CA2513507A1 - Methods and apparatuses for storing, launching, and capturing unmanned aircraft - Google Patents

Methods and apparatuses for storing, launching, and capturing unmanned aircraft Download PDF

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Publication number
CA2513507A1
CA2513507A1 CA002513507A CA2513507A CA2513507A1 CA 2513507 A1 CA2513507 A1 CA 2513507A1 CA 002513507 A CA002513507 A CA 002513507A CA 2513507 A CA2513507 A CA 2513507A CA 2513507 A1 CA2513507 A1 CA 2513507A1
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CA
Canada
Prior art keywords
aircraft
launch
recovery line
carriage
releasably
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002513507A
Other languages
French (fr)
Other versions
CA2513507C (en
Inventor
Brian D. Dennis
Clifford Jackson
Brian T. Mcgeer
Cory Roeseler
Andreas H. Von Flotow
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Insitu Inc
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Individual
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Filing date
Publication date
Priority claimed from US10/758,948 external-priority patent/US7090166B2/en
Priority claimed from US10/758,956 external-priority patent/US7066430B2/en
Priority claimed from US10/759,742 external-priority patent/US7114680B2/en
Priority claimed from US10/758,943 external-priority patent/US7121507B2/en
Priority claimed from US10/759,541 external-priority patent/US7152827B2/en
Priority claimed from US10/758,940 external-priority patent/US7059564B2/en
Priority claimed from US10/758,955 external-priority patent/US7140575B2/en
Priority claimed from US10/760,150 external-priority patent/US7128294B2/en
Priority claimed from US10/759,545 external-priority patent/US7175135B2/en
Application filed by Individual filed Critical Individual
Publication of CA2513507A1 publication Critical patent/CA2513507A1/en
Application granted granted Critical
Publication of CA2513507C publication Critical patent/CA2513507C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/26—Arrangement of ship-based loading or unloading equipment for cargo or passengers of devices with throwing action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/68—Arrester hooks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B64F1/029—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables using a cable or tether
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
    • B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B64U30/14—Variable or detachable wings, e.g. wings with adjustable sweep detachable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/12—Propulsion using turbine engines, e.g. turbojets or turbofans
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/30—Launching, take-off or landing arrangements for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/70—Launching or landing using catapults, tracks or rails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Tents Or Canopies (AREA)
  • Transmission Devices (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Catching Or Destruction (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

Methods and apparatuses for assembling, launching, recovering, disassembling , capturing, and storing unmanned aircraft and other flight devices or projectiles are described. In one embodiment, the aircraft can be assembled from a container with little or no manual engagement by an operator. The container can include a guide structure to control motion of the aircraft components. The aircraft can be launched from an apparatus that includes an extendable boom. The boom can be extended to deploy a recovery line to captu re the aircraft in flight. The aircraft can then be returned to its launch platform, disassembled, and stored in the container, again with little or no direct manual contact between the operator and the aircraft.

Claims (348)

1. A method for handling an unmanned aircraft, comprising:
releasably capturing an aircraft by contacting a lifting surface of the aircraft with a flexible recovery line;
while a first portion of the aircraft is releasably coupled to the flexible recovery line, securing a second portion of the aircraft; and while the second portion of the aircraft is secured, releasing the first portion of the aircraft from the flexible recovery line.
2. The method of claim 1 wherein the aircraft includes a capture device mounted to the lifting surface, and wherein releasably capturing the aircraft includes releasably securing a portion of the recovery line to the capture device.
3. The method of claim 1 wherein the aircraft includes a first lifting surface portion and a second lifting surface portion, wherein releasably capturing the aircraft includes capturing the first lifting surface portion, and wherein securing a second portion of the aircraft includes securing the second lifting surface.
4. The method of claim 1, further comprising applying tension to the flexible recovery line before releasably capturing the aircraft.
5. The method of claim 1 wherein the flexible recovery line depends from an extendable boom, and wherein the method further comprises moving the boom while the first portion of the aircraft is releasably coupled to the flexible recovery line to position the aircraft relative to a support platform.
6. The method of claim 1 wherein the flexible recovery line depends from a support, and wherein the method further comprises retracting the flexible recovery line to draw the aircraft into contact with the support before securing the second portion of the aircraft.
7. The method of claim 1 wherein securing the second portion of the aircraft includes securing the second portion of the aircraft to a fixed securement member.
8. The method of claim 1 wherein securing the second portion of the aircraft includes securing the second portion of the aircraft to a securement member fixedly attached to a support platform.
9. The method of claim 1, further comprising releasably securing at least a portion of the aircraft to a storage apparatus before releasing the first portion of the aircraft from the flexible recovery line.
10. The method of claim 1, further comprising releasably securing a portion of the aircraft to a storage apparatus by moving the storage apparatus pivotally up to contact a fuselage of the aircraft before releasing the first portion of the aircraft from the flexible recovery line.
11. A method for handling an unmanned aircraft, comprising:
deploying a flexible recovery line from an extendable boom mounted at least proximate to a support platform, the flexible recovery line being positioned to capture an unmanned aircraft in flight;
flying the aircraft to contact a first lifting surface portion of the aircraft with the flexible recovery line while the aircraft is in flight;
releasably capturing the aircraft in flight with the flexible recovery line;
while the aircraft is releasably coupled to the flexible recovery line, moving the boom to position the aircraft relative to the support platform;
releasably securing a second lifting surface portion of the aircraft to a securement member positioned at the support platform;
moving a storage apparatus pivotally up from the support platform to contact a portion of a fuselage of the aircraft; and releasing the aircraft from the flexible recovery line and the securement member.
12. The method of claim 11, further comprising drawing the aircraft upwardly into contact with the boom while the aircraft is releasably coupled to the flexible recovery line.
13. The method of claim 11 wherein the aircraft includes a capture device mounted to the first lifting surface portion, and wherein releasably capturing the aircraft in flight includes releasably securing a portion of the flexible recovery line to the capture device.
14. The method of claim 11 wherein moving the boom includes retracting at least a portion of the boom after releasably capturing the aircraft and before releasably securing the second lifting surface portion of the aircraft to the securement member.
15. The method of claim 11 wherein moving the boom includes retracting the boom along a longitudinal axis and rotating the boom about a rotational axis transverse to the longitudinal axis.
16. The method of claim 11 wherein releasably securing a second lifting surface portion of the aircraft includes securing the aircraft to a support platform on a ship deck.
17. An apparatus for handling unmanned aircraft, comprising:
support means;
recovery means carried by the support means, the recovery means being positioned to intercept a lifting surface of an unmanned aircraft in flight and attach to a first portion of the aircraft; and securement means at least proximate to the support means, the securement means being positioned to releasably and securely attach to a second portion of the aircraft.
18. The apparatus of claim 17 wherein the support means includes an extendable boom having at least one retractable portion.
19. The apparatus of claim 17 wherein the recovery means includes a flexible recovery line suspendable in a generally downward direction from the support means.
20. The apparatus of claim 17 wherein the securement means includes a securement member positioned at a station for retrieval of the aircraft.
21. The apparatus of claim 17, further comprising the aircraft, and wherein the aircraft includes a cleat attached to the lifting surface, and wherein the recovery means are positioned to attach to the cleat.
22. An apparatus for handling unmanned aircraft, comprising:
a support structure;
a flexible recovery line carried by the support structure and positioned to capture an unmanned aircraft in flight by contacting a spanwise lifting surface at a first portion of the aircraft; and a securement member positioned at least proximate to the support structure, the securement member being configured to releasably and securely attach to a second portion of the aircraft.
23. The apparatus of claim 22, further comprising a support platform, and wherein the support structure is carried by the support platform.
24. The apparatus of claim 22, further comprising a support platform, and wherein the support structure includes an extendable boom pivotally mounted to a rotatable base positioned on the support platform.
25. The apparatus of claim 22 wherein the support structure includes an extendable boom having at least one section that is movable along a longitudinal axis from a retracted position to an extended position.
26. The apparatus of claim 22, further comprising the aircraft, wherein the aircraft includes a first lifting surface portion having a first capture device and a second litting surface portion having a second capture device, and wherein the list capture device is con capture device is configured to be releasably secured to the flexible recovery line and the second capture device is configured to be releasably secured to the securement member.
27. The apparatus of claim 22, further comprising a storage apparatus positioned at least proximate to the support structure, and wherein the storage apparatus is pivotable relative to the support structure between a first position and a second position, the storage apparatus being oriented to contact and releasably receive the aircraft when in the second position.
28. An apparatus for handling unmanned aircraft, comprising:
an extendable boom having a first section and a second section, at least one of the first and second sections being movable relative to the other between a retracted position and an extended position;
a flexible recovery line carried by the extendable boom and positioned to capture an unmanned aircraft in flight by contacting a first lifting surface portion of the aircraft;
a securement member positioned at a least proximate to the extendable boom to releasably secure a second lifting surface portion of the aircraft while the aircraft is releasably secured to the flexible recovery line; and a storage apparatus positioned at least proximate to the extendable boom, the storage apparatus being pivotable between a first position and a second position, the storage apparatus in the second position being oriented to contact and releasably attach to a fuselage of the aircraft before the aircraft is released from the flexible recovery line.
29. The apparatus of claim 28, further comprising a support platform, and wherein the support structure is carried by the support platform.
30. The apparatus of claim 28, further comprising a support platform, and wherein the extendable boom is pivotally mounted to a rotatable base carried by the support platform.
31. The apparatus of claim 28, further comprising the aircraft, wherein the aircraft includes a first capture device at the first lifting surface portion, the first capture device being configured to be releasably secured to the flexible recovery line, and wherein the aircraft further includes a second capture device at the second lifting surface portion, the second capture device being configured to be releasably secured to the securement member.
32. The apparatus of claim 28, further comprising the aircraft, wherein the aircraft includes a first capture device at the first lifting surface portion, the first capture device being configured to be releasably secured to the either the flexible recovery line or the securement member, and wherein the aircraft further includes a second capture device at the second lifting surface portion, the second capture device being configured to be releasably secured to either the flexible recovery line or the securement member.
33. An apparatus for launching an unmanned aircraft, comprising:

a launch guide structure having a launch axis;

a launch carriage movably carried by the launch guide structure for movement along the launch axis, the launch carriage being configured to releasably carry an unmanned aircraft during takeoff;

an energy reservoir configured to provide energy to the launch carriage to accelerate the launch carriage and receive energy from the launch carriage to decelerate the launch carriage; and a transmission coupled between the energy reservoir and the launch carriage to transmit energy between the energy reservoir and the launch carriage.
34. The apparatus of claim 33 wherein the transmission includes a first portion coupled to the energy reservoir to receive a first force from the energy reservoir and accelerate with a first acceleration, the transmission further including a second portion coupled to launch carriage to impart a second force and a second acceleration to the launch carriage, wherein the second force is different than the first force and the second acceleration is different than the first acceleration.
35. The apparatus of claim 33 wherein the transmission includes a first portion coupled to the energy reservoir to receive a first force from the energy reservoir and accelerate with a first acceleration, the transmission further including a second portion coupled to launch carriage to impart a second force and a second acceleration to the launch carriage, wherein the second acceleration is greater than the first acceleration.
36. The apparatus of claim 33 wherein the transmission includes a first portion coupled to the energy reservoir to receive a first force from the energy reservoir and accelerate with a first acceleration, the transmission further including a second portion coupled to launch carriage to impart a second force and a second acceleration to the launch carriage, wherein the second acceleration is at least approximately four times the first acceleration.
37. The apparatus of claim 33 wherein the launch carriage is positioned to carry at least one of a fuselage and a lifting surface of the aircraft.
38. The apparatus of claim 33, further comprising:

an extendable boom having a longitudinal axis, wherein the launch guide structure is carried by the extendable boom, and wherein the launch axis extends at least approximately parallel to the longitudinal axis of the boom; and a flexible recovery line carried by the extendable boom, the flexible recovery line having an intercept portion positioned to intercept the unmanned aircraft in flight.
39. The apparatus of claim 33 wherein the launch guide structure includes a rail positioned along the launch axis and the launch carriage is movably carried by the rail.
40. The apparatus of claim 33 wherein the energy reservoir includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
41. The apparatus of claim 33 wherein the energy reservoir includes at least one constant force spring.
42. The apparatus of claim 33 wherein the transmission includes a cable and a plurality of pulleys arranged in a block and tackle configuration.
43. The apparatus of claim 33, further comprising the aircraft.
44. The apparatus of claim 33 wherein the launch carriage is configured to accelerate from a first position to a second position during launch and decelerate to a third position after launch, and wherein:

the energy reservoir has a first energy level when the launch carriage is in the first position;

the energy reservoir has a second energy level less than the first level when the launch carriage is in the second position; and the energy reservoir has a third energy level higher than the second energy level and lower than the first energy level when the launch carriage is in the third position.
45. An apparatus for launching an unmanned aircraft, comprising:

a launch guide structure having a launch axis;

a launch carriage movably carried by the launch guide structure for movement along the launch axis, the launch carriage being configured to releasably carry at least one of a fuselage and a lifting surface of an unmanned aircraft during takeoff;

an energy reservoir configured to provide energy to the launch carriage; and a transmission coupled between the energy reservoir and the launch carriage to transmit energy between the energy reservoir and the launch carriage.
46. The apparatus of claim 45 wherein the transmission is coupled between the energy reservoir and the launch carriage to transmit energy from the energy reservoir to the launch carriage as the launch carriage accelerates and transmit energy from the launch carriage to the energy reservoir as the launch carriage decelerates.
47. The apparatus of claim 45, further comprising:

an extendable boom having a longitudinal axis, wherein the launch guide structure is carried by the extendable boom and wherein the launch axis extends at least approximately parallel to the longitudinal axis of the boom; and a flexible recovery line carried by the extendable boom, the flexible recovery line having an intercept portion positioned to intercept the unmanned aircraft in flight.
48. The apparatus of claim 45 wherein the launch guide structure includes a rail positioned along the launch axis and the launch carriage is movably carried by the rail.
49. The apparatus of claim 45 wherein the energy reservoir includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
50. The apparatus of claim 45 wherein the transmission includes a cable and a plurality of pulleys arranged in a block and tackle configuration.
51. The apparatus of claim 45, further comprising the aircraft.
52. An apparatus for launching an unmanned aircraft, comprising:

a launch guide structure having a launch axis;

a launch carriage movably carried by the launch guide structure for movement along the launch axis, the launch carriage being configured to releasably support at least one of a fuselage and a lifting surface of an unmanned aircraft during takeoff;

an energy reservoir configured to provide energy to the launch carriage; and a transmission having a first portion coupled to the energy reservoir and a second portion coupled to the launch carriage, the first portion being configured to accelerate at a first acceleration when receiving a first force from the energy reservoir, the second portion being configured to impart a second force and a second acceleration to the launch carriage, wherein the second force is different than the first force and the second acceleration is different than the first acceleration.
53. The apparatus of claim 52 wherein the transmission is configured to impart to the launch carriage a second acceleration greater than the first acceleration.
54. The apparatus of claim 52 wherein the transmission is configured to impart to the launch carriage a second acceleration at least approximately four times the first acceleration.
55. The apparatus of claim 52, further comprising:

an extendable boom having a longitudinal axis, wherein the launch guide structure is carried by the extendable boom and wherein the launch axis extends at least approximately parallel to the longitudinal axis of the boom; and a flexible recovery line carried by the extendable boom, the flexible recovery line having an intercept portion positioned to intercept the unmanned aircraft in flight.
56. The apparatus of claim 52 wherein the launch guide structure includes a rail positioned along the launch axis and the launch carriage is movably carried by the rail.
57. The apparatus of claim 52 wherein the energy reservoir includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
58. The apparatus of claim 52 wherein the transmission includes a cable and a plurality of pulleys arranged in a block and tackle configuration.
59. The apparatus of claim 52, further comprising the aircraft.
60. An apparatus for launching an unmanned aircraft, comprising:

an extendable boom having a first portion and a second portion, with at least one of the first and second portions being movable relative to the other along a longitudinal axis between a retracted position and an extended position;

a launch guide structure having a launch axis extending at least approximately parallel to the longitudinal axis of the boom;

a launch carriage having an aircraft support positioned to releasably carry at least one of a lifting surface and a fuselage of an unmanned aircraft, the launch carriage being movably carried by the launch guide structure for movement along the launch axis during takeoff of the unmanned aircraft;

an energy reservoir configured to provide energy to the launch carriage during acceleration of the launch carriage and receive energy from the launch carriage during deceleration of the launch carriage; and a transmission having a first portion coupled to the energy reservoir and a second portion coupled to the launch carriage, the first portion being configured to accelerate at a first acceleration when receiving a first force from the energy reservoir, the second portion being configured to impart a second force and a second acceleration to the launch carriage, wherein the second force is different than the first force and the second acceleration is different than the first acceleration.
61. The apparatus of claim 60, further comprising a flexible recovery line carried by the extendable boom, the flexible recovery line having an intercept portion positioned to intercept the unmanned aircraft in flight.
62. The apparatus of claim 60 wherein the launch guide structure includes at least one launch rail positioned generally parallel to the launch axis and the launch carriage is movably supported by the launch rail.
63. The apparatus of claim 60 wherein the energy reservoir includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
64. The apparatus of claim 60 wherein the transmission includes a cable and a plurality of pulleys arranged in a block and tackle configuration.
65. The apparatus of claim 60, further comprising the aircraft.
66. The apparatus of claim 60 wherein the launch carriage is configured to accelerate from a first position to a second position during launch and decelerate to a third position after launch, and wherein:

the energy reservoir has a first energy level when the launch carriage is in the first position;

the energy reservoir has a second energy level less than the first level when the launch carriage is in the second position; and the energy reservoir has a third energy level higher than the second energy level and lower than the first energy level when the launch carriage is in the third position.
67. An apparatus for launching an unmanned aircraft, comprising:

carriage means for carrying an unmanned aircraft during launch;

support means for supporting and guiding the carriage means along a launch axis during launch;

energy reservoir means for transferring energy to and from the carriage means; and transmission means coupled between the energy reservoir means and the launching means to impart energy to the carriage means during acceleration of the carriage means and return energy from the carriage means to the energy reservoir means during deceleration of the carriage means.
68. The apparatus of claim 67 wherein the support means include:

an extendable boom having a first portion and a second portion, with at least one of the first and second portions being movable relative to the other along a longitudinal axis between a retracted position and an extended position; and a launch guide structure carried by the extendable boom, the launch guide structure including the launch axis extending at least generally parallel to the longitudinal axis of the extendable boom.
69. The apparatus of claim 67 wherein the carriage means are positioned to carry at least one of a lifting surface and a fuselage of the unmanned aircraft along the launch axis during takeoff.
70. The apparatus of claim 67 wherein the energy reservoir means include at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
71. The apparatus of claim 67 wherein the transmission means include a cable and a plurality of pulleys arranged in a block and tackle configuration.
72. A method for launching an unmanned aircraft, comprising:

releasably carrying an unmanned aircraft with a launch carriage;

accelerating the aircraft along a launch axis by transferring energy from an energy reservoir to the launch carriage;

decelerating the launch carriage by transferring energy from the launch carriage to the energy reservoir; and releasing the aircraft from the launch carriage for flight.
73. The method of claim 72 further comprising:

reducing an energy level of the energy reservoir from a first level to a second level by accelerating the launch carriage from a first position to a second position; and increasing an energy level of the energy reservoir from the second level to a third level by decelerating the launch carriage from the second position to a third position.
74. The method of claim 72 wherein transferring energy from an energy reservoir includes transferring energy from at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a falling weight.
75. A method for launching an unmanned aircraft, comprising:

releasably carrying an unmanned aircraft by supporting at least one of a fuselage and a lifting surface of the aircraft with a launch carriage;

activating an energy reservoir to produce a first force and a first acceleration;

converting the first force to second force different than the first force and converting the first acceleration to a second acceleration different than the first acceleration;

accelerating the aircraft along a launch axis at the second acceleration by imparting the second force to the launch carriage; and releasing the aircraft from the launch carriage for flight.
76. The method of claim 75, further comprising decelerating the launch carriage by transferring energy from the launch carriage to the energy reservoir after imparting the second force and second acceleration to the launch carriage and before releasing the aircraft from the launch carriage for flight.
77. The method of claim 75 wherein converting the first force to the second force includes decreasing the first force to the second force, and wherein converting the first acceleration to the second acceleration includes increasing the first acceleration to the second acceleration.
78. The method of claim 75 wherein activating an energy reservoir includes activating at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a falling weight.
79. The method of claim 75 wherein converting the first acceleration to the second acceleration includes operating a block and tackle.
80. A method for launching an unmanned aircraft, comprising:

releasably carrying an unmanned aircraft by supporting at least one of a fuselage and a lifting surface of the aircraft with a launch carriage;

activating an energy reservoir to produce a first force and a first acceleration;

converting the first force to second force different than the first force and converting the first acceleration to a second acceleration different than the first acceleration;

accelerating the aircraft along a launch axis at the second acceleration by imparting the second force to the launch carriage;

decelerating the launch carriage by transferring energy from the launch carriage to the energy reservoir; and releasing the aircraft from the launch carriage for flight.
81. The method of claim 80 wherein:

the energy reservoir has a first energy level before activation;

activating the energy reservoir to produce the first force and first acceleration includes removing energy from the energy reservoir until the energy reservoir has a second energy level less than the first energy level;
and decelerating the launch carriage further includes transferring energy from the launch carriage to the energy reservoir until the energy reservoir has a third energy level greater than the second energy level and less than the first energy level.
82. The method of claim 80 wherein converting the first force to the second force includes decreasing the first force to the second force, and wherein converting the first acceleration to the second acceleration includes increasing the first acceleration to the second acceleration.
83. An apparatus for handling an unmanned aircraft, comprising:
a support structure having a first portion and a second portion, at least one of the first and second portions being movable relative to the other between a first position and a second position;
a flexible recovery line carried by the second portion of the support structure, wherein the recovery line is spaced apart from a point on the first portion of the support structure by a first distance when the at least one of the first and second portions is in the first position, and wherein the recovery line is spaced apart from the point on the first portion of the support structure by a second distance greater than the first distance when the at least one of the first and second portions is in the second position; and an axially extendable resilient member coupled to the recovery line, the resilient member being positioned to extend when tension is applied to the recovery line.
84. The apparatus of claim 83 wherein the support structure includes an extendable boom, and wherein the first position is a retracted position and the second position is an extended position.
85. The apparatus of claim 83 wherein the support structure includes an extendable boom, with the at least one of the first and second portions being telescopically received in the other portion.
86. The apparatus of claim 83 wherein the axially extendable resilient member includes a spring.
87. The apparatus of claim 83 wherein the flexible recovery line is configured to capture an unmanned aircraft in flight.
88. The apparatus of claim 83, further comprising a rotatable base, wherein the support structure is pivotally attached to the rotatable base.
89. The apparatus of claim 83 wherein the flexible recovery line is suspendable from the second portion of the support structure to hang at least generally downward.
90. The apparatus of claim 83 wherein the flexible recovery line is suspendable from the second portion of the support structure, the flexible recovery line having a first recovery line portion hanging generally downward and a second recovery line portion attachable to a point on the support structure.
91. The apparatus of claim 83, further comprising an unmanned aircraft having a lifting surface and a capture device mounted to the lifting surface, the capture device being configured to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
92. The apparatus of claim 83, further comprising a retrieval line operatively coupled to the recovery line, wherein the retrieval line is positioned to at least partially control motion of the recovery line.
93. The apparatus of claim 83 wherein the support structure is configured to carry both a lateral load and a vertical load via the recovery line.
94. An apparatus for handling an unmanned aircraft, comprising:
an extendable boom, the boom having a proximal end and a distal end spaced apart from the proximal end, wherein the boom is extendable along a longitudinal axis from a retracted position to an extended position;
a flexible recovery line suspendable from the boom when the boom is in the extended position, the recovery line being movable between a retracted position and a deployed position, wherein the recovery line in the deployed position extends at least generally downward; and an axially extendable resilient member coupled to the recovery line, the resilient member being positioned to extend when tension is applied to the recovery line.
95. The apparatus of claim 94 wherein the extendable boom includes a first segment and a second segment, with the at least one of the first and second segments being movable relative to the other as the extendable boom moves along the longitudinal axis between the retracted position and the extended position.
96. The apparatus of claim 94 wherein the flexible recovery line is configured to capture an unmanned aircraft in flight.
97. The apparatus of claim 94, further comprising a rotatable base, wherein the extendable boom is pivotally attached to the rotatable base.
98. The apparatus of claim 94, further comprising an unmanned aircraft having a lifting surface and a capture device mounted to the lifting surface, the capture device being configured to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
99. The apparatus of claim 94, further comprising a retrieval line operatively coupled to the recovery line, wherein the retrieval line is positioned to at least partially control motion of the recovery line.
100. The apparatus of claim 94 wherein the support structure is configured to carry both a lateral load and a vertical load via the recovery line.
101. An apparatus for handling an unmanned aircraft, comprising:
support means having a first portion and a second portion, at least one of the first and second portions being movable relative to the other between a first position and a second position;
recovery means for intercepting and capturing an unmanned aircraft in flight, wherein the recovery means is carried by the support means; and tension means operatively coupled to the recovery means, wherein the tension means is configured extend when tension is applied to the recovery line.
102. The apparatus of claim 101 wherein the support means includes an extendable boom, with the at least one of the first and second portions being movable relative to the other on a longitudinal axis extending along the boom between the first position and the second position, and wherein the first position is a retracted position and the second position is an extended position.
103. The apparatus of claim 101 wherein the recovery means includes a flexible recovery fine suspendable from the support means when the support means is in the second position.
104. The apparatus of claim 101 wherein the tension means includes a spring operatively coupled to the recovery means.
105. A method for handling an unmanned aircraft, comprising:
moving a first portion of a support structure relative to a second portion of the support structure to increase the length of the support structure;
deploying a flexible recovery line from the support structure;
flying an unmanned aircraft to intercept the flexible recovery line in flight;
and releasably capturing the aircraft in flight with the recovery line.
106. The method of claim 105 wherein the flexible recovery line is spaced apart from a point on the first portion of the support structure by a first distance when the at least one of the first and second portions of the support structure is in a first position, and wherein the recovery line is spaced apart from the point on the first portion of the support structure by a second distance greater than the first distance when the at least one of the first and second portions of the support structure is in a second position.
107. The method of claim 105 wherein the aircraft includes a wing, and wherein capturing the aircraft includes releasably securing the wing to the recovery line.
108. The method of claim 105, further comprising applying tension to the flexible recovery line after deploying the recovery line and before releasably capturing the aircraft.
109. The method of claim 105, further comprising retrieving the aircraft from the recovery line after releasably capturing the aircraft.
110. A method for handling an unmanned aircraft, comprising:
moving a first portion of an extendable boom relative to a second portion of the extendable boom to increase the length of the boom;
deploying a flexible recovery line from the second portion of the extendable boom, wherein the recovery line is suspended at least generally in a downward direction from the boom;
flying an unmanned aircraft to intercept the flexible recovery line in flight;
releasably capturing the aircraft in flight with the recovery line; and retrieving the aircraft from the flexible recovery line.
111. The method of claim 110 wherein the aircraft includes a wing, and wherein capturing the aircraft includes releasably securing the wing to the recovery line.
112. The method of claim 110 wherein the at least one of the first and second portions of the extendable boom are placed in a retracted position before retrieving the aircraft from the flexible recovery line.
113. The method of claim 110, further comprising applying tension to the flexible recovery line after deploying the recovery line and before capturing the aircraft.
114. The method of claim 110 wherein the method further comprises controlling the flexible recovery line with a retrieval line.
115. The method of claim 110, further comprising lengthening an extendable tension member coupled to the flexible recovery line when intercepting the aircraft with the flexible recovery line.
116. An apparatus for handling unmanned aircraft, comprising:
a support structure having a longitudinal axis;
a launch guide structure carried by the support structure, the launch guide structure including an elongated launch path positioned along the longitudinal axis of the support structure to guide an unmanned aircraft during takeoff; and a flexible recovery line carried by the support structure, the flexible recovery line being suspendable from the support structure to intercept and releasably capture the unmanned aircraft in flight.
117. The apparatus of claim 116 wherein the support structure includes a first portion and a second portion, and wherein the at least one of the first and second portions is movable relative to the other between a first position and a second position.
118. The apparatus of claim 116 wherein the support structure includes an extendable boom, with a first portion and a second portion of the boom being movable along the longitudinal axis from a retracted position to an extended position.
119. The apparatus of claim 116, further comprising a rotatable base, wherein the support structure is pivotally attached to the rotatable base.
120. The apparatus of claim 116 wherein the launch guide structure further comprises a launch carriage that is movable along the elongated launch path, the launch carriage being configured to releasably carry the aircraft along the elongated launch path during takeoff.
121. The apparatus of claim 116 wherein:
the elongated launch path includes a first rail and a second rail spaced apart from each other and generally parallel to the longitudinal axis of the support structure; and the launch guide structure further comprises a launch carriage movably carried by the first and second rails, wherein the launch carriage is configured to releasably carry the aircraft along the first and second rails during takeoff.
122. The apparatus of claim 116 wherein:
the elongated launch path includes a first rail and a second rail spaced apart from each other and generally parallel to the longitudinal axis of the support structure; and the launch guide structure further comprises a first launch carriage movably carried by the first rail and a second launch carriage movably carried by the second rail, wherein the first launch carriage is configured to releasably carry a first portion of the aircraft during takeoff, and the second launch carriage is configured to releasably carry a second portion of the aircraft during takeoff.
123. The apparatus of claim 116 wherein:
the elongated launch path includes a rail positioned along the longitudinal axis of the support structure; and the launch guide structure further comprises a launch carriage movably carried by the rail, wherein the launch carriage is configured to releasably carry the aircraft during takeoff.
124. The apparatus of claim 116, further comprising the aircraft, and wherein the aircraft includes a lifting surface and a capture device mounted to the lifting surface and configured to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
125. The apparatus of claim 116, further comprising an axially resilient member coupled to the flexible recovery line, the resilient member being positioned to extend when tension is applied to the recovery line.
126. An apparatus for handling unmanned aircraft, comprising:
an extendable boom having a first portion and a second portion, with at least one of the first and second portions being movable relative to the other along a longitudinal axis between a retracted position and an extended position;
at least one launch rail positioned generally parallel to the longitudinal axis of the extendable boom to guide an unmanned aircraft during takeoff;
a launch carriage having an aircraft support positioned to releasably carry the aircraft, the launch carriage being movably supported by the at least one launch rail to move along the at least one launch rail during takeoff; and a flexible recovery line carried by the extendable boom, the flexible recovery line being suspendable from the extendable boom to intercept and releasably capture the unmanned aircraft in flight.
127. The apparatus of claim 126 wherein:
the at least one launch rail includes a first launch rail and a second launch rail positioned generally parallel to the longitudinal axis of the extendable boom; and the launch carriage is movably supported by the first and second launch rails to move the aircraft along the longitudinal axis during takeoff.
128. The apparatus of claim 126 wherein:
the at least one launch rail includes a first launch rail and a second launch rail positioned generally parallel to the longitudinal axis of the extendable boom; and the launch carriage includes a first launch carriage carried by the first launch rail and a second launch carriage carried by the second rail, wherein the first launch carriage is movably supported by the first launch rail to move a first portion of the aircraft along the longitudinal axis during takeoff, and the second launch carriage is movably supported by the second launch rail to move a second portion of the aircraft along the longitudinal axis during takeoff.
129. The apparatus of claim 126, further comprising a rotatable base, wherein the extendable boom is pivotally attached to the rotatable base.
130. The apparatus of claim 126, further comprising the aircraft, and wherein the aircraft includes a lifting surface and a capture device mounted to the lifting surface and configured to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
131. The apparatus of claim 126, further comprising an axially resilient member coupled to the flexible recovery line, the resilient member being positioned to extend when tension is applied to the recovery line.
132. An apparatus for handling unmanned aircraft, comprising:
support means having a longitudinal axis;

launching means carried by the support means, wherein the launching means is positioned along the longitudinal axis of the support means to guide an unmanned aircraft during takeoff; and recovery means for intercepting and releasably capturing the unmanned aircraft in flight, the recovery means being carried by the support means.
133. The apparatus of claim 132 wherein the support means includes an extendable boom having a first portion and a second portion, with at least one of the first and second portions being movable relative to the other along the longitudinal axis between a retracted position and an extended position.
134. The apparatus of claim 132 wherein the recovery means includes a flexible recovery line suspendable from the support means when the support means is in an extended position.
135. The apparatus of claim 132 wherein the launching means includes a launch guide structure carried by the support means, the launch guide structure including an elongated launch path positioned along the longitudinal axis of the support means to guide the unmanned aircraft during takeoff.
136. The apparatus of claim 132 wherein the launching means includes a launch guide structure carried by the support means, the launch guide structure including an elongated launch path positioned along the longitudinal axis of the support means and a carriage means positioned to guide the unmanned aircraft along the launch path during takeoff.
137. A method for handling an unmanned aircraft, comprising:
launching an unmanned aircraft from a support structure;
deploying a flexible recovery line from the support structure;
flying the unmanned aircraft to intercept the flexible recovery line in flight; and releasably capturing the aircraft in flight with the recovery line.
138. The method of claim 137 wherein launching the aircraft includes guiding the aircraft along an elongated launch path of the support structure during takeoff.
139. The method of claim 137 wherein launching the aircraft includes releasably carrying the aircraft with a launch carriage, accelerating the launch carriage along an elongated launch path of the support structure, decelerating the launch carriage, and releasing the aircraft for flight.
140. The method of claim 137 wherein the aircraft includes a wing, and wherein capturing the aircraft includes releasably securing the wing to the recovery line.
141. The method of claim 137, further comprising applying tension to the flexible recovery line after deploying the recovery line and before releasably capturing the aircraft.
142. The method of claim 137, further comprising lengthening an extendable tension member coupled to the flexible recovery line when intercepting the aircraft with the flexible recovery line.
143. A method for handling an unmanned aircraft, comprising:
releasably positioning an unmanned aircraft on a launch carriage movably carried on an elongated launch path extending along a longitudinal axis of an extendable boom;
accelerating the launch carriage along the elongated launch path;
decelerating the launch carriage;
releasing the aircraft from the launch carriage for flight;
moving at least a first portion of the boom relative to a second portion of the boom to extend the length of the boom after takeoff;
deploying a flexible recovery line from the boom;
flying the unmanned aircraft to intercept the flexible recovery line in flight;
releasably capturing the aircraft in flight with the recovery line; and retrieving the aircraft from the flexible recovery line.
144. The method of claim 143 wherein the method further comprises moving at least one of the first and second portions of the boom relative to the other after capturing the aircraft to place the boom in a retracted position before retrieving the aircraft.
145. The method of claim 143 wherein the aircraft includes a wing, and wherein capturing the aircraft includes releasably securing the wing to the recovery line.
146. The method of claim 143, further comprising applying tension to the flexible recovery line after deploying the recovery line and before releasably capturing the aircraft.
147. The method of claim 143, further comprising lengthening an extendable tension member coupled to the flexible recovery line when intercepting the aircraft with the flexible recovery line.
148. An apparatus for retrieving an unmanned aircraft in flight, comprising:
a support structure;
a flexible recovery line carried by the support structure, the flexible recovery line being suspendable from the support structure and having an intercept portion positioned to intercept an unmanned aircraft in flight;
a hoist device coupled to the recovery line to retract the recovery line; and a trigger device operatively coupled between the recovery line and the hoist device to change from a first configuration to a second configuration when a tension is applied to the recovery line at the intercept portion, the trigger device being positioned to actuate the hoist device to retract the recovery line when the trigger device is in the second configuration.
149. The apparatus of claim 148 wherein the support structure includes a first portion and a second portion, and wherein at least one of the first and second portions is movable relative to the other.
150. The apparatus of claim 148 wherein the hoist device includes at least one of a spring, weight, hydraulic actuator, pneumatic actuator, and electric motor.
151. The apparatus of claim 148, further comprising a restraining device operatively coupled to the support structure, wherein the restraining device is positioned to releasably engage at least a portion of the aircraft upon retraction of the recovery line.
152. The apparatus of claim 148, further comprising a damper operatively coupled to the recovery line to smooth out the action of the hoist device.
153. The apparatus of claim 148, further comprising the aircraft, and wherein the aircraft includes a lifting surface and a capture device mounted to the lifting surface and configured to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
154. The apparatus of claim 148, further comprising a rotatable base, wherein the support structure is pivotally mounted on the rotatable base.
155. The apparatus of claim 148 wherein the support structure is configured to carry both a lateral load and a vertical load via the recovery line.
156. An apparatus for retrieving an unmanned aircraft in flight, comprising:
an extendable boom having a first portion and a second portion, at least one of the first and second portions being movable relative to the other;
a flexible recovery line suspendable from the extendable boom in a generally downward direction and having an intercept portion positioned to intercept an unmanned aircraft in flight;

~ ~ extendable member coupled to the recovery line to retract the recovery line;
a restraining device carried by the boom and operatively coupled to the recovery line, the restraining device being positioned to releasably engage at least a portion of the aircraft during retraction of the recovery line; and a trigger device operatively coupled between the recovery line and the axially extendable member to change from a first configuration to a second configuration when a tension is applied to the recovery line at the intercept portion, the trigger device being positioned to actuate the axially extendable member to retract the recovery line when the trigger device is in the second configuration.
157. The apparatus of claim 156 wherein the axially extendable member includes a spring.
158. The apparatus of claim 156, further comprising a damper operatively coupled to the recovery line to smooth out the action of the axially extendable member.
159. The apparatus of claim 156, further comprising the aircraft, and wherein the aircraft includes a lifting surface and a capture device mounted to the lifting surface and configured to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
160. The apparatus of claim 156, further comprising a rotatable base, wherein the extendable boom is pivotally mounted on the rotatable base.
161. The apparatus of claim 156 wherein the extendable boom is configured to carry both a lateral load and a vertical load via the recovery line.
162. An apparatus for retrieving an unmanned aircraft in flight, comprising:
support means;

recovery means carried by the support means, the recovery means being suspendable from the support means and having an intercept portion positioned to intercept an unmanned aircraft in flight;
hoisting means coupled to the recovery means to retract the recovery means after capture of the aircraft in flight; and trigger means operatively coupled between the recovery means and the hoisting means to retract the recovery means when a tension is applied to the recovery means at the intercept portion.
163. The apparatus of claim 162 wherein the support means includes an extendable boom having a first portion and a second portion, with at least one of the first and second portions being movable relative to the other.
164. The apparatus of claim 162 wherein the recovery means includes a flexible recovery line suspendable in a generally downward direction from the support means.
165. The apparatus of claim 162 wherein the hoisting means includes a spring operatively coupled to the recovery means.
166. The apparatus of claim 162, further comprising restraining means carried by the support means and positioned to releasably engage at least a portion of the aircraft upon retraction of the recovery means.
167. An apparatus for constraining motion of a captured aircraft, comprising:
a support structure carrying a flexible recovery line having an intercept portion positioned to intercept an unmanned aircraft in flight; and a restraining device operatively coupled to the support structure, the restraining device positioned to releasably engage a portion of the aircraft captured by the recovery line.
168. The apparatus of claim 167 wherein the restraining device includes a pipe operatively connected to the support structure, and wherein the recovery line passes through the pipe.
169. The apparatus of claim 167 wherein the restraining device includes a soft resilient member positioned to releasably engage at least a portion of the aircraft.
170. The apparatus of claim 167, further comprising a hoisting device coupled to the recovery line to retract the recovery line after the aircraft intercepts the line.
171. The apparatus of claim 167, further comprising the aircraft, the aircraft having a lifting surface, and wherein the restraining device is positioned to releasably engage the lifting surface.
172. A method for retrieving an unmanned aircraft in flight, comprising:
deploying a flexible recovery line from a support structure, the flexible recovery line being suspendable from the support structure and having an intercept portion positioned to intercept an unmanned aircraft in flight;
flying the aircraft to intercept the intercept portion of the recovery line in flight;
releasably capturing the aircraft in flight with the recovery line;
activating a trigger device operatively coupled between the recovery line and a hoist device to retract the recovery line when a tension is applied to the recovery line at the intercept portion; and retracting the recovery line with the hoist device.
173. The method of claim 172 wherein the aircraft includes a wing, and wherein capturing the aircraft includes releasably securing the wing to the recovery line.
174. The method of claim 172, further comprising applying tension to the flexible recovery line after deploying the recovery line and before releasably capturing the aircraft.
175. The method of claim 172, further comprising lengthening an extendable tension member coupled to the flexible recovery line when intercepting the aircraft with the flexible recovery line.
176. A method for handling an unmanned aircraft, comprising:
deploying a flexible recovery line from an extendable boom, the flexible recovery line being suspendable from the boom and having an intercept portion positioned to intercept an unmanned aircraft in flight;
flying the aircraft to intercept the intercept portion of the recovery line in flight;
releasably capturing the aircraft in flight with the recovery line;
activating a trigger device operatively coupled between the recovery line and an axially resilient member to change the trigger device from a first configuration to a second configuration when a tension is applied to the recovery line at the intercept portion, the trigger device being positioned to actuate the axially resilient member to retract the recovery line when the trigger device is in the second configuration;
retracting the recovery line with the axially resilient member;
releasably engaging at least a portion of the aircraft with a restraining device;
and retrieving the aircraft from the flexible recovery line.
177. The method of claim 176 wherein the method further comprises moving at least one of the first and second portions of the boom relative to the other after capturing the aircraft to place the boom in a retracted position before retrieving the aircraft.
178. The method of claim 176 wherein the aircraft includes a wing, and wherein capturing the aircraft includes releasably securing the wing to the recovery line.
179. The method of claim 176, further comprising applying tension to the flexible recovery line after deploying the recovery line and before releasably capturing the aircraft.
180. The method of claim 176, further comprising lengthening the axially resilient member coupled to the recovery line when intercepting the aircraft with the recovery line.
181. A method of constraining motion of a captured aircraft, comprising:
deploying a flexible recovery line from a support structure, the flexible recovery line having an intercept portion positioned to intercept an unmanned aircraft in flight;
releasably capturing the aircraft in flight with the flexible recovery line;
retracting the recovery line; and releasably engaging at least a portion of the aircraft with a restraining device operatively coupled to the support structure.
182. The method of claim 181, wherein retracting the recovery line includes activating a trigger device operatively coupled between the recovery line and a hoist device to retract the recovery line when a tension is applied to the recovery line at the intercept portion.
183. The method of claim 181, further comprising applying tension to the flexible recovery line after deploying the recovery line and before releasably capturing the aircraft.
184. The apparatus of claim 181 wherein the restraining device includes a soft resilient member, and wherein releasably engaging the aircraft with the restraining device includes contacting and releasably securing at least a portion of the aircraft with the soft resilient member.
185. An aircraft system, comprising:
a cleat body having a cleat slot, the cleat slot having an open end with a first width and a closed end with a second width; and a retainer coupled to the cleat body and movable between a first position with the retainer at least restricting access to the cleat slot and a second position with the retainer positioned to allow a flexible recovery line to enter the cleat slot, the retainer having first and second portions positioned to restrict access to the cleat slot when the retainer is in the first position, the first and second portions being spaced apart by a distance sufficient to receive the recovery line.
186. The system of claim 185, further comprising an aircraft having a lifting surface, wherein the cleat body is fixedly attached to the lifting surface and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
187. The system of claim 185, further comprising an aircraft having a wing, wherein the cleat body is fixedly attached at least proximate to an outboard edge of the wing and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
188. The system of claim 185 wherein the first and second retainer portions are rigidly coupled together to move as a unit.
189. The system of claim 185 wherein the first and second retainer portions pivotally move independent of each other.
190. The system of claim 185, further comprising an aircraft having a longitudinal axis and a lateral axis transverse to the longitudinal axis, the aircraft further having a lifting surface swept back relative to the lateral axis, wherein the cleat body is mounted to the lifting surface and includes a leading edge swept back relative to the lateral axis and positioned to deflect the recovery line away from the aircraft if the recovery line does not enter the cleat slot.
191. The system of claim 185, further comprising an aircraft having a forward swept lifting surface, wherein the cleat body is fixedly attached to the lifting surface and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
192. The system of claim 185, further comprising an aircraft having an aft swept lifting surface, wherein the cleat body is fixedly attached to the lifting surface and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
193. The system of claim 185, further comprising an aircraft having a generally unswept lifting surface, wherein the cleat body is fixedly attached to the lifting surface and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
194. The system of claim 185 wherein the first width of the cleat slot is greater than the second width of the cleat slot.
195. The system of claim 185, further comprising a resilient member positioned to apply force on the retainer moving the retainer from the second position back to the first position.
196. An aircraft system, comprising:
a cleat body operatively connected to an unmanned aircraft, the cleat body including a cleat slot having an open end with a first width and a closed end with a second width less than the first width;
a retainer coupled to the cleat body and pivotally movable between a first position with the retainer at least restricting access to the cleat slot and a second position with the retainer positioned to allow a flexible recovery line to enter the cleat slot, the retainer having first and second portions positioned to restrict access to the cleat slot when the retainer is in the first position, the first and second portions being spaced apart by a distance sufficient to receive the recovery line; and a resilient member coupled to the cleat body and positioned to apply force on the retainer moving the retainer from the second position back to the first position.
197. The system of claim 196, further comprising the aircraft, and wherein the aircraft includes a lifting surface with the cleat body fixedly attached to the lifting surface and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
198. The system of claim 196, further comprising the aircraft, and wherein the aircraft includes a wing with the cleat body fixedly attached at least proximate to an outboard edge of the wing and positioned to releasably secure the aircraft to the recovery line when the aircraft intercepts the recovery line.
199. The system of claim 196 wherein the first and second retainer portions are rigidly coupled together to move as a unit.
200. The system of claim 196, further comprising an aircraft having a longitudinal axis and a lateral axis transverse to the longitudinal axis, the aircraft further having a lifting surface swept back relative to the lateral axis, wherein the cleat body is mounted to the lifting surface and includes a leading edge swept back relative to the lateral axis and positioned to deflect the recovery line away from the aircraft if the recovery line does not enter the cleat slot.
201. The system of claim 196 wherein the resilient member includes a spring.
202. An aircraft system, comprising:
an unmanned aircraft having a fuselage and a lifting surface;
a cleat body fixedly attached to the lifting surface and having a cleat slot, the cleat slot having an open end with a first width and a closed end with a second width; and a retainer coupled to the cleat body and movable between a first position with the retainer at least restricting access to the cleat slot and a second position with the retainer positioned to allow a flexible recovery line to enter the cleat slot, the retainer having first and second portions positioned to restrict access to the cleat slot when the retainer is in the first position, the first and second portions being spaced apart by a distance sufficient to receive the recovery line.
203. The system of claim 202 wherein the aircraft includes a longitudinal axis and a lateral axis transverse to the longitudinal axis with the lifting surface swept back relative to the lateral axis, and wherein the cleat body includes a leading edge swept back relative to the lateral axis and positioned to deflect the recovery line away from the aircraft if the recovery line does not enter the cleat slot.
204. The system of claim 202 wherein the cleat body is fixedly attached at least proximate to an outboard edge of the lifting surface.
205. The system of claim 202 wherein the first and second retainer portions are rigidly coupled together to move as a unit.
206. The system of claim 202 wherein the first and second retainer portions pivotally move independent of each other.
207. The system of claim 202 wherein the first width of the cleat slot is greater than the second width of the cleat slot.
208. The system of claim 202, further comprising a resilient member positioned to apply force on the retainer moving the retainer from the second position back to the first position.
209. A method for capturing an unmanned aircraft in flight, comprising:
flying an unmanned aircraft having a lifting surface and a line capture device mounted to the lifting surface so as to intercept a flexible recovery line;

receiving the recovery line in a slot of the line capture device; and releasably securing the recovery line to the line capture device with a retainer by passing the recovery line past at least one of two spaced apart portions of the retainer and moving the at least one portion of retainer relative to the recovery line as the recovery line moves through the slot.
210. The method of claim 209 wherein passing the recovery line past the retainer includes moving the retainer from a first position pivotally out to a second position as the recovery line moves past the first portion of the retainer and moving the retainer pivotally back to the first position, and again moving the retainer from the first position pivotally out to the second position as the recovery line moves past the second portion of the retainer, and then moving the retainer pivotally back to the first position.
211. The method of claim 209, further comprising applying tension to the flexible recovery line before intercepting the recovery line with the aircraft.
212. The method of claim 209, further comprising retrieving the aircraft from the flexible recovery line after releasably securing the aircraft to the recovery line.
213. A method for capturing an unmanned aircraft in flight, comprising:
flying an unmanned aircraft having a lifting surface and a line capture device, the line capture device including a cleat body with a cleat slot, the cleat body being fixedly attached to the lifting surface so as to intercept a flexible recovery line;
receiving the recovery line in the cleat slot;
moving the recovery line into the cleat slot by passing the recovery line past at least one engaging portion of a retainer; and releasably securing the recovery line in the cleat slot with the retainer.
214. The method of claim 213 wherein passing the recovery line includes moving the retainer from a first position pivotally out to a second position as the recovery line moves past a first engaging portion of the retainer and moving the retainer pivotally back to the first position, and again moving the retainer from the first position pivotally out to the second position as the recovery line moves past a second engaging portion of the retainer spaced apart from the first engaging portion, and then moving the retainer pivotally back to the first position.
215. The method of claim 213, further comprising applying tension to the flexible recovery line before intercepting the recovery line with the aircraft.
216. The method of claim 213, further comprising retrieving the aircraft from the flexible recovery line after releasably securing the recovery line in the slot with the retainer.
217. A method for handling an unmanned aircraft, comprising:
releasably securing a portion of an unmanned aircraft to a storage apparatus;
removing a lifting surface of the aircraft using a movable portion of the storage apparatus; and at least partially enclosing the aircraft in the storage apparatus.
218. The method of claim 217 wherein releasably securing a portion of the aircraft to the storage apparatus includes pivoting the storage apparatus to contact and releasably engage a fuselage of the aircraft.
219. The method of claim 217 wherein the storage apparatus is pivotally mounted to a support platform, and wherein releasably securing the aircraft to the storage apparatus includes pivoting the storage apparatus from the support platform to contact a fuselage of the aircraft.
220. The method of claim 217 wherein releasably securing a portion of the aircraft to the storage apparatus includes pivoting the storage apparatus from a first position to a second position, the storage apparatus being oriented to contact and releasably receive the aircraft when in the second position.
221. The method of claim 217 wherein releasably securing a portion of the aircraft to the storage apparatus includes releasably securing a portion of a fuselage of the aircraft to a cradle movably carried by a storage apparatus.
222. The method of claim 217 wherein releasably securing a portion of the aircraft to the storage apparatus includes releasably securing a portion of the aircraft to a storage container.
223. The method of claim 217, further comprising translating and rotating the movable portion of the storage apparatus relative to the lifting surface of the aircraft to align a gripper carried by the movable portion for contact with the lifting surface of the aircraft.
224. The method of claim 217, further comprising:
slidably moving and pivoting a gripper carried by the movable portion of the storage apparatus for contact with the lifting surface of the aircraft; and pivoting the gripper toward the movable portion after removing the lifting surface of the aircraft.
225. The method of claim 217 wherein removing the lifting surface of the aircraft includes:
releasably attaching the lifting surface to the movable portion of the storage apparatus; and moving the movable portion and the lifting surface along a constrained guide path of the storage apparatus.
226. The method of claim 217 wherein removing the lifting surface of the aircraft includes:
contacting and releasably engaging the lifting surface with a gripper carried by the movable portion of the storage apparatus, the gripper being positioned to slidably move along a guide path of the movable portion;
and ~ the lifting surface from the aircraft by slidably moving the gripper along the guide path from a first position with the lifting surface attached to the aircraft to a second position with the lifting surface detached from the aircraft.
227. The method of claim 217 wherein removing the lifting surface of the aircraft includes:
translating and rotating the movable portion of the storage apparatus relative to the lifting surface of the aircraft to align a gripper carried by the movable portion with the lifting surface;
contacting and releasably engaging the gripper with the lifting surface; and detaching the lifting surface from the aircraft by slidably moving the gripper along a guide path of the movable portion from a first position with the lifting surface attached to the aircraft to a second position with the lifting surface detached from the aircraft.
228. The method of claim 217, further comprising servicing the aircraft after releasably securing the aircraft to the storage apparatus.
229. A method for handling an unmanned aircraft, comprising:
deploying a flexible recovery line from an extendable boom mounted at least proximate to a support platform;
releasably capturing a first lifting surface portion of the aircraft in flight with the flexible recovery line;
while the first lifting surface portion of the aircraft is releasably coupled to the flexible recovery line, securing a second lifting surface portion of the aircraft to the support platform;
releasably securing at least a portion of a fuselage of the aircraft to a storage container;
releasing the aircraft from the flexible recovery line and the support platform;
removing at least one of the lifting surfaces of the aircraft using a movable portion of the storage container; and at least partially enclosing the aircraft in the storage container.
230. The method of claim 229 wherein the aircraft includes a capture device mounted to the lifting surface, and wherein releasably capturing the aircraft in flight includes releasably capturing a portion of the recovery line with the capture device.
231. The method of claim 229, further comprising retracting at least a portion of the extendable boom after releasably capturing the aircraft and before releasably securing the second lifting surface portion of the aircraft to the support platform.
232. The method of claim 229 wherein at least a portion of the storage container is pivotally mounted to the support platform, and wherein releasably securing the aircraft to the storage container includes pivoting at least a portion of the storage container from the support platform to contact a fuselage of the aircraft.
233. The method of claim 229 wherein releasably securing a portion of the aircraft to the storage container includes pivoting at least a portion of the storage container from a first position to a second position, the portion of the storage container being oriented to contact and releasably receive the aircraft when in the second position.
234. The method of claim 229 wherein releasably securing at least a portion of the fuselage of the aircraft to the storage container includes releasably securing a portion of the fuselage of the aircraft to a cradle movably carried by a storage container.
235. The method of claim 229, further comprising translating and rotating the movable portion of the storage container relative to at least one lifting surface of the aircraft to align a gripper carried by the movable portion for contact with the lifting surface of the aircraft.
236. The method of claim 229, further comprising:
slidably moving and pivoting a gripper carried by the movable portion of the storage container for contact with the lifting surface of the aircraft; and pivoting the gripper toward the movable portion after removing the lifting surface of the aircraft.
237. The method of claim 229 wherein removing at least one lifting surface of the aircraft includes:
releasably attaching the at least one lifting surface to the movable portion of the storage container; and moving the movable portion and the at least one lifting surface along a constrained guide path of the storage container.
238. The method of claim 229 wherein removing the at least one lifting surface of the aircraft includes:
translating and rotating the movable portion of the storage container relative to the at least one lifting surface of the aircraft to align a gripper carried by the movable portion with the at least one lifting surface;
contacting and releasably engaging the gripper with the at least one lifting surface; and detaching the at least one lifting surface from the aircraft by slidably moving the gripper along a guide path of the movable portion from a first position with the at least one lifting surface attached to the aircraft to a second position with the at least one lifting surface detached from the aircraft.
239. The method of claim 229, further comprising directing an actuator to move the movable portion of the storage container after releasably securing the aircraft to the storage apparatus.
240. The method of claim 229, further comprising servicing the aircraft after releasably securing the aircraft to the storage apparatus.
241. A method for handling an unmanned aircraft, comprising:
removing at least a portion of a storage apparatus at least partially enclosing an unmanned aircraft to provide access to the aircraft;

attaching a lifting surface to the aircraft using a movable portion of the storage apparatus; and moving the aircraft from the storage apparatus into position for takeoff.
242. The method of claim 241, further comprising moving the fuselage from a first position within the storage apparatus to a second position elevated from the first position before attaching the lifting surface to the aircraft.
243. The method of claim 241 wherein moving a movable portion of a storage apparatus includes moving a movable portion of a storage container.
244. The method of claim 241, further comprising translating and rotating the movable portion of the storage apparatus relative to the lifting surface of the aircraft to align the lifting surface with the aircraft.
245. The method of claim 241 wherein attaching the lifting surface to the aircraft includes:
releasably attaching the lifting surface to the movable portion of the storage apparatus; and moving the movable portion and the lifting surface along a constrained guide path of the storage apparatus.
246. The method of claim 241 wherein attaching the lifting surface to the aircraft includes:
contacting and releasably engaging the lifting surface with a gripper carried by the movable portion of the storage apparatus, the gripper being positioned to slidably move along a guide path of the movable portion;
and attaching the lifting surface to the aircraft by slidably moving the gripper along the guide path from a first position with the lifting surface detached from the aircraft to a second position with the lifting surface attached to the aircraft.
247. The method of claim 241 wherein moving the aircraft into position for takeoff includes moving the aircraft from a cradle movably carried by the storage apparatus to a launch carriage movably carried by a launch guide structure.
248. The method of claim 241, further comprising slidably moving and pivoting a gripper carried by the movable portion of the storage apparatus for contact with the lifting surface of the aircraft, and wherein the gripper is pivoted against the movable portion after removing the lifting surface of the aircraft.
249. The method of claim 241, further comprising directing an actuator to move the movable portion of the storage apparatus.
250. The method of claim 241, further comprising servicing the aircraft after providing access to the aircraft and before moving the assembled aircraft into position for takeoff.
251. An apparatus for handling unmanned aircraft, comprising:
storage means for at least partially enclosing and releasably storing the aircraft;
fuselage support means for supporting a fuselage of the aircraft, the fuselage support means being carried by the storage means;
gripper means for releasably carrying a lifting surface of the aircraft, the gripper means being movable relative to the fuselage support means;
and guide means for guiding motion of the gripper means, the guide means being carried by the storage means to constrain the motion of the gripper means as the gripper means moves between a first position with the lifting surface attached to the fuselage and second position with the lifting surface detached from the fuselage.
252. The apparatus of claim 251 wherein the storage means includes a storage apparatus having at least one movable portion, the movable portion carrying the gripper means.
253. The method of claim 251 wherein the fuselage support means includes a carriage movably carried by the storage means and positioned to releasably secure at least a portion of the fuselage of the aircraft.
254. The apparatus of claim 251 wherein the gripper means is slidably received in the guide means.
255. An apparatus for handling an unmanned aircraft, comprising:
a storage apparatus;
an aircraft support carried by the storage apparatus and configured to support at least a portion of an unmanned aircraft; and a movable device carried by the storage apparatus and configured to carry a lifting surface of an unmanned aircraft, the movable device being movable relative to the aircraft support in a constrained manner along a guide path.
256. The apparatus of claim 255, further comprising a support platform, and wherein the storage apparatus is pivotably carried by the support platform and is pivotable between a first orientation and a second orientation, the storage apparatus being positioned to contact the aircraft when in the second orientation.
257. The apparatus of claim 255 wherein the aircraft support includes a fuselage support member carried by the storage apparatus, the fuselage support member being movable from a first position for storage to a second position for launch.
258. The apparatus of claim 255 wherein the aircraft support includes a cradle positioned to releasably secure at least a portion of a fuselage of the aircraft.
259. The apparatus of claim 255 wherein the movable device translates and rotates relative to the lifting surface of the aircraft to releasably engage the lifting surface, and wherein the movable device is positioned to slidably move along the guide path from a first position with the lifting surface attached to the aircraft to a second position with the lifting surface detached from the aircraft.
260. The apparatus of claim 255 wherein the guide path includes a first guide path portion, and wherein the movable device includes a container section movable along the first guide path portion, the movable device further including a gripper, the gripper being positioned to detach the lifting surface of the aircraft by slidably moving relative to the container section along a second guide path portion from a first position with the lifting surface attached to the aircraft to a second position with the lifting surface detached from the aircraft.
261. The apparatus of claim 255, further comprising an elevating member coupled to the aircraft support to move the aircraft support relative to the storage apparatus.
262. The apparatus of claim 255 wherein the storage apparatus includes a storage container.
263. The apparatus of claim 255, further comprising the unmanned aircraft.
264. An apparatus for handling an unmanned aircraft, comprising:
a storage container that includes a first guide structure having a first guide path, the storage container including a movable portion movable along the first guide path, the movable portion including a second guide structure having a second guide path;
a cradle movably carried by the storage container and positioned to support a fuselage of the aircraft; and a gripper carried by the movable portion of the storage container and positioned to contact and releasably engage a lifting surface of the aircraft, the gripper being movable along the second guide path between a first position and a second position.
265. The apparatus of claim 264 wherein the movable portion is slidable along the first guide path and the gripper is slidable along the second guide path and pivotable relative to the second guide path.
266. The apparatus of claim 264, further comprising an elevating member releasably coupled to the cradle, and wherein the elevating member is configured to move the cradle relative to the storage apparatus.
267. An apparatus for launching an unmanned aircraft, comprising:
a first launch member;
a second launch member positioned at least proximate to the first launch member, at least one of the first and second launch members being movable relative to the other between a first position and a second position; and a launch carriage having an aircraft support positioned to releasably carry an unmanned aircraft during a takeoff operation, the launch carriage being in contact with the first and second launch members, the launch carriage being movable relative to the launch members between a first launch carriage location and a second launch carriage location as the at least one of the first and second launch members moves from the first position to the second position.
268. The apparatus of claim 267 wherein the launch carriage moves in a first direction between the first launch carriage location and the second launch carriage location, and wherein the at least one launch member moves in a second direction transverse to the first direction between the first position and the second position.
269. The apparatus of claim 267, further comprising a support structure, and wherein the first and launch members are carried by the support structure.
270. The apparatus of claim 267, further comprising an actuator coupled to ~
the at least one launch member to move the at least one launch member relative to the other.
271. The apparatus of claim 267, further comprising an actuator coupled to the at least one launch member to move the at least one launch member relative to the other, and wherein the actuator includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
272. The apparatus of claim 267, further comprising an energy reservoir coupled to the at least one launch member to move the at least one launch member.
273. The apparatus of claim 267, further comprising:
an actuator; and a transmission coupled between the actuator and the second launch member, wherein the transmission includes a first portion coupled to the actuator to receive a first force from the actuator and accelerate with a first acceleration, the transmission further including a second portion coupled to second launch member to impart a second force and a second acceleration to the launch carriage, wherein the second force is different than the first force and the second acceleration is different than the first acceleration.
274. The apparatus of claim 267 wherein at least one of the first and second launch members includes a braking portion, and wherein the braking portion is positioned to contact and decelerate the launch carriage as the launch carriage moves from the first launch carriage location to the second launch carriage location.
275. The apparatus of claim 267 wherein at least one of the first and second launch members includes a curved portion, and wherein the curved portion is shaped to provide constant acceleration to the launch carriage as the at least one of the first and second launch members moves relative to the other.
276. The apparatus of claim 267 wherein:
the first launch member includes a first roller surface and the second launch member includes a second roller surface non-parallel to the first roller surface; and the launch carriage includes a first wheel in rolling contact with the first roller surface and a second wheel in rolling contact with the second roller surface.
277. The apparatus of claim 267 wherein the first launch member includes a first surface in contact with the launch carriage, and wherein the second launch member includes a second surface in contact with the launch carriage, the second surface having a first portion oriented at a first angle relative to the first surface to accelerate the launch carriage, the second surface having a second portion oriented at a second angle relative to the first surface to decelerate the launch carriage, the second angle being different than the first angle.
278. The apparatus of claim 267 wherein the second launch member translates and pivots relative to the first launch member from the first position to the second position.
279. The apparatus of claim 267 wherein the second launch member includes a guide pin, and wherein the apparatus further comprises a guide having an elongated guide slot positioned between the first and second launch members, the guide pin being received in the guide slot to allow the guide pin to translate along the guide slot while the second launch member rotates relative to the first launch member.
280. The apparatus of claim 267, further comprising a carriage return coupled to the launch carriage, the carriage return being positioned to reset the launch carriage to the first launch carriage location after takeoff of the aircraft.
281. The apparatus of claim 267 wherein the at least one launch member moves in a generally vertical plane between the first position and the second position.
282. The apparatus of claim 267 wherein the at least one launch member moves in a generally horizontal plane between the first position and the second position.
283. The apparatus of claim 267 wherein the first and second launch members are coupled to each other with a cable and an arrangement of pulleys.
284. The apparatus of claim 267 wherein the first and second launch members are coupled to each other with a four-bar linkage.
285. The apparatus of claim 267 wherein the first and second launch members are pivotable relative to each other.
286. The apparatus of claim 267 wherein the first launch member includes a first roller surface and the second launch member includes a second roller surface non-parallel to the first roller surface, and wherein the angle between the first and second roller surfaces is greater when the launch carriage is in the second launch carriage location than when the launch carriage is in the first launch carriage location.
287. The apparatus of claim 267, further comprising the unmanned aircraft.
288. An apparatus for launching an unmanned aircraft, comprising:
a support structure;
a first launch member fixed relative to the support structure;
a second launch member coupled to the support structure, the second launch member being movable relative to the support structure and the first launch member;

an actuator coupled to the second launch member and positioned to move the second launch member relative to the first launch member from a first position to a second position; and a launch carriage having an aircraft support positioned to releasably carry an unmanned aircraft during a takeoff operation, the launch carriage being in contact with the first and second launch members, the launch carriage being movable relative to the first and second launch members between a first launch carriage location and a second launch carriage location as the second launch member moves from the first position to the second position.
289. The apparatus of claim 288 wherein the actuator includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
290. The apparatus of claim 288, further comprising a transmission coupled between the actuator and the second launch member, wherein the transmission includes a first portion coupled to the actuator to receive a first force from the actuator and accelerate with a first acceleration, the transmission further including a second portion coupled to second launch member to impart a second force and a second acceleration to the launch carriage, wherein the second force is different than the first force and the second acceleration is different than the first acceleration.
291. The apparatus of claim 288 wherein the first launch member includes a first surface in contact with the launch carriage, and wherein the second launch member includes a second surface in contact with the launch carriage, the second surface having a first portion oriented at a first angle relative to the first surface to accelerate the launch carriage, the second surface having a second portion oriented at a second angle relative to the first surface to decelerate the launch carriage, the second angle being different than the first angle.
292. The apparatus of claim 288 wherein:
the first launch member includes a first roller surface and the second launch member includes a second roller surface non-parallel to the first roller surface; and the launch carriage includes a first wheel in rolling contact with the first roller surface and a second wheel in rolling contact with the second roller surface.
293. The apparatus of claim 288 wherein the second launch member translates and pivots relative to the first launch member as the second launch member moves from the first position to the second position.
294. The apparatus of claim 288, further comprising a carriage return coupled to the launch carriage, the carriage return being positioned to reset the launch carriage to the first launch carriage location after takeoff of the aircraft.
295. An apparatus for launching an unmanned aircraft, comprising:
a first launch member;
a second launch member pivotally coupled to the first launch member, at least one of the first and second launch members being pivotable relative to the other between a first position and a second position;
an actuator coupled to the at least one launch member and positioned to pivot the at least one launch member from the first position to the second position; and a launch carriage having an aircraft support positioned to releasably carry an unmanned aircraft during a takeoff operation, the launch carriage being in contact with the first and second launch members, the launch carriage being forced to move relative to the launch members between a first launch carriage location and a second launch carriage location as the at least one launch member moves from the first position to the second position.
296. The apparatus of claim 295 wherein the first launch member includes a first surface in contact with the launch carriage, and wherein the second launch member includes a second surface in contact with the launch carriage, the second surface having a first portion oriented at a first angle relative to the first surface to accelerate the launch carriage, the second surface having a second portion oriented at a second angle relative to the first surface to decelerate the launch carriage, the second angle being different than the first angle.
297. The apparatus of claim 295 wherein:
the first launch member includes a first roller surface and the second launch member includes a second roller surface non-parallel to the first roller surface; and the launch carriage includes a first wheel in rolling contact with the first roller surface and a second wheel in rolling contact with the second roller surface.
298. The apparatus of claim 295 wherein the at least one launch member moves in a generally lateral plane.
299. The apparatus of claim 295 wherein each of the first and second launch members pivots relative to the other.
300. The apparatus of claim 295 wherein the actuator includes at least one of a hydraulic cylinder, a spring, a pneumatic cylinder, an electric motor, a flywheel, a steam-powered apparatus, an explosive charge, and a weight.
301. The apparatus of claim 295 wherein:
the first and second launch members each include a first end portion and a second end portion spaced apart from the first end portion;
the first end portions of the first and the second launch member are pivotally coupled together; and the second end portions of the first and the second launch members are coupled to the actuator, and wherein the actuator is positioned to move the second end portions of the first and the second launch member apart from each other.
302. The apparatus of claim 295, further comprising a carriage return coupled to the launch carriage, the carriage return being positioned to reset the launch carriage to the first launch carriage location after takeoff of the aircraft.
303. An apparatus for launching an unmanned aircraft, comprising:
carriage means for supporting an unmanned aircraft during a takeoff operation; and support means for moving the carriage means, the support means including:
first launch means for accelerating the carriage means; and second launch means for accelerating the carriage means, the first and second launch means being coupled to the carriage means, at least one of the first and second launch means being movable relative to the other to accelerate the carriage means.
304. The apparatus of claim 303, further comprising actuating means coupled to the support means to move at least one of the first and second launch means relative to the other.
305. The apparatus of claim 303, further comprising braking means carried by the support means to decelerate the carriage means.
306. A method for launching an unmanned aircraft, comprising:
releasably supporting an unmanned aircraft with a launch carriage, the launch carriage being movably carried by and in contact with a first launch member and a second launch member;
accelerating the launch carriage from a first launch carriage location to a second launch carriage location by moving at least one of the first and second launch members relative to the other from a first position to a second position while the launch members contact the launch carriage;
and releasing the unmanned aircraft from the launch carriage for flight.
307. The method of claim 306, further comprising decelerating the launch carriage to release the aircraft from the launch carriage for flight.
308. The method of claim 306 wherein moving at least one of the first and second launch members includes moving the at least one launch member in a generally vertical plane.
309. The method of claim 306 wherein moving at least one of the first and second launch members includes moving the at feast one launch member in a generally horizontal plane.
310. The method of claim 306 wherein moving the at least one of the first and second launch members includes pivoting the second launch member relative to the first launch member.
311. The method of claim 306 wherein moving the at least one of the first and second launch members includes translating and pivoting the second launch member relative to the first launch member.
312. The method of claim 306, further comprising returning the launch carriage to the first launch carriage location after releasing the aircraft for takeoff.
313. A method for launching an unmanned aircraft, comprising:
releasably supporting an unmanned aircraft with a launch carriage, the launch carriage movably carried by and in contact with a first launch member and a second launch member;
activating an actuator coupled to at least one of the first and second launch members;
moving at least one of the first and second launch members relative to the other between a first position and a second position;

accelerating the launch carriage by rolling the launch carriage along the first and second launch members from a first launch carriage location to a second launch carriage location under a force imparted to the launch carriage by the at least one launch member as the at least one launch member moves relative to the other;
decelerating the launch carriage; and releasing the unmanned aircraft from launch carriage for flight.
314. The method of claim 313 wherein moving the at least one launch member includes moving the at least one launch member in a first direction and wherein accelerating the launch carriage includes accelerating the launch carriage in a second direction transverse to the first direction.
315. The method of claim 313 wherein moving the at least one of the first and second launch members includes translating and pivoting the second launch member relative to the first launch member.
316. The method of claim 313 wherein moving the at least one of the first and second launch members includes pivoting the second launch member relative to the first launch member.
317. The method of claim 313, further comprising returning the launch carriage to the first launch carriage location after releasing the aircraft for takeoff.
318. An apparatus for carrying an unmanned aircraft, comprising:
a support member;
a launch carriage movably carried by the support member; and a gripper movably coupled to the launch carriage, the gripper including at least one grip portion positioned to releasably engage an unmanned aircraft, the gripper being movable relative to the launch carriage between a first position with the at least one grip portion positioned to contact the aircraft and a second position with the at least one grip portion positioned to be out of contact with the aircraft.
319. The apparatus of claim 318 wherein the gripper includes at least one grip portion positioned to releasably engage a fuselage of the aircraft, the gripper being movable relative to the launch carriage between a first position with the at least one grip portion positioned to contact the fuselage and a second position with the at least one grip portion positioned to be out of contact with the fuselage.
320. The apparatus of claim 318 wherein the gripper includes at least one gripper arm pivotally coupled to the launch carriage, the at least one gripper arm carrying the at least one grip portion positioned to releasably engage the fuselage of the aircraft.
321. The apparatus of claim 318 wherein the gripper includes two gripper arms pivotally coupled to the launch carriage, the individual gripper arms including at least one grip portion positioned to releasably engage the fuselage of the aircraft.
322. The apparatus of claim 318 wherein:
the gripper includes two gripper arms pivotally coupled to the launch carriage; and the individual gripper arms include a first grip portion and a second grip portion positioned to releasably engage the fuselage of the aircraft, the first grip portion contacting the fuselage of the aircraft at a position forward of a lifting surface of the aircraft and the second grip portion contacting the fuselage at a position aft of the lifting surface of the aircraft.
323. The apparatus of claim 318 wherein the gripper is movable between the first and second position when the launch carriage decelerates relative to the support member.
324. The apparatus of claim 318 wherein:
the launch carriage is movable relative to the support member along a launch axis; and the gripper is pivotable relative to the launch carriage about a pivot axis offset from the launch axis to pivot downwardly and outwardly away from the launch axis as the gripper moves from the first position to the second position, and wherein at least a portion of the mass of the gripper is eccentrically offset from the pivot axis to swing the gripper from the first position to the second position as the carriage decelerates.
325. The apparatus of claim 318, further comprising the aircraft.
326. The apparatus of claim 318 wherein the support member includes a launch guide structure having a launch axis, and wherein the launch carriage is movable relative to the support member along the launch axis.
327. The apparatus of claim 318 wherein the support member includes an extendable boom having a longitudinal axis and a launch guide structure having a launch axis, the launch guide structure being carried by the extendable boom and the launch axis extending at least approximately parallel to the longitudinal axis of the boom.
328. An apparatus for carrying an unmanned aircraft, comprising:
a launch guide structure having a launch axis;
a launch carriage carried by the launch guide structure and movable along the launch axis; and a gripper supported by the launch carriage, the gripper including at least two gripper arms pivotally coupled to the launch carriage, the individual gripper arms including at least one grip portion positioned to releasably engage a fuselage of an unmanned aircraft, the at least two gripper arms being pivotally movable relative to the launch carriage between a first position with the at least one grip portion of the individual gripper arms positioned to contact the fuselage and a second position with the at least one grip portion of the individual gripper arms positioned to be out of contact with the fuselage.
329. The apparatus of claim 328 wherein the launch guide structure includes a rail positioned along the launch axis, and wherein the launch carriage is movably carried by the rail.
330. The apparatus of claim 328, further comprising an extendable boom having a longitudinal axis, wherein the launch guide structure is carried by the extendable boom and wherein the launch axis extends at least approximately parallel to the longitudinal axis of the boom.
331. The apparatus of claim 328 wherein the individual gripper arms include a first grip portion and a second grip portion positioned to releasably engage the fuselage of the aircraft, the first grip portion of the individual gripper arms contacting the fuselage of the aircraft at a position forward of a lifting surface of the aircraft, and the second grip portion of the individual gripper arms contacting the fuselage at a position aft of the lifting surface of the aircraft.
332. The apparatus of claim 328 wherein the at least two gripper arms are movable between the first and second position when the launch carriage decelerates relative to the launch guide structure.
333. The apparatus of claim 328 wherein the gripper is pivotable relative to the launch carriage about a pivot axis offset from the launch axis to pivot downwardly and outwardly away from the launch axis as the gripper moves from the first position to the second position, and wherein at least a portion of the mass of the gripper is eccentrically offset from the pivot axis to swing the gripper from the first position to the second position as the carriage decelerates, further wherein the gripper is over-centered when in the first position to resist moving to the second position.
334. The apparatus of claim 328 wherein the apparatus is configured to operate with an aircraft having a maximum thrust capability, and wherein the force required to move the gripper from the first position to the second position is greater that the maximum thrust capability of the aircraft but less than the ~ ~
applied to the gripper as the carriage decelerates.
335. The apparatus of claim 328, further comprising the aircraft.
336. An apparatus for carrying an unmanned aircraft, comprising:
carriage means for carrying an unmanned aircraft during launch;
support means for supporting and guiding the carriage means along a launch axis during takeoff; and gripper means for releasably carrying an unmanned aircraft, the gripper means being movably coupled to the carriage means, the gripper means including at least one grip portion movable relative to the carriage means between a first position with the at least one grip portion positioned to contact the aircraft and a second position with the at least one grip portion positioned to be out of contact with the aircraft.
337. The apparatus of claim 336 wherein the support means includes:
an extendable boom having a longitudinal axis; and a launch guide structure carried by the extendable boom, the launch guide structure extending along the launch axis at least generally parallel to the longitudinal axis of the extendable boom.
338. The apparatus of claim 336 wherein the gripper means includes a gripper having at least one gripper arm pivotally coupled to the launch carriage, the at least one gripper arm carrying the at least one grip portion positioned to releasably engage the fuselage of the aircraft.
339. The apparatus of claim 336 wherein the gripper means is pivotable relative to the carriage means about a pivot axis offset from the launch axis to pivot downwardly and outwardly away from the launch axis as the gripper means moves from the first position to the second position, and wherein at least a portion of the mass of the gripper means is eccentrically offset from the pivot axis to swing the gripper means from the first position to the second position as the carriage means decelerates.
340. A method for launching an unmanned aircraft, comprising:
releasably supporting an unmanned aircraft with a launch carriage;
releasably engaging the aircraft with a gripper carried by the launch carriage;
accelerating the launch carriage along a launch axis;
disengaging the gripper from the aircraft by moving the gripper relative to the launch carriage from a first position to a second position; and releasing the aircraft from the launch carriage for flight.
341. The method of claim 340, further comprising decelerating the launch carriage to move the gripper from the first position to the second position.
342. The method of claim 340 wherein releasably engaging the aircraft with the gripper includes releasably engaging a fuselage of the aircraft with the gripper.
343. The method of claim 340 wherein the gripper includes at least one gripper arm pivotally coupled to the launch carriage, and wherein moving the gripper from a first position to a second position includes rotating the at least one gripper arm downwardly and outwardly away from a longitudinal axis of the aircraft.
344. The method of claim 340 wherein the gripper includes at least one gripper arm pivotally coupled to the launch carriage, and wherein moving the gripper from a first position to a second position includes rotating the at least one gripper arm outwardly away from a fuselage of the aircraft and downwardly away from a lifting surface of the aircraft.
345. A method for launching an unmanned aircraft, comprising:
releasably supporting a fuselage of an unmanned aircraft with a launch carriage;

releasably engaging the fuselage of the aircraft with a gripper carried by the launch carriage, the gripper having at least one grip portion positioned to contact the fuselage of the aircraft;
accelerating the launch carriage along the launch axis;
decelerating the launch carriage to move the gripper relative to the launch carriage from a first position to a second position, with at least one grip portion out of contact with the fuselage when the grippes is in the second position; and releasing the aircraft from the launch carriage for flight.
346. The method of claim 345 wherein the grippes includes at least two grippes arms pivotally coupled to the launch carriage, and wherein moving the grippes from a first position to a second position includes rotating the at least two grippes arms outwardly and downwardly away from a longitudinal axis of the aircraft.
347. The method of claim 345 wherein the grippes includes a first grip portion and a second grip portion positioned to releasably engage the fuselage of the aircraft, and wherein releasably engaging the aircraft with the grippes includes contacting the fuselage at a position forward of a lifting surface of the aircraft with the first grip portion and contacting the fuselage at a position aft of the lifting surface with the second grip portion.
348. The method of claim 345 wherein the grippes is pivotable relative to the launch carriage about a pivot axis offset from the launch axis and at least a portion of the mass of the grippes is eccentrically offset from the pivot axis, and wherein decelerating the launch carriage to move the grippes relative to the launch carriage from a first position to a second position includes pivoting the grippes downwardly and outwardly away from the launch axis as the grippes moves from the first position to the second position.
CA2513507A 2003-01-17 2004-01-17 Methods and apparatuses for storing, launching, and capturing unmanned aircraft Expired - Lifetime CA2513507C (en)

Applications Claiming Priority (37)

Application Number Priority Date Filing Date Title
US44089003P 2003-01-17 2003-01-17
US44084903P 2003-01-17 2003-01-17
US44072703P 2003-01-17 2003-01-17
US44084503P 2003-01-17 2003-01-17
US44084303P 2003-01-17 2003-01-17
US44084603P 2003-01-17 2003-01-17
US44072603P 2003-01-17 2003-01-17
US44085103P 2003-01-17 2003-01-17
US44072903P 2003-01-17 2003-01-17
US60/440,729 2003-01-17
US60/440,890 2003-01-17
US60/440,845 2003-01-17
US60/440,849 2003-01-17
US60/440,843 2003-01-17
US60/440,851 2003-01-17
US60/440,846 2003-01-17
US60/440,726 2003-01-17
US60/440,727 2003-01-17
US10/759,541 US7152827B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for launching, capturing, and storing unmanned aircraft, including a container having a guide structure for aircraft components
US10/758,956 2004-01-16
US10/758,955 2004-01-16
US10/758,940 US7059564B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for capturing and recovering unmanned aircraft, including a cleat for capturing aircraft on a line
US10/758,948 2004-01-16
US10/759,545 US7175135B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for capturing unmanned aircraft and constraining motion of the captured aircraft
US10/760,150 US7128294B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for launching unmanned aircraft, including methods and apparatuses for launching aircraft with a wedge action
US10/758,956 US7066430B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for capturing and recovering unmanned aircraft, including extendable capture devices
US10/758,948 US7090166B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for launching unmanned aircraft, including methods and apparatuses for transmitting forces to the aircraft during launch
US10/758,955 US7140575B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for launching unmanned aircraft, including methods and apparatuses for releasably gripping aircraft during launch
US10/758,940 2004-01-16
US10/759,742 2004-01-16
US10/758,943 US7121507B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for capturing and storing unmanned aircraft, including methods and apparatuses for securing the aircraft after capture
US10/760,150 2004-01-16
US10/759,545 2004-01-16
US10/759,742 US7114680B2 (en) 2003-01-17 2004-01-16 Methods and apparatuses for launching and capturing unmanned aircraft, including a combined launch and recovery system
US10/759,541 2004-01-16
US10/758,943 2004-01-16
PCT/US2004/001033 WO2005014390A2 (en) 2003-01-17 2004-01-17 Methods and apparatuses for storing, launching, and capturing unmanned aircraft

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AU2004262619A1 (en) 2005-02-17
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AU2009201713B8 (en) 2011-07-14
AU2004262619B2 (en) 2009-01-29
EP1590238A2 (en) 2005-11-02
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WO2005014390A3 (en) 2006-03-23
WO2005014390A2 (en) 2005-02-17

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