150 results about "Flight safety" patented technology

This invention relates to the fields of aviation flight training, human factors engineering, and intelligent decision support. Specifically, it discloses a multimodal intelligent monitoring and decision support system and method for flight training, comprising: a multimodal physiological data acquisition module for non-invasive real-time acquisition of pilot physiological signals; a flight operation and situation data synchronization module for acquiring aircraft status, control inputs, and external environmental data; a data fusion and feature extraction module for synchronously processing data and extracting fused feature vectors; an intelligent assessment and decision support model library for outputting status assessments, operational trend predictions, and decision support information based on machine learning algorithms; and a personalized decision support and feedback module for providing real-time feedback or decision suggestions to pilot and instructor terminals. This invention enables objective, quantitative, and real-time monitoring of pilots' physiological and psychological states, provides intelligent decision support, and improves training efficiency and flight safety.

This invention discloses a plug-in independent power supply hybrid power system for aircraft, which can be installed in situ without altering the original aircraft's core structure. The system employs an external independent power battery module, a small-power engine generator, and a small battery module to form a "three-level independent redundant power architecture," with each unit's power supply circuit electrically isolated from the others. The external independent power battery only charges on the ground and discharges unidirectionally during flight, without energy recovery or reverse charging. It only replaces all functions of the flight control system and electronic control system when the engine and small battery fail. The small-power engine does not participate in takeoff and climb, but is dedicated to cruise power supply. The small battery is responsible for powering the flight control system, electronic control system, and engine starter, sharing a high-voltage DC bus with the generator to achieve bus voltage stabilization and short-term power compensation. Ground charging simultaneously performs a full system self-check. When the battery power is insufficient or the test fails, there is no manual bypass, and the electronic control system is forcibly locked, prohibiting engine starting and ensuring absolute flight safety.

The present application belongs to the technical field of helicopter dynamics test, and relates to a method and system for measuring the distance between blades of upper and lower rotors based on measured bending moment. The measured bending moment data in flight is used, and the existing blade measurement system is used. Without additional measurement equipment, the relationship between bending moment and deformation is used to establish the calibration relationship between the test bending moment and the deformation of different profiles of the blade, so as to obtain the distance between the blades of the upper and lower rotors in the real-time flight state. The method can relatively real-time monitor the distance between the blades of the upper and lower rotors in the full flight spectrum state without additional measurement equipment, and ensure flight safety. The method has the advantages of simplifying the measurement method of the blade tip distance, shorter feedback time compared with the light ray sensor and radar wave measurement, and better real-time effect.

The application discloses a method and system for unmanned aerial vehicle metrological test requirement analysis facing multi-parameter coupling, relates to the technical field of metrological test, and comprises the following steps: acquiring real environment interference parameters when a logistics unmanned aerial vehicle executes a delivery task; constructing a multi-environment coupling simulation test platform to simulate a real flight environment; controlling the logistics unmanned aerial vehicle to execute a predetermined flight action, collecting dynamic change data of key performance parameters of the logistics unmanned aerial vehicle; analyzing a coupling relationship between the real environment interference parameters and the key performance parameters, and establishing a parameter coupling model; and performing test items, test conditions and test indexes in the real flight environment to generate a metrological test requirement analysis report. The application solves the technical problem that, in the prior art, the dynamic change law of key performance parameters under the coupling action of multi-environment parameters cannot be explored, and as a result, the flight safety and performance reliability of an unmanned aerial vehicle in a real environment cannot be guaranteed.

This invention belongs to the field of data processing technology, specifically relating to a method and system for altitude holding and obstacle avoidance of unmanned aerial vehicles (UAVs) based on multi-channel array laser ranging. The method includes: acquiring multi-channel laser ranging values, attitude angles, and installation offset angles; calculating the cosine of the gravity angle from the attitude angles and installation offset angles, and projecting the vertical depth and horizontal projection of the ranging values; obtaining the gradient deviation by neighborhood difference of the vertical depth sequence, and statistically generating adaptive boundaries to classify terrain points and obstacle points; determining the altitude using the average depth of terrain points, and avoiding obstacles by taking the minimum horizontal projection of obstacle points; when the proportion of terrain points is below a threshold, calculating the control altitude by extrapolating the vertical velocity of inertial navigation and historical altitudes, and then fusing the extrapolated and calculated altitudes. This invention can adaptively distinguish between terrain and obstacles, maintain the stability of altitude holding continuity even when data is missing, and improve flight safety and obstacle avoidance reliability.

The present application relates to the technical field of flight safety monitoring, in particular to a kind of aircraft icing real-time detection and evaluation method and system, method includes: collecting icing image obtains original image data, and it is carried out enhancement processing and obtains enhanced image data;Semantic segmentation model carries out icing area detection to enhanced image data, obtains multi-view icing mask two-dimensional image data;Deep learning three-dimensional reconstruction model carries out feature extraction and multi-view information fusion to multi-view icing mask two-dimensional image data, obtains icing surface triangular mesh model;Through three-dimensional grid boolean addition operation, icing surface triangular mesh model is fused with the existing wing three-dimensional model, and fusion model containing ice layer morphology is generated;Fusion model is input into aerodynamic force evaluation model and carries out aerodynamic evaluation of ice wing, obtains evaluation result.The present application can realize end-to-end closed loop from icing detection to aerodynamic performance evaluation, real-time output evaluation result, support flight safety decision.

The application discloses a hierarchical encryption storage method and system for a UAV. The method comprises the following steps: obtaining a dynamic security policy coded as a smart contract from a block chain network, and calling a static security policy from a local; the dynamic security policy and the static security policy both comprise a no-fly area and an execution action; obtaining a three-dimensional position of the UAV in real time, and judging whether the three-dimensional position of the UAV is in or near the no-fly area of the dynamic security policy or the static security policy; if yes, calling a pre-configured flight task type from the local, and determining a security level according to the flight task type; executing the corresponding dynamic security policy or static security policy according to the security level, and performing hierarchical data encryption storage. When the UAV enters a sensitive area, not only corresponding flight control is implemented, but also encryption of a corresponding level is triggered automatically and in real time, so that linkage protection of flight safety and data safety is realized, and data protection and flight state are ensured to be performed synchronously.

The application relates to the technical field of path planning, and particularly discloses an intelligent path planning method and system for a fire extinguishing aircraft. The method comprises the following steps: collecting aircraft state data, extracting a load-thrust mutation feature at a load release moment, and constructing a transient dynamic reachable domain; obtaining task point coordinates, performing vector homotopy analysis on the reachable domain in combination with a target heading, calculating a cooperative gain coefficient to determine whether to assist in approaching the target; if the condition is met, a dynamic attitude preset trajectory is generated; the preset trajectory is mapped to the dynamic reachable domain for compatibility analysis under time-varying constraints, an execution saturation risk curve is calculated, and adaptive boundary contraction optimization is performed on the trajectory. The system comprises a reachable analysis module, a vector analysis module, a trajectory planning module and an intelligent optimization module, and is used for realizing the above method. The application is beneficial to improving the maneuvering efficiency of fire extinguishing operation under the premise of flight safety.

The application relates to a force couple balance and longitudinal array push-pull vertical take-off and landing high-speed aircraft, belonging to the technical field of aircrafts, which comprises a fuselage, a rotor, a fixed wing, a steering controller and a propeller. The rotor is installed at the top of the middle part of the fuselage through a rotor shaft, and a clutch is arranged between the rotor and a power system and / or a transmission system matched with the fuselage, so as to be controlled to be disconnected or to transmit power to the rotor. The steering controller comprises a fixed base and a rotating base, and each of the nose and the tail has a set of the rotating base. The propeller is provided with two propellers which are respectively installed on the rotating bases of the nose and the tail, and are controlled to rotate with the rotating bases relative to the fixed base. The force couple formed by the front and rear thrust vectors is used to balance the reverse torque brought by the rotor. When the propeller is coaxial with the middle axis of the fuselage, the wind area of the single propeller obtains double thrust. The application can improve the energy utilization rate, improve the carrying capacity, improve the flight safety performance and obtain a longer hovering time.

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 present application relates to the technical field of aircraft airspace planning, in particular to an airspace planning method and system based on ground multi-source situation awareness; through a data acquisition module, ground traffic flow data, traffic flow data and obstacle static distribution data are collected in real time; then a cloud server pre-processes the multi-source fusion data to generate a unified ground situation awareness graph; then based on the ground situation awareness graph, the target area is planned for airspace in combination with low-altitude aircraft flight safety specification information to determine the released airspace in the target area; the cloud server acquires the starting point, end point and performance parameters of the aircraft, generates an optimized flight path in combination with the released airspace, and a subsequent aircraft controller can control the aircraft to execute a flight task according to the optimized flight path; ground traffic flow, traffic flow, buildings and other factors are included in the constraint conditions to adapt to the complex and changeable urban low-altitude environment.

The application provides a pilot landing operation analysis method and device, electronic equipment and a storage medium, comprising: obtaining external environment parameters and aircraft operation state parameters formed in the process of the pilot operating the aircraft to land; calling a neural network model and inputting the external environment parameters and the aircraft operation state parameters into the neural network model to obtain a state transition matrix at each time point; based on the state transition matrix, obtaining a hidden state corresponding to the state transition matrix to complete the pilot landing operation analysis, wherein the hidden state is used to represent each state of the attention allocation mode of the pilot, and the hidden state includes any one or several of a state without attention loss, a state of missing attention to a yaw angle, a state of missing attention to an altitude, and a state of missing attention to an airspeed. The pilot landing operation is accurately and objectively analyzed, so as to facilitate risk control and improve the flight safety level of the pilot.

The utility model relates to a kind of aircraft double-rotor structure, comprising: an aircraft body, with two shaft poles in front and back;Two groups of the rotor set of upper and lower settings are arranged on each shaft pole, and the rotor set comprises the rotor blade corresponding to each other and being arranged on the two sides of shaft pole, and two propulsion modules vertically opposite with two rotor blades respectively, the rotor blade of the rotor set of same shaft pole is misaligned and is set to same direction rotation, and the rotor blade on two different shaft poles is opposite reverse rotation;Propulsion module includes a track seat, a duct fan is installed in track seat, and one side of duct fan is equipped with a return spring, and a connecting piece is arranged between duct fan and shaft pole, and connecting piece can drive rotor blade to change angle.Therefore, the utility model directly drives rotor blade to generate ascending buoyancy using propulsion module, so as to drive aircraft body to ascend and descend;And flight is stable and comfortable, easy to control, structure is simple, reduce failure, and reduce production working hours and material cost, enhance flight safety.

The application discloses a flight path planning method and device, the method comprises the following steps: determining the type of the flight section by the current state information and the task route, so as to determine the end speed of the flight section; determining the current available acceleration according to the current working condition parameter, combining the current state information, the end speed of the flight section and the target horizontal speed to determine the horizontal acceleration instruction and the horizontal expected remaining flight time; taking the horizontal expected remaining flight time as a constraint, combining the current state information, the end speed of the flight section and the current available acceleration to determine the vertical acceleration instruction; and sending the horizontal acceleration instruction and the vertical acceleration instruction to the flight control system to control the flight of the unmanned aerial vehicle. The application aims to solve the problems of the flight precision and task continuity of the existing speed and trajectory control method of the automatic route flight of the unmanned aerial vehicle, and the difficulty in adapting to the complex dynamic environment. The smooth connection of the unmanned aerial vehicle among multiple flight sections is realized, and the flight safety is ensured.

The embodiment of the application discloses a kind of unmanned plane soft fence control methods, obtain personnel state information, environment risk distribution information is generated based on the personnel state information, the time alignment processing is carried out to the environment risk distribution information, to obtain the risk distribution information corresponding to unmanned plane current time;Obtain the current flight state of the unmanned plane, predict the motion state in future period of time of unmanned plane, and determine risk assessment result according to the motion state and the risk distribution information;According to the risk assessment result, the operator control input is constrained and handled, to generate safety control instruction;The safety control instruction is input into the flight controller to execute flight control, and when the risk degree meets preset condition, safety protection strategy is triggered;It can effectively avoid unmanned plane into personnel dense or high-risk area, improve the flight safety and controllability of unmanned plane in complex personnel environment.

The application discloses a kind of unmanned plane control systems based on low-altitude satellite and cellular network fusion, it is related to unmanned plane cluster intelligent control technical field, including: attitude cooperative navigation module, for using end cloud cooperation's intelligent sensing system and ant colony algorithm, by deploying multimodal sensor in unmanned plane end, real-time acquisition unmanned plane multimodal attitude and environmental data, and in cloud based on ant colony algorithm dynamic optimization cluster flight attitude and path.The application is realized through end cloud cooperation's intelligent sensing system and ant colony algorithm, real-time attitude synchronization and collision avoidance of multiple unmanned planes in dynamic airspace, unmanned plane end multimodal sensor acquisition high-frequency attitude and environmental data, cloud is based on ant colony algorithm dynamic optimization cluster path, and combined with real-time obstacle information adjustment flight spacing and direction, effectively improve the flight safety and cooperative control precision under high-density airspace, adapt to the flight demand of complex terrain such as urban canyon.

This application relates to the field of unmanned aerial vehicle (UAV) technology and discloses a method for the safe airdrop of multiple airdrop components from a UAV. The method includes: determining the time interval for airdrop component deployment based on the UAV's deployment speed, the height and diameter of the airdrop component after the parachute is fully deployed; generating all feasible airdrop sequences based on the number of airdrop components carried on the UAV's belly; eliminating deployment sequences that do not meet the requirements based on a first constraint condition to obtain an initial deployment sequence set; further filtering the initial deployment sequences based on a second constraint condition to determine a baseline deployment order; obtaining an airdrop timeline based on the time interval for airdrop component deployment and the baseline deployment order; and deploying the corresponding airdrop components according to the airdrop timeline. This application effectively improves the overall deployment efficiency of multiple airdrop components while ensuring the safety and attitude stability of UAV airdrop flight.

The invention discloses a method and a system for generating and executing an anti-interference flight strategy of a C2 link of an unmanned aerial vehicle, and particularly relates to the technical field of unmanned aerial vehicle communication. The method comprises the following steps: acquiring urban building material parameters and unmanned aerial vehicle flight parameters; based on the parameters, combining a free space path loss model, a Rice fading model and a blade peak diffraction model to construct an urban environment channel model; injecting same-frequency Wi-Fi interference and building reflection interference signals to calculate a signal to interference plus noise ratio; based on the signal to interference plus noise ratio, calculating the bit error rate and evaluating the anti-interference performance, and generating an anti-interference optimization scheme including frequency band switching and flight height adjustment; and controlling the unmanned aerial vehicle to execute the strategy. Aiming at the problems of Wi-Fi co-frequency interference, building shielding, glass curtain wall multipath reflection and the like in a complex urban environment, frequency band self-adaptive switching and flight height optimization are realized through multi-model joint simulation and dynamic strategy generation, the bit error rate is reduced, the anti-interference capability is improved, and the method has the advantages of being simple in structure and convenient to operate. And the communication reliability and the flight safety of the unmanned aerial vehicle in a complex urban environment are effectively guaranteed.

The application discloses a heterogeneous unmanned aerial vehicle four-dimensional trajectory planning method and device based on hierarchical grid airspace, and relates to the technical field of low-altitude unmanned aerial vehicles. The method comprises the following steps: performing grid division on the airspace based on a preset rule to obtain a four-dimensional space-time grid, wherein the four-dimensional space-time grid corresponds to N levels, and the three-dimensional space scale and the time scale corresponding to each level are different; based on the four-dimensional space-time grid, the three-dimensional coordinates and the time coordinates corresponding to any position in the airspace are discretely coded into four groups of binary code elements according to the segmented linear mapping rule corresponding to each level, the four groups of binary code elements are converted into hexadecimal code to obtain airspace four-dimensional coordinates, and an airspace four-dimensional grid model is constructed based on the airspace four-dimensional coordinates; based on the airspace four-dimensional grid model, an unmanned aerial vehicle flight path planning model is constructed; and flight path planning is performed based on the unmanned aerial vehicle flight path planning model to obtain a flight path planning result. Through the application, the efficiency of unmanned aerial vehicle trajectory planning and flight safety are improved.

The application relates to a laser deicing method, device, equipment, storage medium and program product, and relates to the technical field of aircraft deicing. The method comprises the following steps: acquiring a sequence image of an airspace in front of a wing in real time through a binocular camera arranged on the wing, and detecting three-dimensional coordinates of supercooled water droplets from the sequence image; for each supercooled water droplet, tracking a motion trajectory of the supercooled water droplet based on the three-dimensional coordinates of the supercooled water droplet in a plurality of continuous sequence images; based on the motion trajectory, predicting a flight path of the supercooled water droplet in a future preset time length and impact point coordinates of an impact point on a wing surface; determining a target protection zone to which the impact point belongs on the wing surface based on the impact point coordinates, and generating a laser control instruction for a target laser corresponding to the target protection zone; and driving the target laser to emit a laser pulse through the laser control instruction, so as to instantaneously gasify and remove the supercooled water droplets about to be impacted at the impact point. The method can improve the aerodynamic performance of an aircraft and ensure the flight safety of the aircraft.

This invention belongs to the field of aviation equipment testing technology, specifically involving a fault diagnosis method and system for aircraft electrical boxes based on multi-dimensional feature and rule matching. It includes acquiring multi-dimensional operating parameters such as coil voltage, coil current, contact resistance, and pull-in / release time through a global clock synchronization mechanism. Based on massive amounts of normal data, a normal parameter space model is constructed using principal component analysis. Simultaneously, based on fault tree theory, a mapping rule base is established between typical fault modes and abnormal combinations of original parameters. During the diagnosis process, the T² statistic and Q statistic are used to comprehensively capture the collaborative anomaly characteristics between parameters. Even if a single parameter in the original data does not exceed the standard, it can be identified as long as the multi-dimensional parameter linkage deviates from the normal parameter space model, thus overcoming the limitations of traditional single-parameter judgment. This invention fundamentally solves the problem of parameter collaborative anomaly failure in traditional methods, significantly reducing the risk of missed latent faults and providing reliable assurance for flight safety.

The application discloses a weather radar dynamic grid monitoring meteorological avoidance area boundary extraction method, which is characterized in that: three-dimensional space is gridded, weather radar is used to dynamically monitor thunderstorm reflectivity data of each grid, aircraft flight risk of any grid is calculated, whether each grid is in a safe flight state is determined according to a flight safety threshold of a pilot of different types of aircraft, and all grids are combined into a three-dimensional meteorological avoidance area according to their flight-prohibited states, so that different types of aircraft are guided to fly safely.

This invention discloses a method for tracing and diagnosing faults in large-scale eVTOL motors and electronic speed controllers (ESCs), belonging to the field of eVTOL fault diagnosis technology. This method collects operational data of different fault types from both the motor and ESC sides, and constructs a coupled fault feature library through preprocessing, feature extraction, and sample annotation. Based on this feature library sample set, a fault tracing and diagnosis model is constructed and trained, with parameters optimized to achieve the required recognition accuracy. Real-time operational data is simultaneously collected, preprocessed, and input into the model to obtain fault tracing and diagnosis results. Finally, a preset fault handling rule library is matched to generate corresponding handling suggestions, which are then transmitted to the flight control system and the ground maintenance platform. This method achieves precise tracing of the fault source, type, and severity, overcoming the limitations of traditional methods that can only detect the existence of faults, improving fault investigation efficiency and diagnostic accuracy, and providing technical support for eVTOL flight safety.

This invention discloses a cloud-edge-airborne collaborative intelligent flight management system and method. The system includes: a cloud brain decision center for generating and evolving a global flight strategy knowledge graph based on hierarchical federated meta-reinforcement learning; an edge intelligent collaborative network whose nodes possess multimodal threat causal prediction and distributed collaborative decision-making capabilities based on graph neural networks and game theory; and an airborne autonomous safety agent integrating a trusted execution environment and formal verification, employing a hierarchical-reflective adaptive controller with independent reflection layers. The system ensures trusted data synchronization across layers through a blockchain-enabled decentralized data lake and achieves closed-loop collaborative evolution of strategies, models, and control logic based on a digital twin simulation environment. This method realizes autonomous intelligent management from global strategy optimization and local real-time collaboration to airborne safety execution, significantly improving flight safety, efficiency, and system adaptability in complex airspace.

The present application belongs to the technical field of aircraft control, and particularly relates to a vertical take-off and landing-fixed wing aircraft and a control mode and method thereof. The change of a vertical position is controlled by a longitudinal control of a driving rod, the change of a lateral position is controlled by a transverse control of the driving rod, the change of a forward position is controlled by a control of a throttle table, and the change of a heading is controlled by a control of a footrest. The control mode of the control mechanism is unified, consistent control perception is realized, and repeated training, understanding difference and flight safety caused by different control perceptions are avoided.

The application relates to a longitudinal double-rotor unmanned aerial vehicle avionics system, which comprises a starting motor, an engine, a generator, an ACDC airborne power supply, a starting battery, a first battery, a second battery, a knob switch, a gear shifting switch, an ECU, a wind cooling fan, a water cooling fan, a control collection box, a flight control, a radio, a gyroscope, a rudder, a temperature sensor, an oil level sensor, a receiver, a lamp panel and an air speed meter; the generator serves as a main power supply of the unmanned aerial vehicle; the first battery and the second battery jointly constitute a standby power supply of the unmanned aerial vehicle; the wind cooling fan control signal, the water cooling fan control signal, the air speed meter signal and other control signals which have little influence on flight and are prone to interference are concentrated in the control collection box and are separately controlled with the flight control; the application determines the minimum avionics system which satisfies normal flight of the longitudinal double-rotor unmanned aerial vehicle, clearly defines the key components of the unmanned aerial vehicle flight, and improves the flight safety of the unmanned aerial vehicle through improvement of the power supply system operation scheme and the separate control method.

The application discloses an unmanned aerial vehicle (UAV) intelligent prediction method for air sliding and returning to a field in a multi-failure coupling scene, and the method comprises the following steps: mining flight parameter data features, training an intelligent air sliding prediction model, and applying the intelligent air sliding prediction model to real-time online prediction in a flight process to provide an auxiliary decision basis for UAV control; the method can fully utilize the flight state, coupling failure and other conditions of the whole UAV to make a judgment, is closer to a real flight condition, has higher prediction accuracy, and is not simply dependent on air sliding energy for judgment, and the obtained prediction model can be integrated into a UAV subsystem to provide a control reference for a pilot and guide ground service personnel to take corresponding measures in advance, so that flight safety loss and adverse effects are minimized.

This application belongs to the field of flight control technology, and specifically relates to an intelligent obstacle avoidance decision-making method for aircraft based on dynamic threat assessment. The method includes: Step 1, determining whether an obstacle exists within the current detection range; if so, proceeding to the threat level assessment stage to determine the threat level of the obstacle; Step 2, constructing an intelligent obstacle avoidance decision-making model and training the model; Step 3, when the distance between the aircraft and the obstacle is less than a preset safety threshold, entering the obstacle avoidance control mode, inputting the states of the aircraft and the obstacle into the intelligent obstacle avoidance decision-making model to obtain actions, and the aircraft executing the actions to achieve obstacle avoidance flight. This intelligent obstacle avoidance decision-making method for aircraft based on dynamic threat assessment can optimize the aircraft's flight trajectory and adapt to different obstacle types, thereby improving the aircraft's flight safety.

This invention relates to the field of UAV onboard computing and resource scheduling technology, and discloses a multimodal large model-driven UAV computing power adaptive scheduling method and system. This multimodal large model-driven UAV computing power adaptive scheduling method calculates the dynamic priority weights of each AI perception task in real time; dynamically determines the minimum computing power reservation value for flight control tasks; calculates the actual computing power requirement by monitoring the actual computing power consumed by each task and compares it with the theoretical allocation value to obtain the scheduling error; further, it operates under the same computing power quota, and reversely calculates the current available computing power level by measuring the completion frequency, thereby correcting the scheduling error; simultaneously, it establishes an environmental factor influence coefficient to correct the computing power quota; and finally, it allocates the computing power through a joint computing power budget. This invention significantly improves the utilization efficiency of UAV onboard computing power and the fairness of task scheduling while ensuring flight safety, and possesses long-term adaptive capabilities.

The application discloses a vertical take-off and landing fixed-wing aircraft based on thrust vector nozzles, which comprises four engines, four thrust vector nozzles, a wing, a fuselage, a T-shaped tail wing and a support; four sets of power devices adopt a four-point isosceles trapezoidal symmetrical layout, and front and rear power devices are symmetrically arranged about the gravity center of the whole machine. The transverse spacing of the front power device is 2.5-3 times that of the rear power device, the spanwise projection is located at 40%-60% of the wing span length, and the height is matched with the wing leading edge to realize jet flow lift increase; the height and horizontal position of the rear power device are optimized to ensure stable air intake. The thrust vector nozzle takes the horizontal axis of the fuselage as the 0° reference, the vector angle adjustment range is not less than -95°-+15°, and the hovering, mode transition and steady switching of the flat flight are realized through differential adjustment. The application cancels the tilting mechanism, reduces the structural dead weight, reduces the aerodynamic interference, and improves the cruising speed and flight safety.