1419 results about "Fixed wing" patented technology

The invention relates to the technical field of flight control, in particular to a fixed-wing unmanned aerial vehicle attitude correction and precise flight control method fused with visual navigation, which comprises the following steps: extracting ORB feature points and constructing a dynamic feature point cloud; simultaneously acquiring angular velocity and acceleration data of the inertial measurement unit; performing tight coupling fusion processing on the dynamic feature point cloud and the inertial measurement data to generate real-time pose data; inputting the real-time pose data into an attitude correction parameter calculation module, and generating an attitude correction parameter through a dynamic weight distribution algorithm in combination with a preset flight path planning model and GPS positioning data; and a control surface deflection instruction and an accelerator control instruction are generated through the multi-constraint optimization model, and unmanned aerial vehicle flight attitude closed-loop correction is completed. According to the method, aerodynamic parameters such as the air speed, the wind field lateral disturbance and the attack angle are introduced to serve as coupling input, the control surface deflection amount and limiting conditions are dynamically adjusted, and self-adaptive modeling and control over the nonlinear flight characteristics are achieved.

The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent flight path planning and energy management system and method for a long-endurance fixed-wing unmanned aerial vehicle. Comprising an environment sensing unit; the flight path planning unit is used for planning a flight path meeting task requirements, safety requirements and energy constraints based on the flight environment information of the unmanned aerial vehicle acquired by the environment sensing unit and pre-stored performance parameters of the unmanned aerial vehicle; and the energy management unit realizes energy dynamic management and optimization according to the real-time energy state of the unmanned aerial vehicle, the flight task and the planning result of the flight path planning unit. The flight path planning unit can call working condition energy consumption data such as navigational speed and height output by the energy management unit in real time, and dynamically adjust the weight of the path to avoid high-energy-consumption flight segments; the energy management unit synchronously and intelligently adjusts a main / standby battery charging and discharging strategy to optimize energy distribution according to a task time sequence (such as waypoint priority and track curvature) of a track.

An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.

The invention provides a three-dimensional modeling and mapping method, system and device based on a fixed-wing unmanned aerial vehicle, and relates to the technical field of geographic mapping. According to the method, through synchronous data acquisition of an inclined camera, a laser scanner and a position and attitude measurement system, and in combination with navigation trajectory calculation, point cloud coordinate transformation, image attitude calculation and multi-source data fusion processing, space collaboration of image data and point cloud data is realized under a unified coordinate system. And performing aerial triangulation based on the fused data, further carrying out spatial modeling and texture mapping, and effectively improving geometric consistency and modeling continuity among multi-source data. According to the method, ground control points do not need to be arranged, high-precision and high-consistency geographic space information expression can be achieved, and real scene modeling and multi-type surveying and mapping data result generation in a large-scale mapping scene are supported.

The invention discloses a fixed-wing unmanned aerial vehicle trajectory tracking control system and method based on a disturbance observer. The system acquires various state data of the unmanned aerial vehicle through the data acquisition module, the interference observer module estimates external interference in real time based on a dynamic model, the trajectory planning module generates an optimized trajectory according to tasks and environments, and the controller module realizes accurate control by adopting a model prediction control and sliding mode control composite strategy. And the execution mechanism driving module executes the control instruction. The method comprises the steps of data acquisition, interference estimation, trajectory planning, controller design and calculation, actuating mechanism driving and the like. The method can effectively improve the trajectory tracking accuracy and stability of the fixed-wing unmanned aerial vehicle in a complex environment, and has a wide application prospect.

The utility model relates to a variable-configuration tilting quad-rotor unmanned aerial vehicle which comprises rotors (1), motors (2), main wings (3), a fuselage (4), a vertical fin (7), a power supply unit (8), a control unit (9), tilting steering engines (10), driving rocker arms (11), tilting connecting rods (13), tilting rod supports (16), front tilting rods (17), rear tilting rods, front driven rocker arms (18) and rear driven rocker arms. The tilting mechanism is simple in configuration form, the appearance of the whole tilting mechanism is not greatly changed in the tilting process, and the pneumatic influence in the tilting process is relatively small. When the rotors tilt forwards, a conventional rotor fixed wing aircraft mode is adopted, when the rotors tilt upwards, a conventional four-rotor unmanned aerial vehicle mode is adopted, and various modes and modes such as vertical take-off and landing, hovering and forward flying can be achieved.

The invention discloses an adversarial reinforcement learning training method for robust control of a fixed-wing aircraft, and the method comprises the steps: constructing a nonlinear simulation environment and a task set of the fixed-wing aircraft, and constructing a plurality of fixed-wing aircraft agents in parallel in the simulation environment; an adversarial agent module based on a neural network AdvNet is introduced to generate environmental disturbance. A near-end strategy optimized Actor-Critic structure is adopted, an intelligent agent and an adversarial agent module are subjected to joint training through a task set, and a robust control strategy is obtained step by step. In the training process, based on a course learning mechanism, disturbance constraint parameters of the confrontation agency are dynamically adjusted according to the completion condition of a flight task. After training convergence, obtained control strategy parameters are applied to the fixed-wing aircraft, and robust flight control is achieved. According to the method, the robustness and the control precision of the aircraft facing complex environment disturbance can be improved, and the method is suitable for various flight missions with uncertainty.

An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.

The invention discloses an unmanned aerial vehicle navigation obstacle avoidance method based on selective imitation enhanced deep reinforcement learning, imitation learning and deep reinforcement learning are combined to be used for fixed-wing unmanned aerial vehicle navigation and obstacle avoidance, and an intelligent agent directly maps non-ideal sensor data into a control instruction by learning an end-to-end strategy. For a sparse reward scene, an artificial potential field is constructed to generate a non-expert guidance action by accessing privilege state information which cannot be acquired by an intelligent agent, and a navigation strategy is continuously optimized according to an observation state and a sparse reward signal through real-time interaction with an environment and fusion of imitation learning and deep reinforcement learning. A Q-value-driven dynamic decision-making mechanism is adopted, and the motion of the fixed-wing unmanned aerial vehicle is determined by comparing the motion suggested by the instructor with the expected income of the motion generated by the learner, so that exploration-utilization balance is realized, and invalid exploration and local optimal decision are effectively avoided.

The utility model relates to a cross-medium aircraft convenient for adjusting flight attitude, which comprises a water-drop-shaped centrosymmetric aircraft body with an aircraft head and an aircraft body, and the aircraft head of the aircraft body is positioned on the front side of the aircraft body. The aircraft body is further provided with an underwater power mechanism used for providing underwater flight power and an air power mechanism used for providing air flight power, the side portion of the aircraft body is connected with four or six fixed wings, slip-flow rudders controlled to rotate are arranged on the rear edges of the fixed wings, and the rotating axes of the slip-flow rudders are parallel to the wing faces of the fixed wings and perpendicular to the long axis of the aircraft body. Each fixed wing is provided with a slipstream rudder, so that the cross-medium aircraft can be conveniently controlled to pitch, roll, yaw and other actions, and the cross-medium aircraft can be conveniently switched between a hovering flight attitude and a level flight attitude.

The invention discloses a multi-modal lightweight forest fire detection method suitable for a vertical take-off and landing fixed-wing unmanned aerial vehicle platform, and the method comprises the steps: carrying out the feature alignment and weight fusion of a visible light image and an infrared image, which are synchronously collected by an unmanned aerial vehicle, through a multi-modal early fusion method, and obtaining a fusion feature; carrying out lightweight down-sampling and multi-scale feature extraction on the fusion features to obtain a multi-scale feature set; performing cross-scale feature fusion on the multi-scale feature set by adopting a bidirectional feature pyramid network, and extracting dynamic change information to obtain time sequence features; performing multi-scale context enhancement on the time sequence features by using a spatial pyramid method based on cavity convolution, and performing global context and local texture modeling by using a lightweight Transform module to obtain high-level semantic features; and based on the high-level semantic features, a target detection frame, fire level classification, prediction uncertainty estimation and a pixel-level fire probability graph are generated in parallel through a multi-task output header.

The disclosure relates to hybrid unmanned aerial vehicle (UAV) having vertical take-off and landing (VTOL) capabilities. Specifically, the disclosure relates to a stable hybrid fixed angle rotor arrays UAV having VTOL capabilities with hovering capabilities using rotors and cruising using fixed wing.

The invention discloses a variable-structure water-air amphibious robot and a motion control method. The robot comprises a water-air amphibious robot body, a variable-structure wing system and an electric control system. The robot body comprises a sealed cabin, a propeller fixing assembly, a fluid shell and a variable support tail cover. The variable-structure wing system comprises a driving gear transmission assembly, a two-section folding wing and a wing folding linkage assembly; the electric control system comprises a control core element, a visual module, a power supply module, a GPS module and an underwater depthometer module which are arranged in the cabin body; the motion control method is based on a deep reinforcement learning control method, control generalization ability is enhanced through teacher and student strategies and random domain, and the motion control method has more advantages in scenes such as inaccurate modeling and large external disturbance change. The structure of the variable-structure water-air amphibious robot integrates the structures of a rotorcraft, a fixed-wing aircraft, an underwater robot and the like, the modes of the wings can be switched, and efficient movement operation of the water-air amphibious robot is achieved.

The present application discloses an aircraft. The aircraft comprises a first wing and a second wing, a fuselage to which the first wing and the second wing are mounted, a first engine operatively mounted to the first wing, and a second engine operatively mounted to the second wing. The aircraft is configured to vertically take-off and land. The first engine and the second engine are used for both (i) vertical take-off and landing, and (ii) horizontal flight.

The invention relates to the technical field of fixed-wing aircraft fire extinguishing, in particular to a fixed-wing aircraft fire extinguishing task planning and efficiency evaluation system. Comprising a dynamic environment modeling module, an intelligent task planning module, a fire extinguishing agent distribution prediction module, a high-precision bomb dropping control module, an efficiency real-time evaluation module, a heterogeneous data collaboration module, a self-adaptive model iteration module and a man-machine collaborative decision-making module. The dynamic environment modeling module is used for real-time meteorological data fusion and three-dimensional terrain reconstruction. Based on a quantum annealing multi-objective optimization and multiphase flow coupling correction method, a flight path considering efficiency and precision is generated through environmental data fusion and path optimization, then fire extinguishing agent distribution is corrected and predicted based on physical simulation and data driving, and finally accurate execution of a bomb dropping trajectory is ensured through anti-interference guidance. A'planning-prediction-execution 'closed loop is formed, and the problems that a traditional scheme is low in efficiency and the fire extinguishing task of the fixed-wing aircraft cannot be planned and evaluated are solved.

The invention relates to an air route planning method based on an improved bidirectional fast random exploration tree algorithm, and is applied to the technical field of air route planning. The method comprises the following steps: acquiring a current node position, a target node position and terrain information of a target area of route planning; according to the terrain information, a search strategy combination of the target area is determined, the search strategy combination is used for constraining the extension direction of the air route nodes, and the air route nodes are determined based on an improved bidirectional fast random exploration tree algorithm. And determining a route node set according to the current node position, the target node position and the search strategy combination. The route nodes in the route node set are optimized, a target route is generated, and the target route is the route meeting the motion constraint of the fixed-wing aircraft. The expansion direction of the air route nodes is restrained through the search strategy combination, excessive redundant nodes caused during random sampling are avoided, and the convergence speed of air route planning can be increased. Therefore, the air route planning efficiency can be improved.

The invention relates to the technical field of aircraft trajectory planning, in particular to a dynamic gliding flight trajectory planning method for a fixed-wing aircraft, and the method comprises the steps: building an optimal control problem model with minimum system energy consumption as a target function; obtaining a nonlinear programming problem model; acquiring a corresponding single-time optimal trajectory and corresponding flight state data when the system energy consumption is minimum in the unpowered gliding flight stage and the powered recovery flight stage; and obtaining a multi-section type dynamic gliding flight path. According to the method, the iteration process of solving a nonlinear equation is avoided, the calculation burden of single iteration is remarkably reduced, the solving efficiency and robustness of the whole optimal control problem are greatly improved, and the optimal control effect is improved by designing the multi-section type dynamic gliding flight strategy of the unpowered gliding flight stage and the powered recovery flight stage. The stable periodic energy-obtaining gliding flight is realized by accurately compensating the flight energy deficit.

The claimed invention discloses a catapult launcher for a fixed-wing unmanned aerial vehicle (UAV), the launcher comprises a starting rail having an I-beam cross-section that comprises two sections that are foldable / unfoldable and mounted on adjustable supports, a carriage that is equipped with wheels that are configured to interact with an internal surface and with an external surface of the starting rail and that is equipped with a UAV interaction mechanism that is represented by fasteners and joint elements that interact with adapters that are fixed to a UAV's fuselage and made in a form of two plates, and a lower edge of the plates is produced with grooves so as to enable interaction with the fasteners and with detents in a form of hooks that are tangent to joint elements. The launcher is equipped with elastic cords that are symmetrically arranged along the starting rail and fixed to the carriage and to the starting rail, and with a release device. A beginning of the starting rail is provided with an inclined section, and the release device joins to the carriage on the inclined section and the carriage to the UAV, their reliable fixation and start of the carriage movement upon activation of the release device. This configuration ensures reliability and portability of the launcher as well as a safe UAV launch at a short acceleration distance.

The invention belongs to the field of aircraft design and control, and particularly relates to a control method of a combined type unmanned aerial vehicle based on passive hinge tilting. The composite unmanned aerial vehicle carries a tilting device and a fixed wing, the tilting of the tilting device is controlled by differential speed of motors at the two ends of the tilting device, and vertical take-off and landing and tilting transition of the unmanned aerial vehicle are controlled by adopting a PID control law. The main control board controls the main power motor and provides main power for the vertical take-off and landing stage and the horizontal cruise stage of the unmanned aerial vehicle. The sub-control board controls tilting motors at the two ends of the tilting device and provides power for enabling the tilting device to tilt. When the unmanned aerial vehicle takes off and lands, the tilting device is in a locked state, and after the unmanned aerial vehicle reaches a cruise height, the unmanned aerial vehicle is controlled to fly horizontally through the tilting device to complete a cruise task; and after the cruise is finished, the unmanned aerial vehicle is controlled to enter a hovering state through the tilting device. According to the invention, decoupling of forward flight and pitch angle attitude is realized, multiple purposes are realized, and flight tasks can be completed in a complex environment.

The invention belongs to the technical field of weapon systems, and particularly relates to a small ammunition air-drop mechanism which comprises a bottom plate, an embracing ring seat, an embracing ring, a rotating shaft, a plug pin, a plug pin support, a connecting rod, a steering engine, a rocker arm and an adaptive block. In an air-drop state, ammunition is clamped and fixed by the embracing ring. The air-drop mechanism serves as an ammunition air-drop system and is fixed to the flying platform through the bottom plate, the steering engine rotates and drives the connecting rod to move after receiving a control signal, then movable limiting of the embracing ring is relieved, and ammunition freely falls under the action of gravity. In this way, the ammunition air-drop process is completed. The airdrop mechanism has the outstanding advantages that the problems that a conventional airdrop mechanism is large in weight, inconvenient to operate and the like are solved, the airdrop mechanism has the advantages of being high in strength, compact in structure, small in size, light in weight, easy and convenient to operate and the like, quick response can be achieved after a control signal is received, embracing ring release activity synchronism and reliability are high, and the airdrop mechanism can adapt to different flight platforms such as unmanned / manned aerial vehicles and rotor / fixed-wing aircrafts and is suitable for large-scale popularization. And the method has a great popularization and application space.

The invention provides a front wheel steering mechanism for a miniature ship-borne fixed-wing unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle rotation mechanisms, the front wheel steering mechanism comprises a front wheel assembly, a front starting mounting frame assembly is mounted above the front wheel assembly, a front starting steering engine assembly is mounted on the side wall of the front starting mounting frame assembly, and the front wheel assembly comprises a damping column body; a shock absorption column is fixedly installed on an output shaft of the shock absorption column body, the lower end of the shock absorption column body is fixedly connected with a front supporting frame, and a front lifting tire is installed below the front supporting frame, so that output of a front lifting steering engine is more efficient, and front wheel steering is correspondingly faster. The rotation output of the front steering engine drives the front wheel to rotate through the front rocker arm, the two ball head connecting rods and the steering engine rocker arm, accurate control over front wheel steering during autonomous take-off and landing of the unmanned aerial vehicle is guaranteed, meanwhile, it is guaranteed that front wheel steering can be manually and remotely controlled, and compared with a single-connecting-rod front wheel steering mechanism, the front wheel steering mechanism is simple in structure, high in precision, high in torsion resistance and high in efficiency, and can be widely applied to the field of unmanned aerial vehicles. The maintenance is convenient.

The invention relates to the technical field of fixed-wing unmanned aerial vehicles, in particular to a fixed-wing unmanned aerial vehicle winglet optimization design method which comprises the following steps: step 1, modeling through cata to obtain winglets of various different winglet geometric parameter analysis and research configurations, and selecting three parameters of height, camber angle and tip-root ratio; step 2, performing pneumatic data analysis on the optimal configuration solution through a CFD numerical method based on ansys software; step 3, obtaining an optimal configuration solution of the winglet through a design response surface method; and step 4, printing an actual optimal solution winglet model through a 3d printing technology, installing the model on an aircraft, carrying out actual endurance test flight, and analyzing a result. According to the method, the winglet of the fixed-wing unmanned aerial vehicle can be optimized well.

The invention provides an unmanned aerial vehicle system with symmetrical crossed wings and a control method, and relates to the field of unmanned aerial vehicles. Comprising a fuselage structure, a power module and a flight control module, and the fuselage structure comprises a cylindrical fuselage and four wings which are arranged on the peripheral side of the cylindrical surface of the fuselage and are symmetrically and crosswise distributed; the four wings are distributed in an X-shaped crossing manner or a cross-shaped crossing manner; the power module comprises a motor and a propeller, the motor is arranged at a wingtip of the wing, an output shaft of the motor is in the same direction as the axial direction of the fuselage and faces the tail of the fuselage, and the propeller is connected to the output shaft of the motor; the flight control module is arranged in the fuselage and used for controlling the output rotating speed of the four motors. The four-rotor FPV unmanned aerial vehicle has the advantages of a four-rotor FPV and a fixed-wing unmanned aerial vehicle, lift force can be generated through wings, cruising and sprint can be achieved in a fixed-wing mode, pitching, yawing and rolling postures of the unmanned aerial vehicle can be controlled by changing the rotating speed of a motor, a control plane does not need to be designed for the unmanned aerial vehicle to control the postures, the structure is simplified, and cost is low.

The invention discloses an end-to-end obstacle avoidance method considering flight dynamics of a fixed-wing unmanned aerial vehicle, and the method comprises the steps: constructing a multi-source data synchronous collection module, and obtaining a monocular depth image and inertial navigation state data which are aligned in time sequence; an enhanced visual perception coding module is designed, and spatial position information of a tiny obstacle is reserved at the tail end of feature extraction through an asymmetric convolution strategy and a parallel spatial attention mechanism; constructing a state fusion and time sequence reasoning module, performing long and short time sequence modeling on the multi-modal features by using an encoder with a causal mask mechanism, and outputting potential decision variables; and constructing a kinematics constraint trajectory generation module, and mapping the neural network output into a three-dimensional control trajectory conforming to flight mechanics limitation. The problems that spatial information of a traditional convolutional neural network is seriously lost, an end-to-end model easily generates an illusion trajectory exceeding a physical limit and the like are solved, and the flight safety and robustness of the fixed-wing unmanned aerial vehicle in a complex low-altitude environment are remarkably improved.

The invention relates to the technical field of fixed-wing unmanned aerial vehicle control, in particular to a state estimation method for a fixed-wing unmanned aerial vehicle in a gliding state during weak driving and long endurance. Comprising the steps of sensor data fusion and establishment of an observation model, a judgment process of entering a gliding state, switching of an unmanned aerial vehicle aerodynamic model, establishment of a lightweight particle filter-extended state observer PF-ESO inner and outer ring cascade filtering structure under a weak driving attitude, and working condition feedback control optimization of correlation coefficients. Through a lightweight particle filter-extended state observer cascade structure, the adaptive capacity of the system to airflow disturbance and modeling errors is enhanced, even if airflow change or control delay occurs in long-time gliding, the filter can quickly sense and correct estimation, and long-term state drift is avoided. The robustness of the system to slow disturbance and model mismatch is remarkably improved.

The invention belongs to the technical field of aerodynamic parameter identification, and relates to an intelligent fitting optimization method for aerodynamic parameters of a fixed-wing aircraft based on direct lift force. According to the invention, a BP network is used to carry out fitting of a lift coefficient and an aerodynamic derivative of the lift coefficient to an attack angle on noiseless data. The input of the BP network comprises an attack angle, an elevator, a flap, a speed and a pitch angle speed, and is input into the BP network to obtain a prediction result when no noise influence exists, a loss function value is calculated, a gradient is calculated according to the loss function value, and then network parameters are updated according to a gradient descent algorithm to reduce the loss function value. When the loss function value is small, the difference between the prediction result of the network and the actual result is small, that is, the lift coefficient identification value output by the network is accurate in the BP network. The aerodynamic derivative obtained through calculation can be applied to a controller and has good control quality.

The invention discloses a scissor wing unmanned aerial vehicle, and relates to the technical field of aircrafts, the scissor wing unmanned aerial vehicle mainly comprises a fuselage main body, a left front wing, a left rear wing, a right front wing and a right rear wing, the wings are respectively provided with a tiltable ducted fan, the left front wing and the left rear wing as well as the right front wing and the right rear wing can be closed or unfolded, only one set of power system is adopted in the scissor wing unmanned aerial vehicle, the unmanned aerial vehicle can have the operation advantages of a fixed wing unmanned aerial vehicle and a rotor unmanned aerial vehicle at the same time, wing structures which can be separated like scissors are utilized, a power system capable of tilting is matched, wings are unfolded in the take-off and landing stages to take off and land vertically, the wings are closed in the navigation stage to fly at a high speed, and through conversion between the fixed wing and the rotor, the unmanned aerial vehicle can take off and land vertically. A corresponding wing form is used in a specific stage, and the nuclear load capacity, the cruising ability and the flexibility are comprehensively improved.

To provide a vacuum pump that can effectively utilize radicals, and a vacuum pump component.SOLUTION: A turbo molecular pump 100 comprises a turbo molecular pump mechanism part 138 including a rotor 103 capable of freely rotating, and fixed blades 123 combined with the rotor, and an outer cylinder 127 containing the turbo molecular pump mechanism part 138, and is provided with a radical discharge promotion structure connecting a radical introduction port 218 arranged in the outer cylinder 127, and a communication port 254 arranged in the turbo molecular pump mechanism part 138.SELECTED DRAWING: Figure 5

The invention discloses an autonomous positioning and obstacle avoidance method for ground-approaching flight of a fixed-wing unmanned aerial vehicle, and the method achieves the high-precision positioning through constructing a stereogram and carrying out the feature point matching with a pre-stored base map, and achieves the safe and efficient obstacle avoidance through employing a dynamic constraint hierarchical progressive trajectory planning method. The problems of navigation and obstacle avoidance under the conditions of limited GPS signals and dynamic change of obstacles in ground-approaching flight are solved, and the survivability and task execution efficiency of the unmanned aerial vehicle in a complex environment are improved.

The invention relates to a foldable tilting four-rotor aircraft concept scheme design method based on task requirements. According to the method, task demand indexes such as voyage, cruising speed, task load, cruising height and hovering height are used as input, and the total design weight, power device parameters, rotor wing geometric parameters and fuselage and wing parameters of the aircraft are determined in sequence; and performance indexes such as hovering lift limit, level flight speed, climbing performance, practical lift limit, voyage and endurance in a helicopter mode and a fixed wing mode are calculated and analyzed respectively. And performing matching judgment on a performance calculation result and a task requirement, and performing iterative adjustment on key parameters such as a paddle disc load when the task requirement is not met, so as to form a closed-loop concept design process driven by the task requirement. According to the method, the vertical take-off and landing capacity and the fixed wing cruising performance can be systematically considered in the conceptual design stage, and systematicness, repeatability and engineering feasibility of scheme design of the folding type tilting four-rotor aircraft are improved.