85 results about "Altitude control" patented technology

The invention comprises an apparatus, method for using the apparatus and system for balloon altitude control by in-situ characterization and active energy management. The invention presented enables transportation, autonomous operation and use of a balloon beyond the limits of conventional high-altitude ballooning to the edge of the atmosphere, or about 100 km above the surface of the Earth. The apparatus comprises at least: an envelope containing lift-gas; an envelope and lift-gas characterizer; an altitude control system operated using active energy addition and lift-gas transfer or ambient air introduction into the system; and an external payload component. The invention is capable of operating in ascent, descent, or stationary mode; the altitudinal movement of the balloon is caused by measuring in-situ envelope and lift-gas characteristics, identifying the change in the lift-gas energy needed, and facilitating the required energy change for altitude control.

The invention discloses a low-altitude airspace dynamic navigation information generation system and method. The system comprises a plurality of low-altitude aircrafts, a plurality of flight information edge computing devices, a low-altitude information center and a low-altitude control center. The plurality of low-altitude aircrafts are in communication connection with the plurality of flight information edge computing devices; the plurality of flight information edge computing devices are in communication connection with the low-altitude information center; the low-altitude information center is in communication connection with the low-altitude control center; according to the invention, low-altitude navigation intelligence information can be accurately provided in real time.

The invention comprises an apparatus, method for using the apparatus and system for balloon altitude control by in-situ characterization and active energy management. The invention presented enables transportation, autonomous operation and use of a balloon beyond the limits of conventional high-altitude ballooning to the edge of the atmosphere, or about 100 km above the surface of the Earth. The apparatus comprises at least: an envelope containing lift-gas; an envelope and lift-gas characterizer; an altitude control system operated using active energy addition and lift-gas transfer or ambient air introduction into the system; and an external payload component. The invention is capable of operating in ascent, descent, or stationary mode; the altitudinal movement of the balloon is caused by measuring in-situ envelope and lift-gas characteristics, identifying the change in the lift-gas energy needed, and facilitating the required energy change for altitude control.

The embodiment of the invention provides a vehicle, a vehicle control method, device and equipment, a medium and a product, and the vehicle comprises a plurality of first-class sensors which are used for collecting suspension height data corresponding to each wheel; the second type sensor is used for collecting attitude related data of the vehicle; and the controller is used for controlling the height of the suspension according to the attitude related data and the suspension height data collected by the first type of sensors which do not fail when a part of the first type of sensors fail. According to the embodiment of the invention, the method achieves the estimation of the height of the suspension when the sensor breaks down, achieves the control of the suspension through the estimated height value, improves the fault tolerance of a suspension control system, and guarantees the control stability of the suspension and the safety of a vehicle.

A method for guiding the maximum height of a passive ascending trajectory of a boosting gliding aircraft comprises the following steps: based on an approximate hypothesis that the passive ascending trajectory inclination angle is small and the speed change is small, considering that the aircraft can gradually descend in an overload mode in the height ascending process, and representing a normal overload instruction as a quadratic function form of the trajectory inclination angle; the analytic relation between the maximum ballistic height and the normal overload instruction is obtained through integration, normal overload instruction parameters are iteratively solved according to the expected maximum ballistic height value during actual flight, and the maximum ballistic height is controlled within a relatively accurate range.

The invention provides a low-altitude and ground traffic intelligent cooperative control method based on multi-agent reinforcement learning. The method comprises the steps that traffic state information is acquired, and scene classification is performed through a multi-agent reinforcement learning model; if the scene is a low-altitude congestion scene, executing unmanned aerial vehicle path dynamic planning, airspace resource allocation and conflict resolution, and fusing to generate a low-altitude control instruction; if the scene is a ground conflict scene, vehicle priority ranking, signal lamp optimization and road right distribution are executed, and a ground control instruction is generated through secondary fusion after a conflict resolution weight matrix is constructed; and finally, fusing low-altitude and ground instructions through a double-layer attention mechanism, and outputting a global cooperative scheduling scheme. According to the method, the airspace resource utilization rate and the road traffic efficiency can be improved, the traffic conflict risk is reduced, and a global integrated optimal scheduling scheme is formed.

The invention discloses an aircraft control method based on barometric altitude compensation and attitude calculation of dual-sensor fusion, and the method comprises the steps: carrying out the temperature compensation and attitude calculation through collecting the data of a barometric sensor and an inertial measurement unit, and obtaining an original altitude and an Euler angle; processing the original height based on an alpha-beta filter to obtain an air pressure estimation height, and calculating an inertial navigation height and a vertical speed through attitude conversion integral; a self-adaptive complementary filtering strategy is adopted, the fusion weight is dynamically adjusted according to the air pressure estimation height variance, the high-frequency inertial data and the low-frequency air pressure data are fused, and accurate fusion height and vertical speed are output; finally, constructing a cascade controller, and calculating a target vertical speed instruction by an outer ring according to the expected height deviation; the inner ring generates an actuator signal based on the deviation to drive a motor; height stable control is achieved, so that drifting is effectively restrained, the precision and the response speed are improved, and reliable height control of the aircraft under vibration or air pressure changes is achieved.

An agricultural vehicle comprises a chassis, a header carried by the chassis, an actuator system including a plurality of actuators linked to a frame of the header and configured to adjust an orientation of the header, a GPS device configured to output a GPS position of the vehicle, and a controller. The header includes a frame and one or more sensors carried by the frame. The controller is electrically coupled to the one or more sensors, the actuator system, and the GPS device. The controller is configured to receive from a memory a final orientation of the header associated with a GPS position at a second location on a last pass that is closest in distance to a GPS position at an upcoming location on the current pass, and activate one or more actuators to re-orient the header before the vehicle arrives at the upcoming location.

The application discloses a rocket ejection seat control method and system under an inertial navigation fault working condition, a program controller receives and processes data of PIU1 and PIU2, an overload sensing device and a pressure altitude sensor in real time, when chair-mounted inertial navigation communication fails or data is unavailable, the program controller adopts data in the PIU1 to perform mode determination and uses data collected by the pressure altitude sensor to complete remaining height control, when the PIU1 data is abnormal, the program controller adopts data in the PIU2 to perform mode determination and uses data collected by the pressure altitude sensor to complete remaining height control, when the PIU2 data is abnormal, the program controller uses data collected by the overload sensing device to perform mode determination and uses data collected by the pressure altitude sensor to complete remaining height control, and when the overload sensing device is abnormal, the program controller performs fixed delay time control. The application guarantees lifesaving performance of the ejection seat under the inertial navigation fault mode, and improves reliability and safety of rocket ejection lifesaving.

A UAV control method, a device, a UAV, and a storage medium are provided. The method includes: obtaining a UAV's take-off position; obtaining a height map of an area around the take-off position; determining height information of a highest target in the area around the take-off position based on the height map; determining a relative height between the highest target and the take-off position based on the height information of the highest target; determining a restricted flight altitude of the UAV relative to the take-off position based on the relative height, and controlling the UAV based on the restricted flight altitude; where the restricted flight altitude is greater than or equal to the relative height. It thus can ensure flight safety while offering more reasonable and user-friendly flight flexibility and freedom.

The invention discloses a wide-range adjustable gliding guidance method for a hypersonic-velocity maneuvering aircraft, and relates to the technical field of aircraft guidance. Performing remote longitudinal guidance based on an attack angle instruction and remote transverse guidance based on a heeling angle instruction by using a hybrid energy adjustment method; when short-range gliding guidance is carried out on the hypersonic aircraft, an attack angle instruction is set on a preset fixed attack angle profile, and pneumatic deceleration longitudinal guidance and pneumatic deceleration transverse guidance based on a heeling angle instruction are carried out by using a pneumatic deceleration gliding guidance method based on a D-V profile. According to the method, speed and height control weights are dynamically distributed in the remote stage to break through lift-drag ratio limitation, efficient deceleration and transverse constraint are achieved by combining a fixed attack angle profile and robust heeling angle symbol control in the short-range stage, and the core problems of range splitting, low energy management efficiency and insufficient terminal control precision in the prior art are solved.

The application relates to the technical field of lifting control, and discloses a control method and a control device of a lifting device, in order to realize accurate lifting height control. The control method comprises the following steps: obtaining a control instruction comprising a cycle number, a cycle time and an expected height; obtaining the actual height of a load in real time; setting the ratio of the motor rotating speed to the lifting speed of the load in the first cycle; when i is greater than 1, calculating the ratio in the i-th cycle according to the output rotating speed of the motor in the (i-1)-th cycle, the actual height at the starting moment of the (i-1)-th cycle, the actual height at the starting moment of the i-th cycle and the cycle time of the (i-1)-th cycle; in the i-th cycle, calculating the output rotating speed of the motor according to the expected height, the actual height at the starting moment of the i-th cycle, the cycle time of the i-th cycle and the ratio in the i-th cycle; and controlling the motor according to the calculated output rotating speed in the first to i-th cycles respectively.

The invention provides a low-altitude space-time grid division method, system and device, a medium and a program product. The low-altitude space-time grid division method comprises the steps that a low-altitude space domain is divided into a space domain plane dimension, a space domain height dimension and a time dimension; progressively dividing the spatial domain plane dimension into a plurality of plane hierarchies according to longitude and latitude directions; dividing the spatial domain height dimension into a plurality of height levels by adopting a recursive dichotomy; dividing natural days for the time dimension, and progressively dividing the natural days into a plurality of time levels; and dynamically selecting the plane hierarchy, and / or the height hierarchy, and / or the time hierarchy based on management and control requirements. According to the method, the optimal space-time precision grade can be intelligently matched according to the attributes and control requirements of a specific region, so that the differentiated control granularity requirements in a global range are efficiently and uniformly adapted. The characteristic integrating high efficiency, flexibility and uniformity provides indispensable underlying support for refined low-altitude management and control application requiring extremely low delay response and high concurrent processing capability.

In a transport system, when transporting a suspension means other than at the time of dynamic lift-off when a package is lifted or other than at the time of landing when the package is placed, a third control means executes holding control to perform holding by a holding means, a first control means executes torque control to lower the suspension means when the load increases and to hoist the suspension means when the load decreases, at the time of dynamic lift-off when the package is lifted from the placement surface, or at the time of landing when the package is placed on the placement surface, the third control means executes release control to release the holding by the holding means, and the first control means executes the height control in which the hoisting machine is actuated to control moving the holding means to the target height.

The embodiments of the present application provide an aircraft simulation test system, method, device and storage medium, and relate to the field of aircraft simulation test technology. The system includes: an altimeter simulation test device, which is used to perform echo simulation processing on the transmission signal emitted by the altimeter to obtain a simulated echo signal; an altimeter, which is connected to the altimeter simulation test device, and is used to determine a first altitude based on the transmission signal and the simulated echo signal sent by the altimeter simulation test device; a flight control device, which is connected to the altimeter, and is used to control the flight of the aircraft based on the first altitude. The embodiments of the present application can connect the first altitude of the altimeter to the flight control device, that is, the height measurement data of the altimeter can be involved in the calculation of the flight control program, so as to realize the simulation test of the aircraft under the condition of the participation of the altimeter, and improve the effectiveness and fidelity of the simulation test of the aircraft.

The present invention provides an integrated low-altitude control and counter-drone command vehicle system and control method, belonging to the field of vehicle-mounted drone prevention and control. The method includes: preparing a prevention and control plan, setting up protected areas, denied areas, and early warning areas; demarcating the flight airspace of the vehicle-mounted drone, planning the flight route, preparing a flight plan, receiving flight plan approval, controlling the vehicle-mounted drone to take off and execute the mission, and adding it to a whitelist; detecting and identifying drones entering the early warning area, generating target early warning information, and adding them to a blacklist; when a drone on the blacklist enters the denied area, determining whether the drone model on the blacklist is in a spectrum feature library, determining whether the drone on the blacklist and the drone on the whitelist are in the same frequency band and within the same interference beam range, and performing interference treatment based on the determination result; and after the mission is completed, replaying and statistically analyzing the data transmission and reception instructions and the control scene. The present invention is comprehensive in function and practical in method.

A phased array antenna system capable of controlling the altitude and / or attitude of a plurality of element satellites with a simple configuration is provided. [Solution] The phased array antenna system of the present disclosure is an antenna system comprising a plurality of first element satellites each provided with a first antenna section, and a second element satellite, wherein the plurality of first element satellites and the second element satellites are arranged in an array, and each of the plurality of first element satellites is provided with a first spacing control means for controlling the spacing between it and another first element satellite or the second element satellite, and the second element satellite is provided with an altitude control means for controlling the altitude of the second element satellite and / or an attitude control means for controlling the attitude of the second element satellite, and a second spacing control means for controlling the spacing between it and at least some of the plurality of first element satellites.

The utility model aims to design a pipeline detector device, a pipeline detector, a microprocessor, a coordinate locator, a height control sensor, an anti-collision sensor and a signal transceiving antenna are arranged on a micro remote control unmanned aerial vehicle, and the height control sensor controls the flight height of the micro remote control unmanned aerial vehicle. The anti-collision sensor prevents the miniature remote control unmanned aerial vehicle from colliding with an object during flight, the coordinate positioning instrument calibrates the pipeline position detected by the pipeline detector, and the pipeline detector transmits the detected pipeline information to the operation board and the display screen through the microprocessor and the signal receiving and transmitting antenna. The operation board can adjust data of the height control sensor and the anti-collision sensor through the microprocessor, the pipeline detector and the signal receiving and transmitting antenna so as to control the miniature remote control unmanned aerial vehicle.

The invention discloses a design and regulation method of a multi-layer low-altitude roundabout three-dimensional intersection, which comprises the following steps: constructing a multi-layer annular airway three-dimensional structure, dividing the airspace at the low-altitude airway intersection into a plurality of height layers in the vertical direction, and arranging annular airways with the same circle center plane position and different heights on each layer; defining an intersection operation rule; deploying a low-altitude management and control framework; and the ground intelligent control center obtains the state of the aircraft through a communication network, and carries out scheduling decision making according to a dynamic priority strategy. Through the multi-layer annular route and vertical layer change design, the vertical dimension of the low-altitude airspace is fully utilized, the interleaving conflict is effectively reduced, the delay time of the low-altitude intersection is shortened, and the airspace capacity and safety are improved. The method can be widely applied to the technical field of low-altitude traffic management.

This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, specifically relating to a method and apparatus for UAV altitude hold control. The method includes the following steps: acquiring electrooculogram (EOG) signals; determining the signal source and detecting blink events based on the EOG signals to obtain an updated desired flight altitude change; acquiring electroencephalogram (EEG) signals; decoding the EEG signals to obtain a determined desired flight direction; determining the desired flight altitude based on the desired flight altitude change and the desired flight direction; inputting the desired flight altitude to a model predictive controller to solve for the optimal control input to generate a desired thrust value; and mapping the thrust value to the speed control signals of each control motor through a power conversion module. This invention converts EEG signals into a desired flight direction and EOG signals into a dynamically adjustable desired flight altitude change, comprehensively determining the desired flight altitude, thus achieving excellent precision and stability in UAV altitude hold control.

The present application belongs to the field of aircraft flight control, and particularly relates to a kind of finite time flight height control method of integrated flap direct force control.The finite time flight height control method of integrated flap direct force control according to height control reference trajectory, establishes the linear dynamics model of the longitudinal channel of the controlled aircraft;According to the flight control target, a finite time domain linear quadratic optimal control problem is established, and the corresponding two-point boundary value problem is derived;Using finite-time iteration algorithm, the optimal flight state and control solution of flight height control are obtained;The optimal solution is applied to height control.The finite time flight height control method of integrated flap direct force control uses finite-time iteration to obtain optimal control instructions, and through parallel computing, efficient solution of height and heading position control instructions is realized, which has engineering practical value.

The invention relates to an automatic lifting and releasing device for a ball falling instrument, which is characterized in that smooth circular shafts are rotatably mounted at the upper and lower ends of a main body frame, transmission gears are mounted on the smooth circular shafts at intervals, a transmission chain is connected between the transmission gears, fixed blocks are mounted at the front ends of the main body frame and a bottom platform, and optical shaft guide rails penetrate through the fixed blocks; a ball falling instrument bearing frame is arranged on the optical axis guide rail in a sliding mode through a sliding block, the back face of the ball falling instrument bearing frame is connected to a transmission chain, an electromagnet is arranged at the bottom of the ball falling instrument bearing frame, and the microcontroller can control on-off of the electromagnet and lifting of the ball falling instrument bearing frame to achieve lifting or releasing of the ball falling instrument. And meanwhile, the electric driving wheel can be controlled to drive the device to automatically move to a specified test point. Full-automatic operation of lifting, releasing and moving of the falling ball instrument is achieved, the falling ball height control and point position transfer process does not need to be manually intervened, the labor intensity of detection personnel is effectively reduced, automatic cycle operation is achieved, and the working efficiency of roadbed detection is greatly improved.

The invention comprises an apparatus, method for using the apparatus and system for balloon altitude control by in-situ characterization and active energy management. The invention presented enables transportation, autonomous operation and use of a balloon beyond the limits of conventional high-altitude ballooning to the edge of the atmosphere, or about 100 km above the surface of the Earth. The apparatus comprises at least: an envelope containing lift-gas; an envelope and lift-gas characterizer; an altitude control system operated using active energy addition and lift-gas transfer or ambient air introduction into the system; and an external payload component. The invention is capable of operating in ascent, descent, or stationary mode; the altitudinal movement of the balloon is caused by measuring in-situ envelope and lift-gas characteristics, identifying the change in the lift-gas energy needed, and facilitating the required energy change for altitude control.

A system for sensing, controlling, and / or maintaining the pose (e.g., a heading, attitude, and / or elevation) of a ground-based vehicle is disclosed, which allows precise control of the orientation of the vehicle wheels and / or body relative to a ground surface is disclosed. When actuated, the pitch, roll, height, and / or pivot of the wheel axles relative to one another are controlled to achieve a commanded vehicle pose, raise one or more wheels from the ground surface, and / or place the body of the vehicle in contact with the surface, among other examples.

The present invention relates to a method for operating a front attachment (2, 20) arranged on a height-adjustable receiving device (3) of a self-propelled combine harvester (1) by means of actuators (5), the front attachment comprising a central segment (21) and two side segments (22L, 22R), each of which is pivotably connected to the central segment (21) by a frame joint (23) about a pivot axis (24) oriented in the direction of travel (FR), wherein the respective side segment (22L, 22R) is pivotable relative to the central segment (21) about the pivot axis (24) by means of at least one actuator (25) controlled by a control unit (17), wherein a lateral tilt angle (19) of the front attachment (2, 20) is set by pivoting about a virtual pendulum axis (8) of the receiving device (3), wherein a distance (12) between the ground (10) and the front attachment (2, 20) is determined by means of distance sensors (13) arranged on the underside of the attachment device (2, 20),whose signals are supplied to the control unit (17) for evaluation, by which, depending on the signals, a lateral control of the attachment device (2, 20) and / or the respective side segments (22L, 22R) is controlled, wherein the lateral control by the control unit (17) is carried out depending on a prioritization for the height control of one of the two side segments (22L, 22R).

The invention discloses an unmanned aerial vehicle landing longitudinal height control method and device based on flap parameter control, the device comprises an elevator control structure, a flap control structure and a switching device, and the method comprises the following steps that S1, an unmanned aerial vehicle obtains landing information and lands according to the landing information; s2, after the unmanned aerial vehicle reaches the initial landing height, the elevator control structure is adopted to control the unmanned aerial vehicle to fly horizontally; s3, in the gliding stage of the unmanned aerial vehicle, the control structure of the unmanned aerial vehicle is switched to a flap control structure from the elevator control structure through a switching device; and S4, after the flap control structure controls the unmanned aerial vehicle to slide downwards until the unmanned aerial vehicle falls to the ground, the unmanned aerial vehicle decelerates until the unmanned aerial vehicle stops. Landing of the unmanned aerial vehicle is directly controlled through the elevator control structure and the flap control structure, the rapidity and control precision of height control are improved, and high-frequency interference during landing is effectively restrained.

The invention discloses a flying height control and trajectory tracking method for an aerocar in a ground-air dual mode, and the method comprises the following steps: 1, building a four-rotor aerocar dynamics model in a flying state; 2, designing a height controller based on adaptive RBF neural network sliding mode control according to the four-rotor aerocar dynamics model established in the step 1, and controlling the flight height by dynamically adjusting the rotating speed of a motor; and step 3, in a ground driving state, establishing a vehicle trajectory tracking model, designing a linear model prediction control algorithm, and outputting a required front wheel turning angle to realize trajectory tracking control. According to the method, air-ground dual-mode control of the hovercar is innovatively provided, and operation and control of the hovercar are well achieved.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a longitudinal track control method for a high-aspect-ratio unmanned aerial vehicle. The method comprises the steps that an elevator control channel of the unmanned aerial vehicle adopts a pitch angle control strategy to adjust an elevator to control the pitch angle of the unmanned aerial vehicle, so that the flight speed of the unmanned aerial vehicle is controlled; a power channel of the unmanned aerial vehicle controls the rotating speed of a propeller of the unmanned aerial vehicle through an energy control strategy, so that the flight height is controlled; the unmanned aerial vehicle decouples an elevator control channel and a power channel by adopting a longitudinal control strategy, so that longitudinal cooperative control of the unmanned aerial vehicle is completed; the longitudinal control strategy specifically comprises the steps that a speed instruction in an elevator control channel and a lifting speed instruction in a power channel serve as balancing points, and a pitch angle feed-forward value is obtained through force and moment balance and used for adjusting the pitch angle of the unmanned aerial vehicle; according to the invention, speed control and height control are mutually independent and accurate, and the overall reliability of longitudinal track cooperative control is ensured.

This invention discloses a low-altitude flight intelligent control information system integrating integrated sensing data, relating to the fields of communication and low-altitude control technology. It includes an integrated sensing base station, a reference signal receiving unit, a cognitive closed-loop engine, and a control decision module. The cognitive closed-loop engine executes a closed-loop process consisting of S1 reference-driven learning, S2 collaborative active identification, and S3 feedback-driven evolution: S1 utilizes reference signals from cooperative targets for directional acquisition and feature annotation, constructing a target physical feature knowledge base; S2, for non-cooperative targets, plans multi-base station collaborative acquisition tasks to maximize information gain, performs hierarchical matching reasoning on multi-dimensional features, and outputs the model, confidence level, and abnormal features; S3 verifies the identification accuracy based on control and response feedback, dynamically updating the knowledge base, feature validity map, and identification model parameters. This invention enables the system to possess continuous learning and self-optimization capabilities, improving the accuracy of identifying non-cooperative targets in complex low-altitude environments.

A forced landing method for landing of a non-fully-coated manned aircraft comprises the steps that a control system jumps out of an auxiliary landing process when receiving a forced landing trigger signal, triggers the forced landing process and records the current trigger time t0 and the current flight height H0; the control system performs height judgment in each communication period, and according to the current flight environment of the aircraft, when the aircraft is in a low-altitude or ultra-low-altitude flight condition and the flight height is judged to be higher than a second preset threshold value Ht, a parachute bag judgment guide process is executed, otherwise, the control system triggers and opens each airbag of the wearable airbag vest, and the airbag vest is started. The mechanical foot assembly is guided and supported to be unfolded; and in the flight condition with the parachute as the main guide, when it is judged that the flight height is higher than the preset parachute opening height H1, height judgment of the next period is carried out, otherwise, the parachute bag is guided to be opened, and the air bag and mechanical foot guiding process is carried out. The method can realize safe landing and forced landing during low-altitude or ultra-low-altitude flight, and is compatible with landing during parachute guidance.