186 results about "Flight direction" patented technology

The invention provides a multi-source information fusion unmanned aerial vehicle marine target tracking method and system, and relates to the technical field of data processing, and the method comprises the steps: obtaining image data, and extracting the features of a target region; unmanned aerial vehicle attitude data, radar position detection data and AIS identification data are obtained, attitude disturbance correction is executed, and time axis alignment is performed on the data; calculating the visual feature matching offset of the adjacent frames, and comparing the visual feature matching offset with the radar azimuth change trend; constructing a candidate target spatial position set, and executing distance convergence screening and spatial overlapping constraint processing of a geometric projection range on the candidate target spatial position set; motion direction continuity comparison is executed, and target position data is generated; generating a track control instruction for controlling the flight direction and speed of the unmanned aerial vehicle according to the target position data, and adjusting the subsequent flight path of the unmanned aerial vehicle according to the track control instruction; according to the invention, autonomy and accuracy of unmanned aerial vehicle marine target tracking are improved.

The invention discloses an unmanned aerial vehicle continuous speed space gesture control system and method based on a somatosensory glove. The system comprises a gesture data acquisition module, a data transmission module and a flight control execution module. The gesture data acquisition module comprises a palm data acquisition module and a palm data resolving module. The current attitude quaternion is used for calculating the thumb orientation to control the flight direction, the finger bending angle is converted into the flight speed, the thumb direction is used as the flight direction, the finger bending degree is converted into the flight speed, unmanned aerial vehicle glove control of continuous speed direction space and large and small space is achieved, computing resource overhead is reduced, and the working efficiency is improved. Meanwhile, the limitation of a traditional unmanned aerial vehicle remote controller is overcome, the control efficiency is improved, the method has the advantages of being visual and convenient to operate, rapid in response, accurate in control and the like, the method is suitable for flexible control scenes of the unmanned aerial vehicle, interaction immersion and friendliness are enhanced, and user experience and flight safety are improved.

The invention is suitable for the technical field of image processing, and provides a visual obstacle avoidance method and device for an unmanned aerial vehicle, and the method comprises the steps: collecting a plurality of real-time depth images based on a preset sampling frequency, and determining whether a dynamic obstacle exists or not according to the real-time depth images; when the existence of the dynamic obstacle is determined, constructing a current obstacle avoidance space sphere according to the depth value in the real-time depth image, the speed of the unmanned aerial vehicle and the actual estimated length of the obstacle; when the flight direction of the unmanned aerial vehicle intersects with the current obstacle avoidance space sphere, calculating an obstacle avoidance bypassing route based on the surface edge of the current obstacle avoidance space sphere; and controlling the unmanned aerial vehicle to perform obstacle avoidance flight based on the obstacle avoidance bypassing route. Compared with a traditional obstacle avoidance method, the method can more intelligently plan the detour route of the unmanned aerial vehicle, and guarantees the stability and safety of the flight process.

The invention discloses a meta universe task offloading and resource scheduling method based on deep reinforcement learning, and relates to the technical field of wireless communication, and the method comprises the steps: 1, putting an unmanned aerial vehicle cluster in a user dense region, and enabling a fixed edge server to obtain the position coordinates of the fixed edge server, each user and each unmanned aerial vehicle; 2, a user sends a rendering request to the fixed edge server through the unmanned aerial vehicle cluster; step 3, constructing an optimization target, converting the optimization target into a Markov decision process, solving the optimization target through a PPO algorithm, and obtaining a horizontal flight rate, a flight direction and a vertical direction rate of the unmanned aerial vehicle and a computing resource set available for edge equipment; step 4, the fixed edge server issues a decision result to the user and the unmanned aerial vehicle, and the user and the unmanned aerial vehicle execute a decision; and step 5, after the unmanned aerial vehicle completes the rendering task, returning a result to the user. The method has the characteristics of multi-node collaborative optimization, energy consumption optimization and resource utilization rate optimization.

The invention relates to the technical field of aircrafts, in particular to a master-slave multi-rotor unmanned aerial vehicle which comprises a control system and a storage battery. The device further comprises a structure assembly. The structural assembly comprises a tetrahedral shell, coaxial reverse dual motors, two main rotors, three branch pipes, three driving mechanisms and three slave rotors. The control system controls operation of the whole, and the storage battery supplies power to the whole. The large-size main rotor is used for replacing a traditional multi-rotor to provide main lifting force, the efficiency can be improved, the energy utilization level can be improved, and meanwhile the loading capacity is higher compared with the multi-rotor; a combined triangle is used as a main structural form, so that the structural stability and reliability under various stress conditions are ensured, and the use is more stable under a complex scene; the flight direction, attitude and stability are controlled by three small-size slave rotors; therefore, the problems that an existing multi-rotor unmanned aerial vehicle is low in energy utilization efficiency and poor in loading capacity are solved.

The invention relates to a community low altitude-oriented aircraft path planning and traffic capacity evaluation system. The system comprises an airspace facility modeling module, a facility relation judgment module, a hierarchical airspace segmentation module, a noise-speed-safe distance constraint calculation module, a dynamic obstacle marking module, a multi-target path planning module and a bottleneck identification and traffic capacity evaluation module. The method comprises the following steps: modeling airspace facilities, and judging a facility relationship based on spatial geometric attributes and function use requirements of the facilities; performing hierarchical grid division on the low altitude of the community, calculating a safety distance along the movement direction and a safety distance perpendicular to the flight direction, and performing obstacle marking on grids around the building based on the safety distances and the flight direction; and performing path search based on an improved A * algorithm, identifying a bottleneck region, extracting parameters, and calculating the maximum allowable speed of the bottleneck region and the total traffic capacity of the bottleneck region. The system can relieve environmental troubles such as safety compliance dispute and noise pollution caused by operation of the low-altitude aircraft.

The invention discloses an airship type unmanned aerial vehicle inspection system and inspection method, and belongs to the field of inspection unmanned aerial vehicles. The system comprises a laser radar, an image acquisition device, an airship capsule filled with helium, a standby safety airbag, a communication module and a ground control center, in the method, the ground control center sets an inspection path and issues the inspection path, and the unmanned aerial vehicle flies according to a preset path. During fault detection, the high-definition camera collects images to recognize line cracks and broken strands, the thermal infrared imager monitors the joint temperature, the gas sensor detects abnormal gas, and multi-source data fusion assists in defect positioning. The routing inspection takes a starting point-terminal point connecting line of a power transmission line as a reference, identifies main obstacles and surrounding nodes to perform global planning, performs key routing inspection on a risk area in combination with historical data, and initializes and guides a flight direction through a Q value to reduce invalid exploration. The four-rotor unmanned aerial vehicle solves the problems of short flight time and poor stability of a four-rotor unmanned aerial vehicle, improves the inspection stability and cruising ability, and improves the inspection efficiency of a power transmission line and the reliability of a power system.

The invention discloses a distribution network unmanned aerial vehicle ground simulation flight method and device based on AI vision and a medium, and the method comprises the steps: collecting a first real-time image in a flight direction in real time in a height calibration stage before an unmanned aerial vehicle flies to a next target tower pole; dynamically adjusting the height of the unmanned aerial vehicle according to the image width ratio of the distribution wire in the first real-time image until the target tower safety height is reached; after the unmanned aerial vehicle flies over the target tower pole according to the target safety height, a second real-time image in the flight direction is collected in real time through the visual sensor; and according to the image width ratio of the power distribution wire in each second real-time image and the real-time positioning information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to perform flight height change with the height fluctuation of the power distribution wire in the flight direction by taking the target tower pole as a starting point, and according to the technical scheme of the embodiment of the invention, autonomous height adjustment of the unmanned aerial vehicle is realized through visual intelligent analysis; the equipment cost and the operation complexity are greatly reduced, and the inspection efficiency and quality of the unmanned aerial vehicle are remarkably improved.

The embodiment of the invention provides a rocket vertical recovery method and system and a rocket, and the method comprises the steps: after a first-stage rocket is separated, the thrust of a central engine of the first-stage rocket is adjusted to a preset proportion of rated thrust so as to provide positive overload for a propellant in a storage tank; the propellant can be gathered to an outlet in the bottom of the storage tank through positive overload; the flying direction of the first-stage rocket deviates from the current flying direction by performing bidirectional swinging on the central engine, and the posture of downward diving of the first-stage rocket towards the earth direction is kept; tangential force in two different directions tangent to the current flight direction of the first-stage rocket can be generated at the same time by swinging the center engine in two directions, the posture of the first-stage rocket is adjusted to the upward flight posture from the downward diving posture, and speed reduction is conducted till the first-stage rocket lands on the earth. The thrust of the center engine of the first-stage rocket is adjusted to be small, and attitude control and propellant management of first-stage rocket recovery are achieved.

The invention relates to a control method, a control system and a traction system of a traction unmanned aerial vehicle. The traction unmanned aerial vehicle comprises a plurality of vertical rotors and two tension rotors. The rotation axis direction of each tension rotor wing is the first direction. The traction drone is configured to be connected to the unpowered aircraft through a traction rope. The control method comprises the following steps: acquiring a preset flight direction of the unpowered aircraft; the traction unmanned aerial vehicle is controlled to move to the front upper portion of the unpowered aircraft in the preset flight direction; and controlling the traction unmanned aerial vehicle to pull the unpowered aircraft to rise to a preset height through the traction rope. Wherein the step of controlling the traction unmanned aerial vehicle to pull the unpowered aircraft to rise to the preset height through the traction rope comprises the substeps that when the unpowered aircraft climbs, the angle between the first direction and the direction of the traction rope is controlled to be smaller than or equal to 20 degrees.

The invention discloses an unmanned aerial vehicle autonomous route planning method and system capable of adapting to environmental changes. The method comprises the steps of obtaining a dynamic three-dimensional situation map of a flight area of an unmanned aerial vehicle based on multi-source data of the flight area of the unmanned aerial vehicle; acquiring a current no-fly zone and weather forecast information of the flight area of the unmanned aerial vehicle, and analyzing and acquiring a flight risk distribution condition of the flight area of the unmanned aerial vehicle based on the dynamic three-dimensional situation map; considering the flight risk distribution condition of the unmanned aerial vehicle flight area, the unmanned aerial vehicle flight task and the unmanned aerial vehicle self-state information to generate an unmanned aerial vehicle reference route; and automatically adjusting the flight speed, the flight height and the flight course of the unmanned aerial vehicle according to a preset flight parameter adjustment model based on the acquired multi-source data and the state information of the unmanned aerial vehicle in the process of flying along the reference route. According to the invention, the reliability and safety of flight task execution of the unmanned aerial vehicle in a complex dynamic environment can be improved.

The multi-degree-of-freedom bionic bird flapping-wing aircraft comprises a flight assembly and a fuselage, and a driving assembly and a direction control assembly are arranged on the fuselage; a motor of the driving assembly drives a rotating shaft through a gear transmission mechanism. The flying assembly comprises wing modules which are symmetrically arranged and a linkage driving mechanism, and the linkage driving mechanism converts the rotating motion of the rotating shaft into vertical flapping of the wing modules and different folding angles of the wing modules; the direction control assembly comprises an empennage connected with the fuselage, an empennage steering device, an empennage lifting device and a wing twisting device; the empennage steering device drives the empennage to deflect around the vertical axis of the fuselage to adjust the flight direction of the aircraft; the empennage lifting device drives the empennage to deflect around the transverse axis of the fuselage to adjust the flight height of the aircraft; the wing twisting device drives the wing module to rotate around the longitudinal axis of the wing to adjust the pitch angle of the wing module. According to the invention, flapping folding and twisting can be realized, and a flying function which is extremely similar to that of a real bird is provided.

The invention provides an unmanned aerial vehicle autonomous inspection method and system based on distribution line electromagnetic characteristic driving, an electromagnetic sensor array is carried on an unmanned aerial vehicle, three electromagnetic sensors are adopted to form a triangular arrangement, the two electromagnetic sensors are arranged along the flight direction of the unmanned aerial vehicle, and the connecting line points to the direction of the head of the unmanned aerial vehicle. The relative attitude of the unmanned aerial vehicle and the distribution line is judged; the third electromagnetic sensor is arranged on the other side of the triangle formed by the third electromagnetic sensor and the connecting line and is used for estimating the transverse distance between the unmanned aerial vehicle and the distribution line; the flight height of the unmanned aerial vehicle is obtained by an airborne barometer, and the flight height of the unmanned aerial vehicle is set according to the height of the distribution line in the area. The unmanned aerial vehicle has the advantages that the electromagnetic sensor array is used for collecting electromagnetic signals of the distribution line, the relative position relation between the unmanned aerial vehicle and the distribution line is estimated according to the electromagnetic field distribution condition, autonomous navigation flight of the unmanned aerial vehicle is achieved, GNSS dependence is reduced, and effective routing inspection is conducted in GNSS signal attenuation or interruption zones.

The invention provides a variable step route planning method and system based on unmanned aerial vehicle performance, and relates to the technical field of aeronautical engineering.The method comprises the following steps that flight information of an unmanned aerial vehicle is obtained, the position of a starting point of the unmanned aerial vehicle is initialized, and the course of the starting point serves as the initial flight direction of the unmanned aerial vehicle; the starting point position of the unmanned aerial vehicle is added to a preset to-be-explored node storage list, and a node with the minimum search cost is selected from the to-be-explored node storage list to serve as a current node; and moving the current node into a preset explored node storage list, expanding a neighborhood point of the current node by using a waypoint neighborhood search method, and updating the current node in combination with the search cost and the list position of the neighborhood point. According to the invention, route planning can be carried out on the premise of considering the kinetic energy of the fixed-wing unmanned aerial vehicle, and the traceability of the planned route is ensured.

The invention belongs to the technical field of multi-modal vehicle obstacle avoidance, and relates to a multi-modal vehicle 4D dynamic obstacle avoidance method, which comprises the following steps: taking an air-ground amphibious vehicle, namely a multi-modal vehicle as a center, constructing a plurality of concentrically increasing sphere safety domains which respectively correspond to a collision avoidance area, an early warning area and a trajectory prediction area, the space-time position and the movement track of a dynamic obstacle are monitored and predicted in real time, a three-dimensional space is divided into eight quadrants according to the flight direction based on the current course of a multi-mode vehicle, different sensing priorities and obstacle avoidance strategies are given to the front quadrant, the side quadrant and the rear quadrant, and particularly, the front quadrant, the side quadrant and the rear quadrant have different sensing priorities and obstacle avoidance strategies. Dynamically adjusting the risk level and the obstacle avoidance response according to the relative speed and the movement trend of the obstacle, and carrying out hierarchical and regional risk perception and management on the dynamic obstacle in different space directions and distance ranges; the method is scientific and reliable in principle, and is suitable for a multi-body cooperative obstacle avoidance scene in an urban low-altitude traffic environment.

The present invention discloses a metaverse task offloading and resource scheduling method based on deep reinforcement learning, which relates to the field of wireless communication technology, including: step 1, placing a drone cluster in a user-dense area, and a fixed edge server obtaining the position coordinates of itself, each user and each drone; step 2, the user sends a rendering request to the fixed edge server through the drone cluster; step 3, constructing an optimization target, and converting the optimization target into a Markov decision process, solving the optimization target through the PPO algorithm, and obtaining the horizontal flight rate, flight direction, vertical direction rate and computing resource set available to the drone; step 4, the fixed edge server sends the decision result to the user and the drone, and the user and the drone execute the decision; step 5, after the drone completes the rendering task, the result is transmitted back to the user. The present invention has the characteristics of multi-node collaborative optimization, optimized energy consumption and resource utilization.

This invention proposes a method for fusing multiple interferometric SAR observation data, which can simultaneously perform InSAR data fusion and geolocation, and finally complete the fusion of DEM data in the orthorectified domain. Specifically, this invention combines conventional image registration methods with joint calibration methods, employing a weighted averaging method to fuse multiple InSAR observation data in the orthorectified DEM domain. It can fuse multiple interferometric SAR observation data from different flights, different flight directions, and different perspectives, thereby reducing random errors in the DEM and improving the accuracy of interferometric SAR elevation inversion.

The present application relates to the technical field of low-altitude aircraft, in particular to a pre-turning flight ball car control method and a pre-turning flight ball car, wherein the pre-turning flight ball car control method comprises the following steps: S1, obtaining a pre-turning direction and a current direction; S2, calculating a pre-turning angle and a pre-turning adjustment direction based on the pre-turning direction and the current direction; S3, controlling the pre-turning device to drive the flight driving device or the combination of the flight driving device and the cabin to turn relative to the landing gear to face the pre-turning direction according to the pre-turning angle and the pre-turning direction. In this way, the problems of the existing golf cart, such as limitation, and the traditional aircraft, such as increased flight distance and poor passenger experience caused by adjusting the flight direction after take-off, are solved.

In the aerospace industry, the Laval nozzle is primarily used. This nozzle has the problem of not being able to adapt to changes in ambient pressure. Therefore, it loses efficiency as the vehicle ascends. Aerospike nozzles solve this problem, but are more difficult to cool, so they are not a viable alternative to the Laval nozzle. By means of a fixed arrangement of several Laval nozzles, consisting of nozzles (16) directed parallel to the object's flight direction and several nozzles (17) directed at an angle to this jet, the nozzle assembly creates an effect similar to an aerospike. Therefore, at decreasing pressure, such a nozzle assembly exhibits greater efficiency than conventional Laval nozzles. Since the assembly consists entirely of Laval nozzles, it is no more difficult to manufacture and cool than these. Furthermore, the thrust vector exerted by the nozzle assembly, and thus the direction of motion of the object being accelerated, can be controlled by throttling certain secondary nozzles (e.g., 17.2). The resulting fixed connection between the nozzles and combustion chambers allows for higher operating pressure within the combustion chambers, allowing for more efficient fuel use. Since the fixed connection allows for better thrust transfer, the thrust vector can be changed more radically and quickly.

The invention discloses an aircraft display method, an aircraft, a computing device and a computer readable storage medium, and the method comprises the steps: obtaining first motion data of a current aircraft in response to determining that the aircraft is currently in a target mode; determining the flight direction of the aircraft according to the first motion data; and determining a current motion state of the aircraft according to the first motion data, and correspondingly displaying the flight direction and the first motion data based on the motion state and a first preset strategy. Thus, the flight direction is determined based on the motion data, and the flight direction and the first motion data are intelligently displayed through the current motion state of the aircraft, so that the current actual motion state of the aircraft can be more accurately and visually determined, and potential safety hazards during motion of the aircraft can be reduced.

A clamping block in an aircraft that is used as a stop for passenger supply units and oxygen containers, in a passenger supply channel in flight direction. The clamping block is made of plastic and features a single piece design. Installation can be done without the use of a tool by clicking the clamping block onto the passenger supply channel in an intended position. Also a system comprising the clamping block and methods for assembling and disassembling such a system.

The invention discloses an instrument landing navigation method which comprises the following steps: firstly, constructing an ILS instrument landing system comprising a course beacon LOC and a glide beacon station GS, and accurately calculating a DDM modulation degree difference by adopting a normalization method; then, the system receives an intermediate-frequency 70MHz signal transmitted by the VOR navigation station, and noise and interference components in the signal are effectively removed through digitization and low-pass filtering processing; then, amplitude modulation and frequency modulation demodulation are carried out on the filtered signal, and a key 30Hz navigation signal is successfully extracted; by using the DDM and the 30Hz signal, the system performs zero-cross detection and accurately calculates the phase difference; and finally, according to the calculated phase difference, the system determines the VOR azimuth angle deviation degree of the aircraft relative to the VOR navigation station, and the flight direction of the aircraft is calibrated according to the VOR azimuth angle deviation degree, so that the navigation accuracy and the flight safety are effectively improved.

The invention relates to the technical field of aircrafts, and discloses an aircraft tilting mechanism which comprises a wing fuselage mechanism, and a nacelle mechanism is controlled to tilt through the wing fuselage mechanism, so that the flight direction of an aircraft is controlled; the tilting mechanism is arranged in the wing fuselage mechanism, the other end of the tilting mechanism extends out of the wing fuselage mechanism to be connected with the nacelle mechanism, the tilting mechanism is used for controlling the nacelle mechanism to tilt, and when the nacelle mechanism tilts, the flight state of the aircraft is changed; the transmission mechanism is in transmission connection with the tilting mechanism, and meanwhile, power of the transmission mechanism in the axial direction of the wing fuselage mechanism is converted into power in the radial direction of the wing fuselage mechanism, so that tilting of the wing fuselage mechanism is controlled. The invention has the advantages of light weight, compact structure, low cost, high reliability, large torque and the like, and solves the problems that the control signal needs multiple conversion, the control is complicated, and the structural weight is heavy.

The invention relates to a transport system (1) intended to be installed on a space launcher (100) comprising:an aircraft (2) which comprises propulsion means configured to propel the aircraft (2) in a direction of flight, and at least one seat (4) intended to receive a passenger which is movable in rotation about an axis (0) perpendicular to the direction of flight of the aircraft (2), an acceleration sensor being installed on each at least one seat (4) to measure the acceleration of each at least one seat (4);a passenger interface for each at least one seat (4) which comprises a screen intended to display images to the passenger installed on said at least one seat (4), the screen being coupled to said at least one seat (4) so to remain fixed relative to said at least one seat (4);a control unit (6) which is connected to the acceleration sensor and to said at least one seat (4), the control unit (6) being configured to calculate a load factor experienced by the passenger installed on the at least one seat (4) from the acceleration of said at least one seat (4), the control unit (6) being configured to monitor the rotation of the at least one seat (4) during the operation of the transport system (1) in order to maintain the position of the seat (4) fixed relative to the load factor experienced by the passenger throughout the flight.

The disclosure relates to an annular component for an aircraft gas turbine, having a front flange structure in the direction of flight, a rear flange structure in the axial direction and an annulus structure arranged between the flange structures in the axial direction, wherein the annulus structure has a variable cross-sectional form and / or a variable material arrangement in the circumferential direction and / or perpendicularly to the circumferential direction and at least one of the flange structures has at least two annular portions in the circumferential direction, which are each arranged at a different angle relative to the annulus structure. The disclosure furthermore relates to an aircraft gas turbine having an annular component and a method for producing the annular component.

The invention provides a direction synthesis type aircraft, which relates to the field of unmanned aerial vehicles and comprises a fuselage mechanism, a lift mechanism arranged on the fuselage mechanism and a direction control mechanism for controlling the flight direction of the aircraft, the lift mechanism comprises a propeller hub, blades arranged on the propeller hub and a power device for driving the blades and the propeller hub to rotate synchronously; the direction control mechanism comprises a control rod used for adjusting the angle number of the paddles, a reset mechanism used for pushing the control rod to reset, a disc used for pushing the control rod to move and a driving mechanism used for driving the disc to act, one end of the control rod is connected with the paddles, and the other end of the control rod is attached to the disc; the driving mechanism comprises an action cylinder for driving the disc to incline and a supporting rod serving as a rotating supporting point of the disc; the problems that a traditional coaxial double-rotor system is complex in structure, high in cost and slow in response are solved.

The application discloses a kind of unmanned plane continuous speed space gesture control system and method based on somatosensory glove, including gesture data acquisition module, data transmission module and flight control execution module;Gesture data acquisition module includes palm data acquisition module and palm data solution module.The application utilizes current attitude quaternion to calculate thumb orientation to control flight direction, finger bending angle is converted into flight speed size, uses thumb direction as flight direction, finger bending degree is converted into flight speed, realizes the continuous speed direction space and size space unmanned plane glove control, reduces the computing resource overhead, while overcome the limitation of traditional unmanned plane remote controller, improve control efficiency, with intuitive and convenient operation, response is fast, control is accurate and the like, applicable to the flexible control scene of unmanned plane, enhance the immersion and friendliness of interaction, improve user experience and flight safety.

The application relates to the field of aircraft technology, and discloses an aircraft and a thrust device thereof. The thrust device is applied to the tail of the aircraft and comprises a motor module and a propeller. The tail of the aircraft comprises a first surface and a second surface connected with each other. The motor module is vertically installed on the first surface, the first surface is perpendicular to the flight direction of the aircraft, the second surface is extended to be connected with the surface of the aircraft body, the propeller is connected with the motor module, and the propeller rotates to push the aircraft to move forward. The thrust device is directly arranged on the outside of the aircraft, and an additional heat dissipation channel is not needed in the inside of the aircraft, so that the cost of related components is saved.

The application discloses an airborne radar system, which is characterized in that: the airborne radar system comprises cabin equipment for realizing main electrical functions of a radar, more than one belly radar window for realizing communication between inside and outside of an aircraft cabin, an antenna holder for realizing fixed connection of an external antenna and an aircraft body, and an antenna fixedly installed on the antenna holder, and the cabin equipment and the antenna are connected through a radio frequency cable. The application discloses a remote sensing detection method of the airborne radar system, which is characterized in that: the remote sensing detection method mainly has two working states of a transmitting process and a receiving process. The application can be applied to microwave radars, radiation detection, laser surveying and mapping, optical aerial photography and other types of task requirements needing external antennas or components; and in a single flight direction, different types of equipment can be carried to realize optical, microwave and other multifunctional tasks.

There is provided a drone comprising, a main body which is elongated and having a longitudinal axis, the main body being rotatable attached at one end of the elongated body to a propeller body with a shaft so that the main body and the propeller body are arranged to rotate in relation to each other, so that the propeller provides thrust in the direction of the shaft, where the main body rotates around its longitudinal axis, the drone comprising driving means mechanically connected to the shaft, the driving means driving rotation of the bodies in relation to each other, the drone comprising a control device arranged to control the speed of rotation of the driving means to control the thrust and further arranged to control the flight direction of the drone, where the drone is configured to rotate the propeller body at a first rotation speed that is greater than a second rotation speed of the main body in relation to an external frame of reference, the second rotation speed being referred to as roll speed, where the drone is configured such that the longitudinal axis of the main body has, during flight, an angle of attack greater than zero to the flight direction of the drone, said longitudinal axis rotating around the flight direction of the drone, the flight direction being in relation to the external frame of reference, where the rotation around the flight direction occurs with the same angular speed as the main body rolls around the longitudinal axis (roll speed), where the control device is arranged to determine the orientation of the longitudinal axis of the main body in relation to the external frame of reference with a frequency that is higher than the roll speed and adjust the thrust during a subsection of a complete revolution of the main body in relation to the external frame of reference in order to adjust the angle of attack, thereby adjusting the flight direction of the drone.