79 results about "Free flight" patented technology

A trajectory detection and feedback system is described. The system is capable of detecting one or more moving objects in free flight, analyzing a trajectory of each object and providing immediate feedback information to a human that has launched tile object into flight, and/or one or more observers in the area The feedback information may include one or more trajectory parameters that the human may use to evaluate their skill at sending the object along a desired trajectory. A non-intrusive machine vision system may be used to evaluate trajectory parameters for a basketball shot at a basketball hoop by a player. After the system has evaluated a plurality of shots by the player, the system may provide 1) a diagnosis of their shot consistency, 2) a prediction for improvement based upon improving their shot consistency and 3) a prescription of actions for improving their consistency.

An aircraft capable of thrust-borne flight can be automatically retrieved, serviced, and launched using equipment suitable for a small vessel. For retrieval, the aircraft hovers over a base apparatus having one or more rails which bound a space into which the aircraft can safely descend. When the aircraft's measured position and velocity are appropriate, the aircraft descends promptly such that a spanwise component on the aircraft engages the rails. The teeth restrain the aircraft in position and orientation, while the rails bring the aircraft to rest. Articulation of the rails is used to park the aircraft in a servicing station. Connections for refueling, recharging, and/or functional checks are made in preparation for launch. Launch is effected by removing connections and restraints and articulating the rails to put the aircraft in an appropriate position and orientation. The aircraft uses its own thrust to climb out of the apparatus into free flight.

An apparatus for analyzing free flight of a body including an inertial measurement unit having at least one accelerometer continuously measuring three orthogonal axes of acceleration and outputting data representative thereof and a processing unit operably receiving the data and determining three components of an angular velocity of the body during free flight.

The invention belongs to the field of robots, and discloses a multifunctional in-orbit maintenance robot system. The system comprises a free flight robot platform, a mechanical arm and a plurality ofend effector systems, wherein a plurality of holes are formed in the free flight robot platform; the mechanical arm comprises two capture arms and an elbow joint, each capture arm comprises a rotary degree-of-freedom joint, a first connection joint, a deflection degree-of-freedom joint, a second connection joint, a pitching degree-of-freedom joint and arm rods, and the rotary degree-of-freedom joint, the first connection joint, the deflection degree-of-freedom joint, the second connection joint, the pitching degree-of-freedom joint and the elbow joint are all of a two-section type rotating rodstructure; and each section of rod piece of the elbow joint is connected with the other end of one arm rod. According to the system, travalling positioning of the mechanical arm can be realized, theworking orientation of the mechanical arm can be expanded, and the mechanical arm can be mounted on a spacecraft, an astronautic aircraft, a space station, a satellite and other space aircrafts as a standard device for in-orbit maintenance.

The invention discloses a variable pneumatic layout structure for a projectile body, and particularly relates to a variable pneumatic layout structure capable of combining the stability of the projectile body in a free flight stage and the hitting accuracy of the projectile body in a correction stage. A variable pneumatic shape scheme is adopted; an empennage is locked into a small-empennage pneumatic layout in an original free flight section of a trajectory, so that the flight stability of the projectile body can be ensured, resistance can be reduced, and the range can be prolonged; in a tail section of the trajectory, the empennage is unfolded into a large-empennage pneumatic layout, so that the static stability of the projectile body is improved, projectile body attitude angle oscillation caused by surging force can be rapidly converged, and the requirements of a control system can be met. According to the variable pneumatic layout structure for the projectile body, the advantages of a fixed-empennage pneumatic layout and the large-empennage pneumatic layout are combined, so that a requirement on the static stability of the projectile body can be met, the influence of the projectile body attitude angle oscillation caused by surging force on the control system can be reduced, the range can be ensured, and a requirement on the correction accuracy can also be met; multiple range tests show that the scheme is feasible.

The invention provides a method for pre-estimating flight path of a wind tunnel free flight test model, and the method comprises the steps: 1, obtaining an attack angle - mechanics coefficient table of a flight model; 2, setting the initial attack angle value theta0 of a free flight test, a transmission position, and an initial transmission speed, obtaining the mechanics coefficient at the initial attack angle value theta0 through linear interpolation, and enabling the initial attack angle value theta0 and the corresponding mechanics coefficient to serve as an initial transmission parameter D0; 3, calculating and obtaining pre-estimated flight path data through a Runge-Kutta method after flight at the transmission position; 4, repeatedly carrying out the steps 2 and 3 when the pre-estimated flight path data does not meet the testing requirements, obtaining a new pre-estimated flight path, and carrying out step 4 till the new pre-estimated flight path meets the testing requirements. The method pre-estimates the flight path of free flight of a model in a wind tunnel, enables the flight path to stay for longer tie in an observation region, and obtains more effective information during testing.

The invention provides a free flight supporting device in a full wingspan flying wing body freedom flutter wind tunnel test. The device comprises a cross beam, a pulley block and a steel shaft. A flying wing model is connected with the pulley block through the cross beam, the cross beam is connected with the pulley block through a bearing, the relative rotation of the pulley block and a beam is not affected, the pitching degrees of freedom of a flying wing is released in the experiment process, the pulley block is driven to move up and down through the cross beam, the sinking and floating degrees of freedom of the model is released, and meanwhile, a displacement limiter is further arranged and used for limiting the up-and-down movement of the model and preventing the model from being dispersed or damaged due to violent oscillation. The flying wing and the pulley block are connected by the cross beam, so that the frictional resistance is reduced, a supporting spring is not required to be designed independently, the sinking and floating degrees of freedom and the pitching degrees of freedom can be released simultaneously, the device has the advantage of easiness in implementation, and the influence of the bearing rigidity introduced by the supporting spring on an experimental result is avoided; and a designed supporting device can simulate the real flying state of the flying wingto the maximum extent and can reduce experimental errors caused by frictional resistance.

The present disclosure describes various systems and methods configured to: launch a fixed-wing aircraft from a moving object into free, wing-borne flight using a multicopter; retrieve the multicopter after fixed-wing aircraft launch using a retrieval winch; retrieve the fixed-wing aircraft from free, wing-borne flight back onto the moving object using the multicopter; and retrieve the multicopter after fixed-wing aircraft retrieval using the retrieval winch.

The invention is applicable to the technical field of wind tunnel tests, and provides a low-speed wind tunnel horizontal free flight model attitude measurement method. The method comprises the following steps: S10, placing an aircraft model in a wind tunnel test section, and arranging a plurality of cameras at the tops of two sides of the aircraft model and outside the wind tunnel test section; S20, calibrating the plurality of cameras at the same time; S30, establishing a world coordinate system and a body axis coordinate system; S40, setting a plurality of mark points on the aircraft model, and obtaining position information of the plurality of mark points in the world coordinate system; and S50, calculating an attitude angle and an airflow angle of the aircraft model according to the position information of the plurality of mark points in the body axis coordinate system. The attitude measurement method provided by the invention can be suitable for research of horizontal free flight of different models of aircrafts in the wind tunnel, has good versatility, is simple to use and operate, can be popularized to other low-speed wind tunnels, and has good engineering application prospects.

The invention relates to an inertia drop point control closed-loop guidance method in a solid carrier rocket depletion shutdown mode, and the method comprises the steps of deducing an analytical solution of an instantaneous orbit drop point related derivative in a free flight process according to the differential derivative relation of an instantaneous orbit drop point, and building a mapping relation between a current point and the orbit drop point; determining the current acceleration instruction vector according to the current remaining flight time of the solid carrier rocket, and it is guaranteed that the instantaneous orbit drop point moves to the target point when an engine of the solid carrier rocket is exhausted and shut down, the carrier rocket continues to slide to the target drop point along the Kepler orbit, and meanwhile the invention has very high guidance precision.

The invention discloses an embedded wind tunnel free flight test model pose acquisition method, and relates to the technical field of flight tests. The embedded wind tunnel free flight test model poseacquisition method comprises the steps of: carrying out the interception of inertial sensor data according to a preset rule to obtain test effective data which comprises triaxial accelerometer data and triaxial gyroscope output data; performing low-pass filtering on the triaxial accelerometer data to obtain first data, and removing high-frequency vibration interference; performing band elimination filtering on the first data and the output data of the three-axis gyroscope to obtain second data, and removing pulsation interference of a pneumatic airflow; and carrying out recursive pose calculation on the basis of the second data to obtain six-degree-of-freedom pose information of the aircraft model within effective time in the test process. The embedded wind tunnel free flight test model pose acquisition method can improve the test precision for the application scene of the wind tunnel free flight test.

The invention discloses a degree of freedom release device of a wind tunnel free flight experiment. The degree of freedom release device comprises a supporting rod and a degree of freedom release joint; the supporting rod is fixedly installed at the center of a wind tunnel test experiment platform; the degree of freedom release joint is installed at the center of gravity of the belly of an aircraft model; and the degree of freedom release joint and the aircraft model are fixed together through screws, and then are connected with a supporting base by bearings. With the degree of freedom release device of the wind tunnel free flight experiment of the invention adopted, single-degree of freedom release of rolling, pitching and yawing of the aircraft model in the wind tunnel free flight experiment and two-degree of freedom release of pitch rolling, yaw rolling and pitch yawing of the aircraft model in the wind tunnel free flight experiment can be realized, and the three-degree of freedom release of the aircraft model can be realized, and the release angle of the pitching and rolling ranges from +35 degrees to -35 degrees, and the yawing of the aircraft model can achieve release ranging from +180 degrees to -180 degrees. The degree of freedom release device of thee invention has the advantages of simple structure, capable of realizing of the release of a plurality of kinds of degrees of freedom, small interference and simple installation and adjustment method.

The invention relates to an aircraft control-surface-free flight control method based on synthetic dual-jet flow field control. According to the method, an autonomous and controllable synthetic dual-jet exciter is applied to the field of aircraft flight control, the synthetic dual-jet exciter is arranged at a preset position according to different aircraft layouts, flight states and control requirements, a piezoelectric vibrator repeatedly compresses an expansion cavity under the control of a power supply controller, and the synthetic dual-jet exciter and the piezoelectric vibrator are combined. Periodically-blown and sucked synthetic dual-jet is formed at an outlet, the synthetic dual-jet is utilized to change a streaming flow field of the aircraft and reconstruct surface pressure distribution, and a preset control strategy is adopted to achieve the purpose of controlling the attitude of the aircraft. According to the method, when the aircraft is subjected to flight control, any mechanical structure does not need to be operated, so that the invisibility and the aerodynamic configuration of the aircraft are prevented from being damaged, the mechanical wear is reduced, and the method has extremely high application value; the method is suitable for replacing the conventional control surface of the aircraft, and can also be matched with the conventional control surface at the same time or in a time-sharing manner.

The invention discloses an unmanned aerial vehicle cluster autonomous formation control method imitating a migrant bird migration behavior. The method comprises the implementation steps of 1, initializing an unmanned aerial vehicle cluster; 2, determining a lead aircraft; 3, determining a leader relationship among the unmanned aerial vehicles; 4, enabling the lead aircraft to judge whether obstacles exist in the front flight environment or not; 5, performing a barrier-free flight mode in the environment; 6, performing an obstacle flight mode in the environment; 7, updating a control instruction of the unmanned aerial vehicle pilot; and 8, performing formation reconstruction. The method aims at achieving autonomous formation flight of multiple unmanned aerial vehicles and simulating cluster behaviors shown by the migrant birds during long-distance migration, is used for designing an unmanned aerial vehicle cluster formation control strategy, improves the robustness of an unmanned aerial vehicle cluster and the adaptability to the environment, and effectively improves the autonomous ability level of the unmanned aerial vehicles.

The invention relates to a free flight analog simulation platform. The free flight analog simulation platform comprises an analog setting system, a data information system, a permission setting system, and an actual scene analog system. The implementation method of the platform includes the steps that first, a flight rule is designed, wherein in the actual scene analog module, an airplane flight process model is built on the basis of the core through that the distance is equal to the number generated when the speed is multiplied by the time; a conflict avoidance rule is designed, wherein in the actual scene analog module, the courses of airplanes are obtained through an equation of motion of the airplanes, the course included angle is calculated, and which encounter condition happens to the airplanes is judged so that corresponding avoidance measures can be taken. The free flight analog simulation platform is mainly used for the teams researching free flight to collect data and provides relevant data for free flight analog, analog logs are output, the analog data can be visually displayed for users, the users can conveniently calculate collision risk in free flight so that factors for influencing safety of free flight can be researched, and technical support is provided for achieving free flight.

The invention relates to a method of measuring micro thrust eccentricity of a solid rocket engine without constraint condition. The method comprises the following steps of configuring a certain load to the engine, wherein the flight of the engine is limited at a certain height and speed range; measuring and recording data through a gyroscope sensor in a free flying state; and calculating the processed data to obtain micro thrust eccentricity of the engine. Test data of an aircraft and thrust of the engine are established in a rectangular coordinate system of the aircraft. In the coordinate system, the thrust eccentricity is calculated finally by solving components of the thrust of the engine in three coordinate axis directions.

The invention discloses an electromagnet hanging and throwing device for a free flight test of a hypersonic wind tunnel model. The device comprises a mounting support plate, a mounting base and an adsorption electromagnet which are sequentially connected from top to bottom, wherein the upper end of the mounting support plate is fixed on an upper attack angle mechanism of a hypersonic wind tunnel test section attack angle mechanism, and the lower end of the adsorption electromagnet adsorbs a model. The device also comprises a driver which is fixed on the mounting support plate, the model fixingdevice is fixed on the mounting base, and the driver controls the model fixing device to clamp or release the model. During test preparation, a power supply for adsorbing the electromagnet is turnedoff, and the model fixing device clamps and fixes the model; before testing, a power supply of the adsorption electromagnet is turned on, the model fixing device is withdrawn, and the adsorption electromagnet adsorbs and fixes the model; in the test process, the electromagnet is adsorbed to power off and release the model. The device is compact in structure, reasonable in layout, good in stabilityand high in reliability, and can meet the requirement of quickly putting the model in the free flight test process of the hypersonic wind tunnel model.

The invention discloses a wind tunnel free flight test model pose measurement system. The system comprises an on-site pose capture subsystem, a remote pose resolving subsystem and a model recovery subsystem. The on-site pose capture subsystem is used for measuring the angular velocity and the acceleration of a wind tunnel free flight test model by utilizing an inertial sensor; the remote pose resolving subsystem is used for resolving the angular velocity and acceleration data of the wind tunnel free flight test model measured by the on-site pose capturing subsystem in real time or off line toobtain the pose information of the wind tunnel free flight test model; and the model recovery subsystem is used for recovering the wind tunnel free flight test model and the on-site pose capture subsystem when the test is finished. The invention further discloses a measurement method of the measurement system. According to the invention, the problems that a traditional high-speed photographing method for the wind tunnel free flight test is small in pose information acquisition freedom degree and short in effective data length are solved, and the system is low in cost and can be repeatedly used.

The invention discloses a trajectory tracking control method for a space five-degree-of-freedom free flight mechanical arm. The trajectory tracking control method can solve the accurate problem that aspace object is captured and manipulated by the five-degree-of-freedom space free-flight mechanical arm installed on a spacecraft. The trajectory tracking control method mainly comprises the following four points that 1), a D-H method is applied to establish a forward kinematic model of the mechanical arm; 2) a Lagrange equation is applied to establish a dynamical model of the mechanical arm; 3),a Jacobi transpose matrix and a PD controller are combined to introduce a generalized force vector; and 4), Simulink software is used for constructing a simulation model according to a dynamical differential equation. According to the method, the kinematic and dynamical models of the mechanical arm are constructed at the same time, and the method of the Jacobi transpose matrix in combination withthe PD controller is applied, so that the problem that a kinematic control method applied widely at present cannot well track and control the space high-speed high-precision mechanical arm is effectively solved.

A fixed-wing flying apparatus, aircraft, airplane or device is provided which is capable of stably gliding in more than one direction such as backwards, frontward or sideways. The device comprises a plurality of wings arranged around the center of area and defining a space therebetween. Each wing includes an outwardly protruding wall along an outer edge of the wing, which disrupts airflow over the wing flying in front so it is less effective than the wing flying behind, facilitating temporary or long term sustainable speed-seeking glide stability in more than one forward direction without any trim or center of gravity adjustment. The plurality of wings can include two wings, three wings forming a triangle, or four wings forming a square or rectangle. The aircraft can be unpowered, powered, free-flight or controlled. A one-front airplane can also be constructed with very relaxed yaw stability.