46 results about "Free flight" patented technology

The invention provides an unmanned aerial vehicle group obstacle avoidance method and system based on least square and distributed arbitration, and belongs to the field of multi-unmanned aerial vehicle path planning, and the method comprises the steps: maintaining the historical observation data of a dynamic obstacle; a trajectory prediction model is constructed based on historical observation data, and a future trajectory prediction set is generated through least square fitting; selecting an optimal prediction model from the trajectory prediction set through a backtracking verification strategy; on the basis of a preset distributed arbitration rule, whether the local machine obtains the release right of the obstacle prediction information or not is judged; packaging the trajectory information corresponding to the optimal prediction model into a standard message by using the unmanned aerial vehicle which obtains the release right, and broadcasting the standard message to the cluster; and incorporating the obtained predicted trajectory message into collision avoidance constraint of a planner, performing local trajectory planning, and generating a collision-free flight path. According to the method, the safety, the collaboration and the passing efficiency of the cluster system in a real complex scene are remarkably improved.

The invention discloses a navigation-free autonomous flight bridge bottom inspection control method and unmanned aerial vehicle-mounted control equipment, and the method comprises the steps: responding to the obtained three-dimensional point cloud data of a to-be-inspected bridge, planning and selecting a bridge bottom inspection path through the three-dimensional point cloud data, and enabling the starting point of the bridge bottom inspection path to start from the outside of the bridge; and generating a bridge bottom inspection route based on the bridge bottom inspection path and executing inspection, wherein the inspection comprises bridge bottom navigation-free flight control, autonomous obstacle avoidance, roof-imitating flight and inspection waypoint image acquisition. After the unmanned aerial vehicle flies out of the bridge, when the electric quantity of the unmanned aerial vehicle is too low or the unmanned aerial vehicle is manually triggered to return, the return flight route of the unmanned aerial vehicle is automatically called to execute a return flight task during return flight. The method disclosed by the invention can be efficiently operated on light embedded equipment, so that the unmanned aerial vehicle can realize real-time perception and real-time flight control on the bridge in the flight process, a more efficient and safer bridge bottom inspection flight control solution is provided, and the development of the unmanned aerial vehicle in the bridge inspection field is promoted.

The invention relates to an adaptive heuristic conflict-free flight path planning method and system with robustness, belongs to the technical field of air traffic management, and is particularly used for flight conflict detection and release. The method is used for rapidly generating the robust conflict-free track meeting the safety interval constraint, can flexibly switch the local search strategy and the global search strategy according to the search stage, achieves effective balance between optimization performance and efficiency, and is especially suitable for an air traffic control automation system needing to dynamically update conflict-free track suggestions at the second-level frequency. The adaptive heuristic conflict-free flight path planning system comprises a conflict detection module, a conflict resolution module, a visualization module and an interaction module, and the conflict resolution module uses the conflict resolution module to generate a conflict-free flight path for a flight.

This invention provides a separation and positioning mechanism for a separate body and a method for adjusting the position of the separate body. It includes an aircraft model fixed to the root of a wind tunnel support rod. A connecting plate is detachably installed on the wind tunnel support rod near the aircraft model. A separate body located directly below the aircraft model is rotatably connected to the connecting plate. A locking mechanism is provided between the connecting plate and the separate body. The invention also includes the following steps: S1, analyzing the position of the separate body and confirming the position of the positioning bolts; S2, analyzing the angle of attack α of the separate body and confirming the position of the locking bolts. This invention, by setting up a connecting plate and a locking mechanism, facilitates multi-position adjustment of the separate body during experiments. It is beneficial for detailed studies of the load and dynamic response of the separate body at a determined position, effectively replacing traditional free-flying vehicle experiments that are inconvenient for research and measurement, and avoiding increased experimental costs and damage to the wind tunnel.

The utility model discloses an unmanned aerial vehicle flight control board double-sided appearance defect detection device in an assembly line, and relates to the technical field of circuit board detection, the unmanned aerial vehicle flight control board double-sided appearance defect detection device comprises a first conveyor belt, a second conveyor belt, a first detection module, a second detection module and a flight control board, the flight control board is divided into a to-be-detected flight control board, an appearance defect-free flight control board and an appearance defect flight control board, the flight control board to be detected is arranged on the first conveying belt, the first detection module and the second detection module are arranged on the front side and the rear side of the first conveying belt respectively, the second conveying belt stretches across the first conveying belt, and the first detection module and the second detection module are matched with each other to achieve double-face appearance defect detection of the flight control board. And the second detection module is used for placing the flight control board with the appearance defect on the second conveying belt. The double-sided appearance defect detection and sorting device can realize double-sided appearance defect detection and sorting of the unmanned aerial vehicle flight control board, is high in detection efficiency, meets the continuous operation requirement of a conveyor belt, and improves the production efficiency.

This invention belongs to the field of hydraulic system technology and discloses an AI-based online monitoring method for external leakage in aircraft hydraulic systems. It aims to solve the technical problems of poor real-time performance, high false alarm rate, and difficulty in adapting to dynamic operating conditions in existing monitoring methods. The aircraft hydraulic system is the power source for critical functions such as door opening and closing, landing gear retraction and extension, braking, and control surface actuation. External leakage can easily lead to serious safety accidents. Existing monitoring methods have obvious defects, insufficient generalization ability, and inadequate real-time performance. The steps of this method are as follows: First, select multiple leak-free flight parameter data, extract multi-dimensional parameters such as pressure and temperature, and construct a feature vector set after preprocessing; second, based on AI algorithms, construct and train a fuel tank oil volume prediction model under leak-free operating conditions; third, input real-time collected multi-dimensional time-series data into the model and output the predicted oil volume value; finally, compare the predicted value with the measured value from the level sensor, determine the leakage status, sensor failure, or model deviation through the volume difference, and realize online model updates. This invention integrates multi-dimensional parameter features, improves the accuracy of leak identification and anti-interference ability, can output monitoring results in real time and provide early warning of leakage, enhances the robustness of hydraulic system leak monitoring, reduces operation and maintenance costs, and can provide technical support for early warning of leaks in aircraft hydraulic systems, thus having significant engineering application value.

The invention provides an inspection obstacle avoidance method and system for a low-altitude traffic gate, and relates to the technical field of inspection obstacle avoidance, and the method comprises the steps: marking a low-altitude traffic gate in a target low-altitude airspace, and collecting the spatial point cloud data of the gate; comparing the point cloud data with pre-stored point cloud data, and if the comparison does not pass, adding an obstacle mark; after the inspection unmanned aerial vehicle enters a low-altitude flight channel associated with the low-altitude traffic gate, first navigation track information corresponding to the non-free flight obstacle object is collected according to the obstacle mark; and carrying out movement prediction in a preset time period through the first navigation track information, and carrying out obstacle avoidance adjustment under the limitation of a dynamic obstacle safety distance in combination with second navigation track information corresponding to the inspection unmanned aerial vehicle. According to the invention, the technical problem of poor obstacle avoidance efficiency caused by difficulty in accurately identifying and predicting the dynamic obstacle in a low-altitude environment in the prior art is solved, and the inspection obstacle avoidance efficiency is improved through point cloud data comparison and dynamic obstacle prediction.

A drive unit for air vehicle, which allows building the vertical take-off and landing vehicles, intended for use, for instance, in the production of flying taxis, as well as in the model-making branch and in the toy industry.The drive unit is composed of the air channel, in the form of a straight segment of a tube with circular section, which has fans with engines fixed on its both ends. The vertical draft force outlet-inlet nozzle opening is located between fixed fans of the drive unit.

The application discloses a state grid-based civil aviation passenger plane conflict-free path planning method, and relates to the technical field of traffic management, which comprises the following steps: selecting a target airspace; collecting environmental information and initial state parameters of an aircraft; constructing an airspace grid map based on the target airspace, marking a no-fly area, and setting a starting point and an ending point of the aircraft; initializing a cost value of a state grid corresponding to the starting point; assigning the state parameters to the starting point; formulating a search strategy: based on a first state grid, searching for a state grid not belonging to the no-fly area in nine state grids in front of the aircraft according to the orientation of the aircraft in the first state grid, and marking the state grid as a second state grid; calculating and updating the state parameters and the cost value of the second state grid according to the parameters of the first state grid; in the airspace grid map, traversing the state grids between the starting point and the ending point according to the search strategy combined with an A* algorithm, and constantly selecting the second state grid with the minimum cost value. Finally, an optimal path between the starting point and the ending point is found.

The wide-range intelligent variable aircraft design method based on the curved shock wave theory comprises the following steps: 1) according to a flight envelope, the aerodynamic design of the wide-range intelligent variable aircraft is divided into a minimum resistance state, an optimal lift-drag ratio state and a maximum lift state, wherein the minimum resistance state corresponds to a boost climb section and a free flight section, the optimal lift-drag ratio state corresponds to a re-entry glide section, and the maximum lift state corresponds to a terminal down pressure section; 2) the aerodynamic design of the minimum resistance state is as follows: the aerodynamic profile of the wide-range intelligent variable aircraft is inversely designed based on a full three-dimensional curved shock wave surface; 3) the aerodynamic design of the optimal lift-drag ratio state is as follows: the aerodynamic profile of the wide-range intelligent variable aircraft is designed based on a full three-dimensional curved shock wave surface and a wall surface pressure distribution simultaneously controllable inverse method; 4) the aerodynamic design of the maximum lift state is as follows: the aerodynamic profile of the wide-range intelligent variable aircraft is inversely designed based on a three-dimensional wall surface pressure distribution.

The invention belongs to the technical field of analytical chemistry and physical instruments, and discloses a mass spectrometry system and a mass spectrometry method.The system comprises an ion optical subsystem used for applying target acceleration voltage to ion pulses generated after ionization of a target analysis sample injected through an ion inlet; the rotating subsystem is used for providing a target angular velocity corresponding to a mass spectrometry mode for the ion pulse with the target radial velocity, so that the accelerated ion pulse freely flies in the rotating subsystem, and the accelerated ion pulse is impacted to the position sensitive detector after generating a deflection angle under the action of a Coriolis force in the free flight process; the position sensitive detector is used for acquiring the impact deflection angle position of each ion in the ion pulse and the ion strength corresponding to the impact deflection angle position; and the control subsystem is used for constructing a mass spectrum of the target analysis sample. According to the scheme, wide-range and high-resolution analysis can be flexibly balanced.

The application relates to the technical field of airspace management, and provides a low-altitude airspace fine management method and system based on a four-dimensional airspace grid. According to a low-altitude airspace geographical boundary and a height level, three-dimensional space grid units are divided and a time dimension attribute is associated to form a four-dimensional airspace grid structure; candidate flight trajectories are generated in the structure; a conflict grid set is determined through traversal and matching; a grid unit sequence is adjusted in a conflict resolution search space, and a conflict-free flight path is generated; the grid units corresponding to the path are marked as occupied and are bound with aircraft identifiers, fine low-altitude airspace resource management is realized, and flight safety and airspace use efficiency are improved.

The invention belongs to the technical field of aviation aircraft full-aircraft landing simulation, and particularly relates to an aircraft free flight hooking working condition full-aircraft pitch angular velocity modeling method and system.The included angle between the longitudinal axis of an aircraft and the horizontal plane, the pitch angle and the distance from a projection point A to the full-aircraft gravity center are obtained, and the X-direction distance from the projection point A to the full-aircraft gravity center is calculated; calculating the X-direction distance from the projection point B to the gravity center of the whole aircraft according to the pitch angle and the distance from the projection point B to the gravity center of the whole aircraft; calculating the Z-direction linear velocity of the projection point A according to the X-direction distance from the projection point A to the gravity center of the whole aircraft, and calculating the Z-direction linear velocity of the projection point B according to the X-direction distance from the projection point B to the gravity center of the whole aircraft; the Z-direction linear speed of the projection point A and the Z-direction linear speed of the projection point B serve as initial conditions, and full-aircraft pitch angle speed modeling is carried out. The initial condition of the pitch angular velocity does not need to be defined at the gravity center of the whole aircraft, so that input parameters are consistent with feedback parameters during calculation, and the initial pitch angular velocity state of the aircraft is truly reflected.

The present application relates to the artificial driving high bionic bird flapping wing vehicle, the vehicle is the ancient flapping wing machine and the combination of other power including but not limited to modern engine or motor, according to the various actions of the driver control from the ground take-off, air flight and landing to the ground, realize artificial driving free flight, the vehicle has the streamlined shell of bird, adjustable head and tail, the wings of bird wing on both sides of the body, cockpit and the accompanying landing driving part under the fuselage, the vehicle drives the wings on both sides of the fuselage to produce flying power by the power system, and freely flies by artificial control, can be used as low-altitude traffic transport and tourism tool.

Systems, methods, and devices for robotic capture of an object are provided. A system for robotic-based capture of a free flyer object includes a grapple fixture for mounting to the free flyer object and an end effector for capturing the free flyer object by interfacing with the grapple fixture. The grapple fixture includes a base and a deflectable probe. The end effector includes a probe guiding surface for deflecting and guiding a probe tip of the probe through an opening in the probe guiding surface and into a grappling position. The end effector includes a probe sensing element for sensing when the probe tip is in the grappling position and triggering a capture mechanism. The capture mechanism grapples the probe tip and an actuator retracts the capture mechanism to a predetermined position to establish a load-bearing interface between the free flyer object and the end effector.

1. Name of the product in this design: Model Airplane (Waist-Push Electric Free Flight). 2. Purpose of this design: For use in model airplanes. 3. The key design features of this product are the combination of shape and pattern. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention discloses a four-rotor random obstacle racing method based on course reinforcement learning, and aims to solve the problems that unmanned aerial vehicle racing conflicts with an obstacle avoidance target, the generalization of an obstacle scene is poor, and migration from simulation to reality is difficult in the prior art. The method comprises the following steps: constructing an unmanned aerial vehicle system comprising a flight platform, a sensing unit, a calculation unit and a bottom layer controller; defining an observation space consisting of state observation and visual observation, and an action space containing collective thrust and body angular velocity; through a multi-stage curriculum reinforcement learning framework with gradually increased difficulty and a multi-scene parallel updating mechanism, obstacle avoidance and door-crossing racing requirements are balanced in combination with a composite reward function; training an end-to-end visual control strategy by adopting a lightweight network architecture combining a CNN, an MLP and a GRU; after training is completed, the strategy network weight is exported to be in an ONNX format, and the strategy network weight is deployed in the Raspberry Pi to achieve zero sample migration. According to the invention, 8m / s high-speed collision-free flight in a complex obstacle environment is realized, the success rate reaches 100%, and the generalization is strong.

The application discloses a high-enthalpy shock tunnel test model plasma sheath and wake light radiation characteristic measurement system and method, and belongs to the field of hypersonic aerodynamics test. By using a large-size high-enthalpy shock tunnel, a suspension type heavy model electromagnetic synchronous release system is adopted to realize the free flight of the heavy model without disturbing the wake, a heating device and related design are adopted to realize the heating of the heavy model to simulate the ablation model, a spectrometer system and a radiometer system are adopted to realize the transient light radiation characteristic test, and then the measurement of the light radiation characteristic of the plasma sheath and the wake thereof is realized. The application can not only study the light radiation characteristic of the plasma sheath in the leading edge region of the model, but also can study the light radiation characteristic of the wake of the model, and can accurately measure the light radiation characteristic of the plasma sheath and the wake of the ablation model.

The invention discloses a high-integration-level flight control system, relates to the field of wind tunnel dynamic flight tests, and solves the problems that an existing flight control system is limited in interface adaptation type, single in control mode and insufficient in attitude and power cooperative control precision under closed-loop control. Comprising a data receiving interface, a control signal output interface and a control processing module. The data receiving interface is adapted to various communication types such as 485, 232 and the like and is used for acquiring sensing data of multiple components such as inertial navigation, a GPS (Global Positioning System), a remote controller and the like; and the control signal output interface outputs corresponding signals to the control surface control unit, the electronic speed control and electric culvert unit and the like. The control processing module comprises a system self-checking module, a data analysis module and an instruction resolving module, sensing data are analyzed after self-checking is passed, the instruction resolving module can select an open loop mode or a closed loop mode to resolve an instruction and transmit the instruction, and multi-source data collection and multi-execution-unit cooperative control are achieved. The method can be used for flight control of virtual flight, free flight and outfield flight of a dynamic flight model.

This invention discloses a tethered unmanned aerial vehicle (UAV) airport system and its control method that automatically switches between tethered and free flight. The system includes an airport housing, an automatic cable reel assembly, an automatic cable disconnection and docking assembly, and an adaptable UAV. The airport housing integrates an automatic hatch, a liftable platform, a storage cavity, and charging and vehicle-mounted power supply interfaces. Both the hatch and platform are driven by stepper motors. The docking assembly is located inside the platform's conical cylinder, and the UAV has a pairing and locking mechanism and deformable landing gear, adaptable to fixed-point docking and ground landing. The system is linked by a PLC to various modules and the UAV flight controller, supporting vehicle-mounted manual / automatic control. The winch is powered by 400-900V DC output via AC-DC, and the onboard DC-DC converter provides battery charging. The PLC adjusts the cable reel speed based on tension sensor signals to stabilize tension. This invention significantly improves the scenario adaptability and operational efficiency of tethered UAV systems, meeting the engineering application requirements of various low-altitude operation scenarios.

The invention provides a three-degree-of-freedom complete machine wind tunnel test device for a multi-rotor aircraft, which comprises a wind tunnel test support rack, a windshield fairing, a stand column, a six-component force measuring balance and a three-degree-of-freedom test device, and is characterized in that the wind tunnel test support rack is mounted at the center of a wind tunnel flow field, and the stand column is mounted right above the wind tunnel test support rack; a wind shield fairing is further installed over the wind tunnel test supporting rack, a six-component force measuring balance is installed above the stand column, a three-degree-of-freedom test device is installed above the six-component force measuring balance, and a multi-rotor aircraft is installed above the three-degree-of-freedom test device. The three-degree-of-freedom test device realizes three-degree-of-freedom motion of pitching, yawing and rolling of the multi-rotor aircraft. The device does not interfere with one another in three degrees of freedom of pitching, yawing and rolling, the movement axes of the device can intersect at one point, the point can coincide with the mass center of the aircraft, and the free flight test of the aircraft in a wind tunnel can be well simulated.

The present invention relates to an unmanned aerial vehicle providing stable and vibration-free flight at low cruising speeds, capable of staying airborne for longer durations during extended flights, having an optimal aerodynamic balance with its wing structure, and comprising an advanced telemetry and data transmission system, and is characterized in that it comprises a wing (1) with a profile structure providing stable and vibration-free flight at aerodynamically low speed, a tiltrotor mechanism (2) symmetrically arranged on the wing (1) with respect to the x-axis, adjusting the direction of the propellers (4) to horizontal or vertical position by making a circular movement in its position by means of the engine (3) integrated in the U-plate (2.1), a connection shaft (5) linking the symmetrical tiltrotor mechanisms (2) on the wing (1) to each other, at least one folding foot (6) integrated in the lower part of the aircraft and equipped with a shock absorber (7) system, a telemetry system remotely monitoring the aircraft and providing real-time data to the aircraft control unit, a camera and sensor system for collecting environmental data and obtaining images, a central processor unit and image processor unit processing the obtained data, and a battery powering the electronic components of the system.

The invention belongs to the technical field of aviation aircraft full-aircraft landing simulation, and particularly relates to an aircraft free flight hooking working condition full-aircraft roll angular velocity modeling method and system, an included angle between an aircraft side axis and a horizontal plane, a roll angle and a distance from a projection point A to a full-aircraft gravity center are acquired, and a Y-direction distance from the projection point A to the full-aircraft gravity center is calculated; calculating a Y-direction distance from the projection point B to the gravity center of the whole aircraft according to the roll angle and the distance from the projection point B to the gravity center of the whole aircraft; calculating the Z-direction linear velocity of the projection point A according to the Y-direction distance from the projection point A to the gravity center of the whole aircraft, and calculating the Z-direction linear velocity of the projection point B according to the Y-direction distance from the projection point B to the gravity center of the whole aircraft; and the Z-direction linear velocity of the projection point A and the Z-direction linear velocity of the projection point B serve as initial conditions, and full-aircraft roll angular velocity modeling is carried out. The roll angular velocity initial condition does not need to be defined at the gravity center of the whole aircraft, so that the input parameter is consistent with the feedback parameter during calculation, and the initial roll angular velocity state of the aircraft is truly reflected.

A dynamic positioning method and system based on an unmanned aerial vehicle. The method comprises: using the flight of an unmanned aerial vehicle to perform angle estimation, and using the flight of the unmanned aerial vehicle to observe a target multiple times under different attitude and position conditions, so as to determine the position of the target. In the present method, the characteristic of free flight of an unmanned aerial vehicle is used to construct a direct path between a positioning target and the unmanned aerial vehicle; and multi-dimensional information related to the position of a target is acquired by means of changing the attitude and position of the unmanned aerial vehicle, and a geometric relationship is used to perform solving, so as to obtain the position of the target.

This application discloses a deceleration separation device, comprising: a deceleration parachute compartment, a combined actuator, a deceleration parachute pack, a battery box, and a slave unit control board; the deceleration parachute compartment includes a compartment body and a compartment cover; a first port of the compartment body is snapped into the compartment cover; a second port of the compartment body is connected to the slave unit protective cylinder of a UAV via a first connector; the combined actuator is fixedly disposed inside the compartment body; one end of the combined actuator is a parachute ejector and connected to the compartment cover; the other end of the combined actuator is an explosive bolt and connected to the UAV's transition joint; the deceleration parachute pack is disposed inside the deceleration parachute compartment and connected to the compartment cover and the combined actuator via a second connector; the battery box is disposed inside the compartment body and connected to the parachute ejector and the explosive bolt; the slave unit control board is disposed inside the compartment body and communicatively connected to the parachute ejector and the explosive bolt. This application enables separation from the aircraft, reducing weight during free flight and improving the aircraft's endurance.

The invention relates to an aircraft GNSS-free flight positioning method based on a one-way millimeter-wave radar, and the method comprises the steps: arranging a single millimeter-wave radar at the bottom of an aircraft, and enabling the normal direction of the millimeter-wave radar to be perpendicular to the bottom direction of the aircraft; the flight positioning method comprises the following steps: a millimeter wave radar signal transmits point cloud data obtained after processing to an aircraft main control end; representing the point cloud data in a Cartesian coordinate system; calibrating external parameters of millimeter wave radar data; estimating the motion speed of the radar based on the point cloud data, fusing the motion speed of the radar with IMU data and barometer data of the aircraft, and estimating the state of the aircraft in real time to obtain the speed, position and attitude information of the aircraft; information such as the speed, the position and the posture of the aircraft is used for replacing related data in the GNSS and serves as positioning data of the aircraft in a GNSS-free environment. According to the invention, the aircraft can be accurately positioned under the condition of no GNSS, the power consumption is low, the weight is light, and the cost is low.

The invention discloses a multi-degree-of-freedom wind tunnel free flight test device with a force feedback function. The multi-degree-of-freedom wind tunnel free flight test device comprises a foundation platform, a driving sinking and floating mechanism arranged on the foundation platform, a driven sinking and floating mechanism arranged on the driving sinking and floating mechanism and a motion controller. The driving sinking and floating mechanism is used for controlling the driven sinking and floating mechanism to ascend and descend. The driven sinking and floating mechanism comprises a sleeve, a sinking and floating supporting rod, a posture hinge and a force feedback sensor. The top of the sleeve is provided with a sinking and floating supporting rod capable of moving in and out of the sleeve; a posture hinge is arranged at the top of the sinking and floating support rod; the attitude hinge is used for regulating and controlling the flight attitude of the test model; the force feedback sensor is used for monitoring stress data of the test model; when the sinking and floating supporting rod is in a lifting stroke limit range, the motion controller is used for controlling the active sinking and floating mechanism to be matched with the flight state of the test model for lifting; after the scheme is adopted, the problems that a model in a wind tunnel test in the prior art cannot achieve safe support and complete free flight can be solved.

The application discloses a zero-range line direction multi-time maneuver penetration method, which comprises the following steps: taking the maneuver times, maneuver time and maneuver direction of a penetration warhead as optimization design variables, taking the zero-control miss distance, shift point deviation and fuel consumption as optimization indexes, and establishing a penetration trajectory optimization problem description model; designing the initialization stage, search stage and inertia weight of a PSO algorithm based on the optimization design variables of the maneuver times and maneuver time and the dimension uncertainty problem; converting the penetration trajectory optimization problem description model to a non-orthogonal coordinate system, deriving a free flight trajectory analytical solution, and combining the analytical method with the numerical method to quickly solve the zero-range line direction on the basis; and using the designed PSO algorithm to take the solved zero-range line direction as the maneuver direction to optimize the penetration trajectory of the multi-time maneuver. The application reduces the dimension of the optimization design variables, improves the penetration trajectory optimization efficiency, and can obtain the expected effect in a short time.

The utility model provides a fixing structure for testing the wind resistance of an unmanned aerial vehicle, and the structure comprises a supporting pedestal, the upper end of the supporting pedestal is fixedly connected with a long supporting seat, the interior of the long supporting seat is fixedly connected with two electric push rods, the telescoping ends of the two electric push rods are fixedly connected with a placement platform, and the upper end of the supporting pedestal is provided with four groups of fixing assemblies. According to the design, the problems that the unmanned aerial vehicle is easy to collide and fall off due to the test environment and the propeller of the unmanned aerial vehicle is damaged under the condition that the wind resistance test environment of the unmanned aerial vehicle in the original device is too small or a user presses mistakenly during operation are solved, and the unmanned aerial vehicle is reasonable in structure and good in practicability; therefore, the unmanned aerial vehicle can be supported and prevented from falling off while the unmanned aerial vehicle freely flies at the test tuyere.

The invention relates to a multilayer concrete penetration trajectory prediction method fusing physical information CNN (Convolutional Neural Network). Comprising the following steps: constructing a single-layer concrete target penetration data set; constructing and training a deep learning network single-layer target prediction model fused with a physical mechanism; the trained single-layer target prediction model is used for single-layer target penetration prediction, and motion state parameters after a projectile body penetrates through the ith layer of target are predicted; establishing a missile body inter-target free flight model; for given multi-layer interval concrete target configuration and projectile body initial conditions, the post-target motion state parameters of the ith layer of target are input into the projectile body inter-target free flight model, and projectile-target intersection condition parameters before a projectile body impacts the (i + 1) th layer of target are obtained through calculation; inputting the missile-target intersection condition parameters and missile body and target body parameters into a single-layer target prediction model, and predicting motion state parameters after the missile body penetrates through the (i + 1) th layer of target; and circulating until the final projectile body motion state is predicted. According to the method, the multi-layer interval concrete target trajectory prediction model meeting engineering requirements is obtained.