation system comprises an initial scene generator, a flight mode discriminator, a three-dimensional disturbance synthesizer, a physical model deduction engine and a multi-dimensional performance evaluation device. According to the invention, a five-layer heterogeneous collaborative framework (including an initial scene generator, a flight mode discriminator, a three-dimensional disturbance synthesizer, a physical model deduction engine and multi-dimensional performance evaluation) is proposed for the first time, and a traditional single linear decision mode is broken; the full-process dynamic coupling of environment modeling, state perception, disturbance injection, behavior deduction and efficiency evaluation is realized, and compared with a traditional method, the decision boundary coverage rate and verification efficiency are improved.

The invention belongs to the technical field of flight simulators and throttle levers, particularly relates to an eVTOL simulator throttle lever control system and method, and aims to solve the problems that complex and diversified flight modes of eVTOL cannot be adapted, switching is not smooth, and hardware switching is inconvenient. According to the invention, the return-to-middle / non-return-to-middle mode can be switched in real time through the servo control unit, a moment model is customized for each flight mode for control, hardware does not need to be modified manually, and the flight mode change is quickly responded; smooth torque transition is realized through a self-adaptive Sigmoid transition algorithm; a multi-mode adaptive torque model and a PWM signal algorithm are adopted, and different flight mode control requirements are accurately matched; and the double-path position acquisition and fault backup design improves the reliability of the equipment. According to the invention, the authenticity, safety and efficiency of simulation training are effectively improved, and the eVTOL pilot training requirements are met.

The invention discloses a flight control method and system for a vertical take-off and landing tilting quad-rotor unmanned aerial vehicle, and aims to solve the technical problem of poor time-varying adaptability of a control system in a nacelle tilting transition stage. According to the method, in a rotor wing flight mode and a nacelle tilting transition mode, attitude angle deviation, deviation change rate and flight speed of the unmanned aerial vehicle are obtained in real time, a fuzzy inference engine is adopted to dynamically output basic control quantity based on a predefined rule base, and a final control instruction is generated in combination with pneumatic feed-forward compensation quantity based on speed to drive a pneumatic control surface. According to the method, fuzzy intelligent decision making and feed-forward dynamic compensation are fused, the limitation that traditional control depends on an accurate model is broken through, the control precision and adaptability of a transition stage are remarkably improved, overshoot is effectively restrained, the adjusting time is shortened, the robustness of a system under model parameter changes and external interference is enhanced, and the system reliability is improved. And a reliable technical guarantee is provided for full-mode flight of the tilt-rotor unmanned aerial vehicle.

The invention discloses a flight trajectory prediction method and system based on airspace information perception, and the method comprises the steps: obtaining historical aircraft trajectory information, and carrying out the multi-scale flight trajectory segmentation based on downsampling; carrying out aircraft flight mode correlation graph calculation on the aircraft trajectory information of different scales; performing high-order tensor graph neural network construction based on the flight mode correlation graph, and fusing trajectory information of different airplanes in the same airspace; acquiring historical wind speed and wind direction information, and fusing the wind speed and wind direction information with the aircraft trajectory information; and fusing the fusion results according to different scales, and outputting a predicted future aircraft trajectory. According to the method, sufficient information interaction of different airplanes in the same airspace can be ensured, and meanwhile, extra peripheral wind speed and direction information is fused as auxiliary features, so that the flight path is accurately predicted.

The present invention belongs to the field of aircrafts. Disclosed is a method for reducing the energy consumption of an aircraft, which method is applied to an aircraft and is used for controlling the aircraft to automatically align with an incoming wind direction, wherein flight modes of the aircraft include a vertical take-off and landing mode, a cruise mode and a transition mode. The method comprises: S1, providing a control system; and S2, providing a control apparatus, wherein the control system comprises a flight control module and a control module, and the control apparatus may send different instructions to the flight control module for controlling an aircraft to automatically align with an incoming wind direction.

This invention discloses a method for tiltrotor blade modal identification, belonging to the field of tiltrotor dynamics technology. It addresses the problem of being unable to measure blade modes under incoming flow conditions. The invention proposes a complete wind tunnel testing method, from blade control matrix calibration and empty hub adjustment to tiltrotor blade modal frequency identification and damping identification tests. This invention comprehensively considers wind tunnel testing methods for tiltrotor aircraft under different flight modes and under incoming flow conditions, solving the problem of conducting tiltrotor blade modal identification tests under wind tunnel conditions with incoming flow. Furthermore, by binding hydraulic cylinder excitation triggering with data acquisition system variables, it solves the problem of simultaneously acquiring hydraulic cylinder excitation frequency, displacement, and blade profile load, further improving the accuracy of blade modal identification and providing a technical approach for measuring the dynamic characteristics of tiltrotor blades.

The application discloses an energy-saving control method for a low-load manned aircraft, and the method comprises the following steps: acquiring atmospheric characteristic data and aircraft characteristic data; calculating real-time atmospheric pressure and real-time temperature; calculating real-time density according to the atmospheric characteristic data, the aircraft characteristic data, the real-time atmospheric pressure and the real-time temperature; calculating windward area according to the real-time density and the aircraft characteristic data; calculating adjustment mass according to the windward area, the real-time density and the aircraft characteristic data; calculating optimal speed according to the aircraft characteristic data, the adjustment mass, the windward area and the real-time density; calculating real-time power and aircraft lift according to the optimal speed, the real-time density, the windward area and the aircraft characteristic data, and performing energy-saving control operation according to the real-time power and the aircraft lift. The method can realize closed-loop energy-saving control of the aircraft in different flight modes and reduce power consumption of the aircraft.

The invention discloses an auxiliary control method and system for an autorotorcraft in the flight process, and relates to the technical field of the auxiliary control method for the autorotorcraft, and the remaining flight paths of the autorotorcraft are determined according to the flight path and the current position of the autorotorcraft. And determining a current flight state of the autorotorcraft according to each current flight parameter and flight mode of the autorotorcraft, and determining a first auxiliary control mode of the autorotorcraft in the remaining flight areas according to the current flight state, the plurality of flight routes of the remaining flight areas and the corresponding real-time weather events. Determining a flight influence factor from the identification of the flight event; and determining a second auxiliary control mode of the autorotorcraft in the next remaining flight area according to the flight influence factor, the plurality of flight routes of the next remaining flight area and the abnormal signal of the autorotorcraft, thereby improving the accuracy of the second auxiliary control mode of the autorotorcraft in the next remaining flight area.

This application discloses a method, device, electronic device, medium, and product for controlling a three-axis gimbal of a UAV. The method includes: upon receiving a control command from the UAV's three-axis gimbal, acquiring the UAV's flight status information and the current gimbal control mode; performing attitude calculation based on the flight status information to obtain the actual physical angles of each axis of the three-axis gimbal; calculating the angular deviation between each axis of the three-axis gimbal and the target angle specified in the control command based on the actual physical angles of each axis; determining the target control mode to be activated based on the angular deviation and the target angle; and when the target control mode differs from the current gimbal control mode, performing corresponding control on the three-axis gimbal based on the target control mode and the target angle. This method enables refined and adaptive control based on the gimbal's real-time attitude deviation, improving the accuracy and flexibility of control, without relying on switching the gimbal control based on the overall flight mode of the UAV.

A control method for a compound wing aircraft (10). Flight modes of the compound wing aircraft (10) comprise a vertical take-off and landing mode, a cruise mode and a transition mode. A control system of the compound wing aircraft (10) comprises: a control module (1) and a flight control module (2), wherein the control module (1) comprises at least a first control component (11) and a second control component (12) that can be operated by a user. The control method comprises: controlling the first control component (11) to move within a certain range to send different commands to the flight control module (2) at different positions within the range, so as to respectively complete flight actions of the compound wing aircraft (10) under various flight modes (S101); and controlling the second control component (12) to move in a plurality of different directions to send different commands to the flight control module (2) in the different directions for respectively controlling flight parameters of the compound wing aircraft (10) under various modes, and controlling the speed or attitude of the compound wing aircraft (10) while controlling the first control component (11) (S102). The control method enables effective control of the compound wing aircraft (10) in multiple flight modes, with simple operation.

The invention provides an unmanned aerial vehicle mode switching control method and system, and relates to the technical field of mode switching control, and the method comprises the steps: constructing a flight scene vector, and carrying out the fitness evaluation; if the flight mode adaptation coefficient is smaller than or equal to the flight mode adaptation threshold value, generating a mode switching decision; switching accident suppression compensation adjustment is carried out on the mode switching decision according to the flight scene vector; loss constraint optimization is carried out on the switching adjustment first group according to the switching loss evaluation model; and a switching propagation constraint condition is introduced, propagation optimization is carried out, a switching optimization strategy is obtained, and mode switching control is carried out on the unmanned aerial vehicle. According to the method and the device, the technical problem that the flight safety of the unmanned aerial vehicle is affected due to the fact that the unmanned aerial vehicle mode switching lacks fine control and is easy to cause instability at the switching moment in the prior art is solved, the flight scene vector is constructed and the mode switching decision is made based on the fitness evaluation, the stability of the unmanned aerial vehicle mode switching is improved, and the flight safety of the unmanned aerial vehicle is improved. Therefore, the flight safety is improved.

The application provides a method for controlling the flight mode of a terminal device, the terminal device and related devices. The method comprises: determining whether the first system time of the terminal device is within the first preset time period. If it is determined that the first system time of the terminal device is within the first preset time period, the first real-time position information of the terminal device is obtained, and it is determined whether the terminal device is within the first preset area according to the first real-time position information. If it is determined that the terminal device is within the first preset area, the first motion data of the terminal device within the second preset time period is obtained. If it is determined that the first motion data matches the preset motion data, the flight mode of the terminal device is started. By using the above method, the power consumption of the terminal device is reduced, and the flight mode of the terminal device is reasonably controlled.

A multi-monocopter system is provided, including a plurality of monocopters. Each monocopter includes: a flight controller, disposed on a housing member, operable to control a flight of the monocopter in an individual flight mode and a flight of the plurality of monocopters collectively in a cooperative flight mode; a wing member; a thrust unit; and a magnetic connector coupled to the housing member. The magnetic connector is configured to be connectable to corresponding magnetic connectors of other monocopters of the plurality of monocopters via a magnetic force to operate in the cooperative flight mode. When in the cooperative flight mode during flight, the flight controller is operable to control a rotational speed of the plurality of monocopters collectively to produce a centrifugal force that exceeds the magnetic force for separating the plurality of monocopters connected via the magnetic force to convert the cooperative flight mode to the individual flight mode.

The invention relates to the technical field of aircraft power control, and discloses an artificial intelligence optimized vertical fixed wing power control method and system, and the method comprises the steps: obtaining the original airspeed data of an airspeed sensor, the ground speed data of a global positioning system and the acceleration data of an inertial measurement unit, and generating the ground speed of an aircraft based on the data fusion. Under the low-wind-speed condition, the ground speed of the aircraft is used as the reference airspeed, the difference between the original airspeed data of the airspeed sensor and the reference airspeed is continuously compared, and the sliding average value of the difference is calculated. When the sliding average value continuously exceeds the preset tolerance range, the method can identify that the airspeed sensor has continuous calibration drift. And then, according to the identified continuous calibration drift, performing real-time compensation on original airspeed data of an airspeed sensor to obtain calibrated airspeed data, and inputting the calibrated airspeed data into flight mode switching judgment logic to trigger an action instruction of a tilting mechanism.

The invention discloses a tilting rotorcraft vibration reduction system and method based on magnetorheological dampers, and relates to the field of wing vibration reduction. The central control module carries out flight mode recognition and vibration type judgment according to the signal data, adopts a fuzzy PID algorithm to carry out damping force parameter optimization and converts the damping force parameter into a control instruction; the magnetorheological damper execution module adjusts damping force according to the control instruction; the energy recovery module converts vibration mechanical energy into electric energy and stores the electric energy; the state feedback module collects a vibration reduction effect signal after vibration suppression, then the vibration reduction rate is determined through the central control module, and whether the vibration reduction rate is lower than a preset vibration reduction rate threshold value or not is judged; and if yes, the damping force parameter is corrected, the energy recovery efficiency is monitored, and if the energy recovery efficiency is lower than preset efficiency, the transmission ratio parameter is corrected, so that continuous vibration reduction and energy recovery in the whole flight process are achieved. The tilting rotorcraft can solve the problems that the tilting rotorcraft is slow in vibration reduction response, poor in effect and incapable of recycling energy in multiple flight modes.

The present invention relates to an electronic shift controller for a flying car. The controller is a hand-shift electronic shift controller. Land control, flight control, and land-flight mode switching are performed by a control component of the hand-shift electronic shift controller. The control component includes a joystick and, arranged sequentially from the top of the joystick toward the base, an end button, a circle button, and a center dial. The control method of the present invention better aligns with the driver's driving habits and is more ergonomic, making long-term driving more comfortable. The present invention implements the flight controller function of the hand-shift controller on land, simplifying the driver's operation and eliminating the need for a dedicated flight controller, thus saving costs for the user.